Milling and grinding equipment used before braze coating of large ship-borne launching device and control method

Abstract

The invention provides milling and grinding equipment for a large ship-borne launching device before braze coating and a control method, and belongs to the technical field of workpiece machining. The conveying device comprises a first frame body, a driving assembly and a bearing table, a feeding area, a detection and recognition area and a milling and grinding area are defined by the first frame body, and the driving assembly is configured to drive the bearing table to move in the feeding area, the detection and recognition area and the milling and grinding area; the milling and grinding device is configured to mill and grind the workpiece; the portal frame defines a discharging area, a tool conversion area and a finished product area which are adjacent to the first frame body, the portal frame is configured to drive the milling and grinding device to move between the milling and grinding area and the tool conversion area, and the portal frame is further configured to drive a workpiece to move; the detection and recognition device is configured to detect the workpiece. According to the milling and grinding equipment before braze coating of the large ship-borne launching device, the accuracy and quality of milling and grinding of the milling and grinding device before braze coating of the large ship-borne launching device can be improved through the detection and recognition device, the machining cost of workpieces is reduced, and the convenience and efficiency of milling and grinding are improved.

Description

Technical Field

[0001] This application relates to the field of workpiece processing technology, and in particular to a pre-coating milling equipment and control method for a large shipborne launch device. Background Technology

[0002] Modern large shipborne launch systems (such as vertical launch system units) are core subsystems of ship weaponry. To withstand the high-temperature exhaust gases generated during launch, seawater salt spray corrosion, and the harsh marine environment, the surfaces of their critical components (such as the opening edges of the launch canister) often require a brazing process to coat them with a high-performance metal-ceramic composite coating or a high-temperature alloy coating. The quality of the substrate surface pretreatment before brazing, especially the milling process, is one of the most critical factors determining the bonding strength, thermal shock resistance, and service life of the brazed coating.

[0003] Currently, the pre-coating milling of such high-value, high-requirement equipment mainly relies on skilled workers using precision pneumatic or electric tools. However, this traditional operating mode has revealed the following prominent problems and serious challenges in the manufacturing and maintenance of shipborne equipment: First, manual milling is greatly affected by fluctuations in the operator's skills, physical strength, and attention, which can easily lead to uneven surface roughness, local over-grinding or under-grinding. This directly causes fatal defects such as substandard brazing coating adhesion and peeling off under subsequent thermal cycling or impact loads, making it difficult to meet the stringent standards of military products for ultimate reliability and consistency. In addition, manual grinding is inefficient.

[0004] Secondly, manual milling makes it difficult to ensure that the milling pressure, angle and trajectory are uniform and constant in all places, which leads to differences in coating adhesion at different locations on the workpiece, forming potential weak points.

[0005] Furthermore, the working environment is extremely harsh, with high safety and health risks. Working in confined spaces also poses safety risks such as suffocation and electric shock, and personnel fatigue can easily lead to operational errors.

[0006] Finally, some existing general-purpose industrial robots or fixed milling machines are difficult to adapt to the characteristics of large, heavy, and irregularly shaped workpieces of shipborne equipment, and lack flexible positioning and adaptive capabilities.

[0007] Therefore, for the special and critical process of pre-coating milling of large shipborne launchers, there is currently a lack of an automated solution that can adapt to complex field environments, ensure high quality and consistency, and significantly improve operational safety and efficiency. Summary of the Invention

[0008] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a milling equipment and control method for pre-coating of large shipborne launchers.

[0009] The first aspect of the present application provides the following technical solutions: a large-scale shipborne launching device milling and grinding equipment before brazing, comprising: A conveying device, comprising a first frame, a driving assembly and a carrying table, the first frame defining a feeding area, a detection and identification area and a milling and grinding area, the driving assembly being connected with the first frame, the driving assembly being configured to drive the carrying table to move in the feeding area, the detection and identification area and the milling and grinding area; A milling and grinding device arranged on one side of the conveying device, the milling and grinding device being configured to mill and grind the workpiece; A gantry defining a discharging area, a tool conversion area and a finished product area adjacent to the first frame, the gantry being configured to drive the milling and grinding device to move in the milling and grinding area and the tool conversion area, and the gantry being further configured to drive the workpiece to move; A detection and identification device arranged on one side of the first frame, the detection and identification device being configured to detect the workpiece.

[0010] In some embodiments, the milling and grinding device comprises a first support table, an extension assembly, a rotating assembly, an elastic support structure and a milling and grinding assembly; The large-scale shipborne launching device milling and grinding equipment before brazing has a first direction, the extension assembly is arranged on one side of the first support table along the first direction, the extension assembly comprises a first transmission structure, a plurality of sliding arms and a suction cup head, the sliding arms are movably connected with the first transmission structure, and the suction cup head is arranged at one end of the sliding arms away from the first transmission structure; The rotating assembly is arranged on one side of the first support table away from the extension assembly, and the rotating assembly comprises a plurality of rotating parts rotating relative to the first support table; The elastic support structure is movably connected with the rotating parts in a direction perpendicular to the first direction; The milling and grinding assembly is configured to mill and grind the opening edge of the workpiece, and the milling and grinding assembly comprises a buffer structure, a second driving member and a milling head, the buffer structure is connected with the rotating assembly, the second driving member is elastically connected with an output end of the buffer structure, and the milling head is arranged on one side of the second driving member facing the buffer structure along the first direction.

[0011] In some embodiments, the first transmission structure comprises a fourth driving member, a fixed rod, a plurality of connecting rods and a plurality of third sliding rails, and the fourth driving member and the plurality of third sliding rails are respectively connected with the first support table. One end of the fixed rod is connected with an output end of the fourth driving member, the other end of the fixed rod is rotationally connected with one end of a plurality of the connecting rods, one end of the connecting rod away from the fixed rod is connected with one end of the sliding arm, the sliding arm is slidingly connected with the third sliding rail, and the suction head is arranged at one end of the sliding arm away from the connecting rod.

[0012] In some embodiments, the telescopic assembly further comprises a fixed cantilever, the fixed cantilever is threadedly connected with the first support table along a direction perpendicular to the first direction, the fixed cantilever is arranged away from the sliding arm, and the fixed cantilever is provided with the suction head at one end away from the fixed rod. The extension directions of the fixed cantilever and the sliding arms intersect at the axis of the first support table.

[0013] In some embodiments, the rotating assembly comprises a second rotating driving member, a second support table, a rotating member and a rotating disc. The second support table is arranged at a side of the first support table away from the telescopic assembly, and the second rotating driving member is arranged at a side of the second support table facing the first support table. The rotating member is arranged at a side of the second support table away from the first support table and is connected with an output end of the second rotating driving member, and the rotating disc is connected with one end of the rotating member away from the second rotating driving member along the first direction. Along a direction perpendicular to the first direction, a plurality of spaced guide members are arranged at a circumferential side of the rotating disc to form the rotating part, and the extension directions of the guide members intersect at the same point with the axis of the rotating disc.

[0014] In some embodiments, the elastic support structure comprises a fifth support frame, a first elastic buffer and a first roller, and the fifth support frame is slidingly connected with the guide member. One end of the first elastic buffer is connected with the rotating disc, the other end of the first elastic buffer is connected with the fifth support frame, and the first roller is arranged at a side of the fifth support frame away from the rotating disc.

[0015] In some embodiments, the detection and recognition device comprises a first support frame, a mechanical arm, a connecting frame, a visual recognizer and a cleaner. The mechanical arm is arranged at a side of the first support frame, the connecting frame is arranged at one end of the mechanical arm away from the first support frame, the visual recognizer is arranged at a side of the connecting frame, an identification end of the visual recognizer faces the detection and recognition area, and the visual recognizer is configured to detect the opening edge of the workpiece. The cleaner is arranged at a side of the connecting frame away from the visual recognizer, and the cleaner is configured to clean the opening edge of the workpiece.

[0016] In some embodiments, the pre-coating milling equipment for large shipborne launchers further includes a tool conversion device, which is disposed in the tool conversion area and includes a second support frame, a first rotary drive, a first horizontal drive, a first vertical drive, and a clamping member. The first rotary drive member is disposed on one side of the second support frame along the first direction, the first horizontal drive member is disposed on the side of the first rotary drive member away from the second support frame, the first vertical drive member is disposed on the side of the first horizontal drive member away from the first rotary drive member, and the clamping member is disposed at the output end of the first horizontal drive member.

[0017] In some embodiments, the pre-coating milling equipment for large shipborne launchers further includes a tool assembly adjacent to the tool conversion device, the tool assembly including a third support frame, a third drive member, an adapter member, a support member, and a plurality of milling heads; The third driving component is disposed on one side of the third support frame, the adapter is connected to the output end of the third driving component, the support component is disposed on the side of the adapter component away from the third driving component, the support component has multiple mounting slots, and the milling head is disposed in the mounting slots.

[0018] Secondly, this application provides a control method applied to the pre-coating milling equipment for the large shipborne launch device, the control method comprising the following steps: The workpiece to be processed is obtained and moved from the unloading area to the support platform in the loading area by the gantry crane; Workpiece identification involves the drive component controlling the carrier platform to move from the loading area to the detection and identification area, where the detection and identification device performs visual inspection and analysis on the workpiece and sends the inspection and analysis results to the control system. For milling head replacement, the system determines whether the milling head needs to be replaced based on the detection and analysis. If so, the system sends a control command to the tool conversion device to replace the milling head. The tool conversion device selects the corresponding milling head from the tool assembly and replaces the selected milling head onto the milling device. The milling device is assembled with the workpiece. The drive component controls the carrier to move the workpiece from the detection and identification area to the milling area after identification. The gantry moves the milling device to the milling area and installs the milling device on the inner wall of the workpiece. Workpiece milling involves milling the open edges of the workpiece using the milling head of a milling device. Unloading involves moving the milled workpiece to the unloading area via a drive assembly, and then transferring the workpiece from the unloading area to the finished product area via a gantry crane.

[0019] The embodiment of the present application has the following advantages: the large shipborne launching device milling and grinding equipment provided by the present application can automatically detect and analyze the size, shape and defects of the large shipborne launching device through the detection and identification device, so as to control the accurate adaptation of the milling device to the inner wall of the large shipborne launching device, and analyze whether the milling head needs to be replaced according to the detection result of the detection and identification device. If so, the control system sends a control instruction to the tool conversion device to replace the milling head, and the tool conversion device selects the corresponding milling head in the tool assembly and replaces the selected milling head to the milling device, thereby improving the accuracy and quality of the milling of the large shipborne launching device by the milling device. The workpiece is moved to the corresponding processing area through the driving assembly, and the milling device is moved to the corresponding position through the gantry, so as to improve the convenience and efficiency of the milling of the large shipborne launching device.

[0020] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0022] Figure 1 A perspective view of the structure of a large shipborne launching device milling and grinding equipment provided by some embodiments of the present application is shown; Figure 2 A perspective view of the structure of a conveying device in a large shipborne launching device milling and grinding equipment provided by some embodiments of the present application is shown; Figure 3 A perspective view of the structure of a conveying device in a large shipborne launching device milling and grinding equipment provided by some embodiments of the present application is shown; Figure 2 A cross-sectional view of part A-A in the large shipborne launching device milling and grinding equipment provided by some embodiments of the present application is shown; Figure 4 A perspective view of the structure of a milling device in a large shipborne launching device milling and grinding equipment provided by some embodiments of the present application is shown; Figure 5 A perspective view of the structure of a milling device in a large shipborne launching device milling and grinding equipment provided by some embodiments of the present application is shown; Figure 6 A perspective view of the structure of a tool conversion device in a large shipborne launching device milling and grinding equipment provided by some embodiments of the present application is shown; Figure 7A structural schematic diagram of a tool assembly in a large shipborne launching device milling and grinding equipment before brazing is shown according to some embodiments of the application; Figure 8 A structural schematic diagram of another view of a tool assembly in a large shipborne launching device milling and grinding equipment before brazing is shown according to some embodiments of the application; Figure 9 A structural schematic diagram of a milling and grinding assembly connected with an elastic support structure in a large shipborne launching device milling and grinding equipment before brazing is shown according to some embodiments of the application; Figure 10 A structural schematic diagram of a rotating assembly in a large shipborne launching device milling and grinding equipment before brazing is shown according to some embodiments of the application; Figure 11 A structural schematic diagram of a detection and identification device in a large shipborne launching device milling and grinding equipment before brazing is shown according to some embodiments of the application; Figure 12 A flow chart of a control method of a large shipborne launching device milling and grinding equipment before brazing is shown according to some embodiments of the application.

[0023] Main element symbol explanation: 100 - conveying device; 110 - first frame body; 120 - driving assembly; 130 - carrying table; 111 - feeding area; 112 - detection and identification area; 113 - milling and grinding area; 116 - discharging area; 200 - milling and grinding device; 300 - gantry frame; 310 - feeding area; 320 - tool conversion area; 330 - finished product area; 400 - detection and identification device; 210 - first support table; 220 - telescopic assembly; 221 - first transmission structure; 222 - sliding arm; 223 - suction cup head; 230 - rotating assembly; 240 - elastic support structure; 250 - milling and grinding assembly; 251 - buffer structure; 252 - second driving member; 253 - milling and grinding head; 2211 - fourth driving member; 2212 - fixed rod; 2213 - connecting rod; 2214 - third sliding rail; 260 - fixed cantilever; 231 - second rotating driving member; 232 - second support table; 233 - rotating member; 234 - rotating disc; 235 - guide member; 241 - fifth support frame; 242 - first elastic buffer member; 243 - first roller; 2421 - first telescopic member; 2422 - first elastic member; 2423 - first output shaft; 2511 - fourth support frame; 2512 - second elastic buffer member; 25121 - second telescopic member; 25122 - second elastic member; 25123 - second output shaft; 2513 - support plate; 410 - first support frame; 420 - mechanical arm; 430 - connecting frame; 440 - visual identifier; 450 - cleaner; 500 - tool conversion device; 510 - second support frame; 520 - first rotating driving member; 530 - first horizontal driving member; 540 - first vertical driving member; 550 - clamping member; 600 - tool assembly; 610 - third support frame; 620 - third driving member; 630 - adapter; 640 - supporting member; 641 - mounting groove; 700 - dust collector; 710 - dust collection port; 114 - first support member; 115 - second support member; 121 - first driving member; 122 - first rack; 123 - first gear; 140 - first sliding rail; 150 - second sliding rail; 160 - first sliding block; 170 - second sliding block. DETAILED DESCRIPTION

[0024] Embodiments of the present application are described in detail below with reference to examples illustrated in the attached drawings, in which the same or similar components have the same or similar designations throughout the various figures. The embodiments described below are examples of the present application, and are not intended to limit the present application.

[0025] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. Like terms are used to describe like elements in the figures and the description.

[0026] In this application, unless otherwise clearly indicated and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0027] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as understood by one of ordinary skill in the art to which this application belongs. The terms used in the specification of the template are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0029] As Figures 1 to 10 As shown in the figure, the present application provides a large-scale shipborne launching device before brazing milling equipment, mainly applied to realize automatic milling before brazing of large-scale shipborne launching device, improve the efficiency and quality of milling before brazing of large-scale shipborne launching device, improve the flexibility of large-scale shipborne launching device before brazing milling equipment in the use process, to be suitable for milling before brazing of different large-scale shipborne launching device, reduce the milling cost, improve the safety of milling work.

[0030] The large-scale shipborne launching device before brazing milling equipment includes a conveying device 100, a milling device 200, a gantry 300 and a detection and identification device 400.

[0031] The conveying device 100 comprises a first frame body 110, a driving assembly 120 and a carrying table 130, and the first frame body 110 defines a feeding area 111, a detection and identification area 112, a milling area 113 and a discharging area 116 in sequence. In the embodiment, the feeding area 111 and the discharging area 116 are located at two ends of the first frame body 110 respectively. The driving assembly 120 is connected with the first frame body 110, and the driving assembly 120 is configured to drive the carrying table 130 to move in the feeding area 111, the detection and identification area 112, the milling area 113 and the discharging area 116. It can be understood that the carrying table 130 is slidingly connected with the first frame body 110, and the carrying table 130 can drive the large shipborne launching device to pass through the detection and identification area 112, the milling area 113 and the discharging area 116 in sequence from the feeding area 111.

[0032] It should be noted that, in the embodiment, the carrying table 130 is used to carry the workpiece (such as the large shipborne launching device box) to be processed. When the carrying table 130 moves to the feeding area 111, the workpiece to be processed can be transferred to the carrying table 130 in the feeding area 111 by the gantry 300, and the carrying table 130 is driven by the driving assembly 120 to move from the feeding area 111 to the detection and identification area 112 and the milling area 113, so that the workpiece to be processed is moved from the feeding area 111 to the detection and identification area 112 and the milling area 113.

[0033] The milling device 200 is arranged on one side of the conveying device 100, and the milling device 200 is configured to mill the workpiece. It should be noted that when the workpiece to be processed moves to the milling area 113, the milling device 200 is connected with the inner wall of the workpiece by the gantry 300, and the milling head 253 of the milling device 200 mills the opening edge of the workpiece.

[0034] In the embodiment, the gantry 300 defines a feeding area 310, a tool conversion area 320 and a finished product area 330 adjacent to the first frame body 110. It should be noted that the feeding area 310 is adjacent to the feeding area 111, the tool conversion area 320 is adjacent to the milling area 113, and the finished product area 330 is adjacent to the discharging area 116.

[0035] The feeding area 310 is used to place the workpiece to be processed, the tool conversion area 320 is used to replace the milling head 253 in the milling device 200, so as to be suitable for milling the opening edge of different workpieces, and the flexibility of the large shipborne launching device milling equipment in the use process is improved. In addition, the finished product area 330 is used to place the workpiece after processing.

[0036] In the embodiment, the gantry 300 is configured to drive the milling and grinding device 200 to move in the milling and grinding area 113 and the tool conversion area 320. For example, when the workpiece moves to the milling and grinding area 113, the milling and grinding device 200 is moved from the tool conversion area 320 to the milling and grinding area 113 by the gantry 300, and the milling and grinding device 200 is connected with the inner wall of the workpiece, so as to mill and grind the opening edge of the workpiece by the milling head 253 of the milling and grinding device 200. In addition, when the milling and grinding is completed, the milling and grinding device 200 is removed from the workpiece, and the milling and grinding device 200 is moved to the tool conversion area 320 by the gantry 300, so as to replace the milling head 253 in the milling and grinding device 200.

[0037] In addition, the gantry 300 is also configured to drive the workpiece to move. It can be understood that the workpiece can be moved from the feeding area 310 to the feeding area 111 by the gantry 300, and the workpiece can be moved from the discharging area 116 to the finished product area 330 by the gantry 300. It can be understood that the gantry 300 is used for position conversion of the feeding, discharging and milling modules. In the embodiment, when the workpiece is completed in the milling and grinding area 113, the workpiece after the milling and grinding is transferred from the milling and grinding area 113 to the discharging area 116 by the conveying device 100, and then the workpiece in the discharging area 116 is transferred to the finished product area 330 by the gantry 300.

[0038] The detection and identification device 400 is arranged on one side of the first frame body 110. The detection and identification device 400 is configured to detect the workpiece, that is, the workpiece moving to the detection and identification area 112 is visually detected by the detection and identification device 400, which is used for automatic detection and analysis of the size, shape and defects of the workpiece, so as to determine the volume of the inner cavity of the workpiece and the shape of the opening of the workpiece, so as to control the accurate fitting of the milling and grinding device 200 and the inner wall of the workpiece, so as to ensure the stability and accuracy of the assembly of the milling and grinding device 200 and the workpiece, and ensure that the milling head 253 in the milling and grinding device 200 can accurately mill the opening edge of the workpiece. The detection and identification device also includes a preliminary cleaning device. The workpiece needs to be preliminarily cleaned before detection, so that the detection can be more accurate.

[0039] The large-scale shipborne launching device milling and grinding equipment before brazing provided in the application can automatically detect and analyze the size, shape and defects of the workpiece through the detection and identification device 400, so as to control the accurate fitting of the milling and grinding device 200 and the inner wall of the workpiece. At the same time, according to the detection results of the size and defects of the edge of the workpiece, the tool conversion device 500 will replace the corresponding milling head 253, so as to improve the accuracy and milling quality of the milling and grinding device 200 on the opening edge of the workpiece. The workpiece is moved to the corresponding processing area by the driving assembly 120, and the milling and grinding device 200 is moved to the corresponding position by the gantry 300, so as to improve the convenience and efficiency of milling the workpiece.

[0040] As shown in Figures 1 to 3 In some embodiments of the present application, the first frame body 110 includes a first support 114 and a second support 115 arranged oppositely, the first support 114 and the second support 115 are parallel to each other, and the carrying table 130 is slidingly arranged between the first support 114 and the second support 115 to provide support and guiding effect for the carrying table 130 by the first support 114 and the second support 115, so as to ensure the stability of the carrying table 130 during movement on the first frame body 110.

[0041] As shown in Figure 2 and Figure 3 In some embodiments of the present application, the driving assembly 120 includes a first driving member 121, a first rack 122 and a first gear 123.

[0042] The first rack 122 is arranged on one side of the first support 114 facing the second support 115, the first gear 123 is engaged with the first rack 122, the first driving member 121 is arranged on one side of the carrying table 130, the output shaft of the first driving member 121 penetrates the carrying table 130, and the output shaft of the first driving member 121 is coaxially connected with the first gear 123, so that the first driving member 121 drives the first gear 123 to rotate through the output shaft during operation.

[0043] Since the first rack 122 is fixedly connected with the first support 114, and the first gear 123 is engaged with the first rack 122, the first gear 123 can drive the first driving member 121 and the carrying table 130 to move on the first frame body 110 during rotation, that is, the carrying table 130 is driven to move on the feeding area 111, the detection and identification area 112, the milling area 113 and the discharging area 116.

[0044] As shown in Figure 2 and Figure 3 In some embodiments of the present application, the conveying device 100 includes a first sliding rail 140, a second sliding rail 150, a first sliding block 160 and a second sliding block 170, the first sliding rail 140 is arranged on one side of the first support 114, the first sliding block 160 is slidingly connected with the first sliding rail 140, and the first sliding block 160 is arranged on one side of the carrying table 130 away from the second support 115, the second sliding rail 150 is arranged on one side of the second support 115, and the second sliding block 170 is slidingly connected with the second sliding rail 150 and arranged on one side of the carrying table 130 away from the first support 114.

[0045] It can be understood that by setting the first sliding rail 140 and the second sliding rail 150, the stability and smoothness of the bearing table 130 during movement on the first frame body 110 are further ensured.

[0046] It should be noted that the elongation directions of the first sliding rail 140, the second sliding rail 150, and the first rack 122 are parallel to each other.

[0047] As shown in Figure 4 and Figure 5 In some embodiments of the present application, the milling and grinding device 200 includes a first support table 210, a telescopic assembly 220, a rotating assembly 230, an elastic support structure 240, and a milling and grinding assembly 250.

[0048] The first support table 210 can be a disc-shaped or polygonal support table.

[0049] The telescopic assembly 220 is arranged on one side of the first support table 210 along the first direction. The telescopic assembly 220 includes a first transmission structure 221, a plurality of sliding arms 222, and a suction cup head 223. The sliding arms 222 are movably connected to the first transmission structure 221, so that the sliding arms 222 are driven to slide relative to the first support table 210 along a direction perpendicular to the first direction by the first transmission structure 221.

[0050] It should be noted that the number of sliding arms 222 and the number of suction cup heads 223 can be two or any number greater than two, which can be set according to actual conditions.

[0051] In this embodiment, the number of sliding arms 222 is two, and the two sliding arms 222 are symmetrically arranged on opposite sides of the axis of the rotating disc 234, so as to ensure the smoothness, stability, and consistency of the telescopic length of the two sliding arms 222 during sliding relative to the rotating disc 234.

[0052] The suction cup head 223 is arranged at an end of the sliding arm 222 away from the first transmission structure 221, so as to fix the sliding arm 222 in the inner wall of the opening of the workpiece to be machined by the suction cup head 223, thereby realizing the first device profiling positioning.

[0053] Optionally, the suction cup head 223 is a magnetic suction cup, a vacuum suction cup, or preferably an electromagnetic suction cup. In addition, the connection mode between the suction cup and the sliding arm 222 includes any one of threaded connection, bolt connection, clamping, bonding, or riveting, which can be set according to actual conditions.

[0054] It can be understood that in this embodiment, the suction cup head 223 is detachably connected to the sliding arm 222, so as to replace the suction cup head 223, so as to be suitable for different shapes of the inner wall of the opening of the workpiece, and to ensure the stability of the profiling positioning.

[0055] In the embodiment, the rotating assembly 230 is arranged on the side of the first support table 210 away from the telescopic assembly 220, and the rotating assembly 230 comprises a plurality of rotating parts rotating relative to the first support table 210. It can be understood that the number of rotating parts can be two or any number greater than two, which can be set according to actual conditions.

[0056] In addition, the elastic support structure 240 is movably connected with the rotating parts in a direction perpendicular to the first direction, that is, the elastic support structure 240 can move relative to the rotating parts in a direction perpendicular to the first direction.

[0057] The milling and grinding assembly 250 comprises a buffer structure 251, a second driving member 252, and a milling and grinding head 253. The buffer structure 251 is connected with the rotating parts, so that the rotating parts can drive the buffer structure 251 to rotate synchronously during the rotation relative to the first support table 210, thereby driving the milling and grinding assembly 250 to rotate relative to the first support table 210. The milling and grinding head 253 is a grinding wheel, a rotary file, or a milling cutter.

[0058] In the embodiment, the second driving member 252 is elastically connected with the output end of the buffer structure 251, and the milling and grinding head 253 is arranged on the side of the second driving member 252 away from the buffer structure 251 along the first direction, so as to provide a buffering effect on the second driving member 252 and the milling and grinding head 253 in a direction perpendicular to the first direction through the buffer structure 251, thereby inhibiting vibration during operation and improving the efficiency and quality of milling and grinding at the opening of the workpiece.

[0059] In the embodiment, the second driving member 252 is a pneumatic radial floating force-controlled milling and grinding all-in-one machine.

[0060] As shown in Figure 4 , Figure 5 , Figure 9 and Figure 10 , in some embodiments of the present application, the first transmission structure 221 comprises a fourth driving member 2211, a fixed rod 2212, a plurality of connecting rods 2213, and a plurality of third sliding rails 2214. The fourth driving member 2211 and the plurality of third sliding rails 2214 are respectively connected with the first support table 210.

[0061] It can be understood that the number of connecting rods 2213 and the number of third sliding rails 2214 can be two or any number greater than two, which can be set according to actual conditions.

[0062] It should be noted that the plurality of third sliding rails 2214 are arranged at intervals, and the extension lines of each third sliding rail 2214 intersect the axis of the first support table 210 at the same point, that is, the plurality of third sliding rails 2214 are centrally symmetric with the axis of the first support table 210, so as to ensure the stability of the connection between the first transmission assembly and the inner wall of the workpiece, and ensure the stability and convenience of the connection between the telescopic assembly 220 and the inner wall of the workpiece.

[0063] One end of the fixed rod 2212 is connected with the output end of the fourth driving member 2211, and the other end of the fixed rod 2212 is rotationally connected with one end of the plurality of connecting rods 2213, and the plurality of connecting rods 2213 are coaxially rotationally connected with the fixed rod 2212.

[0064] In addition, the end of the connecting rod 2213 away from the fixed rod 2212 is connected with one end of the sliding arm 222, the sliding arm 222 is slidingly connected with the third sliding rail 2214, and the suction cup head 223 is arranged at the end of the sliding arm 222 away from the connecting rod 2213, so that the fourth driving member 2211 can drive the connecting rod 2213 to rotate relative to the fixed rod 2212 during the movement of the fixed rod 2212 along its own axis direction, and drive the sliding arm 222 to slide along the third sliding rail 2214 through the end of the connecting rod 2213 away from the fixed rod 2212, so as to drive the suction cup head 223 to move through the sliding arm 222.

[0065] It can be understood that by adjusting the position of the sliding arm 222, the utilization rate and flexibility of the milling and grinding device 200 in use can be improved, and the stability of the connection between the first transmission structure 221 and the inner wall of the workpiece can be ensured.

[0066] The fourth driving member 2211 is a cylinder drive, a hydraulic drive, or an electric drive, and is preferably a cylinder drive.

[0067] As shown in FIGS. Figure 4 and Figure 5 In some embodiments of the present application, the telescopic assembly 220 further comprises a fixed cantilever 260 which is threadedly connected with the first support table 210 in a direction perpendicular to the first direction, wherein the fixed cantilever 260 is arranged at intervals with the sliding arm 222, and the end of the fixed cantilever 260 away from the fixed rod 2212 is provided with the suction cup head 223, so as to connect the fixed cantilever 260 with the inner wall of the workpiece through the suction cup head 223.

[0068] In the present embodiment, the extension directions of the fixed cantilever 260 and the plurality of sliding arms 222 intersect the axis of the first support table 210.

[0069] It can be understood that the fixed cantilever 260 is rotated out to adjust the distance between the fixed cantilever 260 and the fixed rod 2212, so as to adjust the distance between the fixed cantilever 260 and the inner wall of the workpiece, so as to fix the fixed cantilever 260 in the inner wall of the workpiece of different sizes by the chuck head 223. The shape of the chuck head 223 can also be adjusted and replaced according to the shape of the inner wall of the workpiece, so as to improve the flexibility and stability of the milling and grinding device 200 and the inner wall of the workpiece of different shapes and sizes.

[0070] As shown in Figure 4 and Figure 10 In some embodiments of the present application, the rotating assembly 230 includes a second rotating drive 231, a second support table 232, a rotating part 233 and a rotating disc 234.

[0071] The second support table 232 is arranged on the side of the first support table 210 away from the telescopic assembly 220, and the second rotating drive 231 is arranged on the side of the second support table 232 facing the first support table 210. The axis of the output end of the second rotating drive 231, the axis of the first support table 210 and the axis of the rotating disc 234 coincide.

[0072] In addition, the rotating part 233 is arranged on the side of the second support table 232 away from the first support table 210, and is connected with the output end of the second rotating drive 231, so as to drive the rotating part 233 to rotate in the process of driving the output end of the drive. The rotating disc 234 is connected with the rotating part 233 on the side of the first direction away from the second rotating drive 231, so as to drive the rotating disc 234 to rotate in the process of rotating the rotating part 233.

[0073] In the embodiment, the second rotating drive 231 is a pneumatic motor, an electric motor, and preferably a speed-regulating motor. In addition, the rotating part 233 is a speed reducer.

[0074] Along the direction perpendicular to the first direction, the circumferential side of the rotating disc 234 is provided with a plurality of spaced guide parts 235 to form the rotating part. The extension direction of the plurality of guide parts 235 intersects with the axis of the rotating disc 234 at the same point.

[0075] As shown in Figure 4 and Figure 5 In some embodiments of the present application, the elastic support structure 240 includes a fifth support frame 241, a first elastic buffer 242 and a first roller 243. The fifth support frame 241 is in sliding connection with the guide part 235, and the sliding direction of the fifth support frame 241 is the same as the extension direction of the guide part 235.

[0076] One end of the first elastic buffer 242 is connected with the rotating disc 234, and the connection mode includes at least one of threaded connection, bolt connection, clamping, welding and riveting, so as to ensure the stability of the connection between the first elastic buffer 242 and the rotating disc 234.

[0077] In addition, the other end of the first elastic buffer 242 is connected with the fifth support frame 241, so that the first elastic buffer 242 provides buffering and damping effects on the first support 114 along the extension direction of the guide 235, so as to ensure the stability and milling quality of the milling process of the second driving member 252 driving the milling head 253 on the workpiece opening.

[0078] In the embodiment, the first roller 243 is arranged on the side of the fifth support frame 241 away from the rotating disc 234, that is, the first roller 243 can move synchronously with the movement of the fifth support frame 241.

[0079] As shown in Figure 4 and Figure 5 In some embodiments of the present application, the first elastic buffer 242 includes a first telescopic member 2421 and a first elastic member 2422, the first telescopic member 2421 is connected with the side wall of the rotating disc 234, the first output shaft 2423 of the first telescopic member 2421 is connected with the end of the fifth support frame 241 away from the rotating disc 234, and the first elastic member 2422 is sleeved on the first output shaft 2423, so that the first telescopic member 2421 and the first elastic member 2422 respectively provide buffering and damping effects on the fifth support frame 241, thereby providing buffering and damping effects on the milling assembly 250, so as to improve the milling quality.

[0080] In the embodiment, the first telescopic member 2421 is a hydraulic damper, and the first elastic member 2422 is a spring.

[0081] As shown in Figure 5 and Figure 9 In some embodiments of the present application, the buffering structure 251 includes a fourth support frame 2511 and a second elastic buffer 2512, the fourth support frame 2511 is arranged on the side of the fifth support frame 241 away from the first support table 210, and the fifth support frame 241 and the fourth support frame 2511 are detachably connected.

[0082] The other end of the second elastic buffer 2512 is connected with the second driving member 252, so as to provide buffering and damping effect on the second driving member 252 through the second elastic buffer 2512. In addition, it should be noted that the second elastic buffer 2512 is connected with the fourth support frame 2511 through bolts, so as to adjust the overhanging length of the second elastic buffer 2512 to control the milling and grinding radial force, so as to adapt to different workpiece shapes and defects and improve the milling and grinding quality.

[0083] It should be noted that the axis direction of the second elastic buffer 2512 is perpendicular to the first direction.

[0084] As shown in Figure 4 , Figure 5 and Figure 9 , in some embodiments of the present application, the second elastic buffer 2512 comprises a second telescopic member 25121 and a second elastic member 25122, the second telescopic member 25121 is connected with the fourth support frame 2511, the second output shaft 25123 of the second telescopic member 25121 is connected with the second driving member 252, and the second elastic member 25122 is sleeved on the second output shaft 25123, so as to provide buffering and damping effect on the second driving member 252 along the axis direction of the second output shaft 25123 through the second telescopic member 25121 and the second elastic member 25122, thereby providing buffering and damping effect on the milling head 253 along the axis direction of the second output shaft 25123, so as to improve the milling quality of the milling head 253 on the opening of the workpiece.

[0085] As shown in Figure 4 and Figure 9 , in some embodiments of the present application, the buffering structure 251 further comprises a support plate 2513, which is arranged between the second driving member 252 and the second elastic member 25122, so as to connect the second driving member 252 and the second elastic member 25122 through the support plate 2513, so as to ensure the stability of the connection between the second driving member 252 and the second elastic member 25122.

[0086] It should be noted that, in some embodiments of the present application, the axis of the output end of the second driving member 252, the axis of the first roller 243 and the axis of the rotating disc 234 are parallel to the first direction.

[0087] As shown in Figure 11 , in some embodiments of the present application, the detection and recognition device 400 comprises a first support frame 410, a mechanical arm 420, a connecting frame 430 and a visual recognizer 440.

[0088] The mechanical arm 420 is arranged on one side of the first support frame 410 along a first direction, the connecting frame 430 is arranged at one end of the mechanical arm 420 away from the first support frame 410, the connecting frame 430 is driven to move by the mechanical arm 420, the visual identifier 440 is arranged on one side of the connecting frame 430, and the identification end of the visual identifier 440 faces the detection and identification area 112. The visual identifier 440 is configured to detect the opening edge of the workpiece, and to automatically detect and analyze the size, shape and defects of the workpiece.

[0089] As shown in the drawings, Figure 11 In some embodiments of the present application, the detection and identification device 400 further comprises a cleaner 450 arranged on one side of the connecting frame 430 away from the visual identifier 440. The cleaner 450 is configured to clean the opening edge of the workpiece, and the mechanical arm 420 can assist the cleaner 450 and the visual identifier 440 to perform a full range of work tasks on the opening edge of the workpiece, so that the visual identifier 440 can better and more accurately detect and analyze the size, shape and defects of the workpiece.

[0090] In some embodiments of the present application, the cleaner 450 is a milling and grinding machine, a laser cleaning machine, or an air gun, and is preferably a laser cleaning machine.

[0091] As shown in the drawings, Figure 6 In some embodiments of the present application, the large shipborne launching device and pre-milling equipment further comprises a tool conversion device 500, wherein the tool conversion device 500 is used to replace the milling head 253 in the milling device 200, the tool conversion device 500 is arranged in the tool conversion area 320, and the tool conversion device 500 comprises a second support frame 510, a first rotary driving member 520, a first horizontal driving member 530, a first vertical driving member 540 and a clamping member 550.

[0092] The first rotary driving member 520 is arranged on one side of the second support frame 510 along the first direction, the output end of the first rotary driving member 520 is arranged away from the second support frame 510 along the first direction, the first horizontal driving member 530 is arranged on one side of the first rotary driving member 520 away from the second support frame 510, and the first horizontal driving member 530 is connected with the output end of the first rotary driving member 520, so that the first horizontal driving member 530 is driven to rotate by the first rotary driving member 520.

[0093] In addition, the first vertical driving member 540 is arranged on the side of the first horizontal driving member 530 away from the first rotating driving member 520, and the output end of the first vertical driving member 540 is connected to the output end of the first horizontal driving member 530, so that the first vertical driving member 540 is driven by the first horizontal driving member 530 to move in the horizontal direction. The clamping member 550 is arranged on the output end of the first horizontal driving member 530, so that the clamping member 550 is driven by the first horizontal driving member 530 to move.

[0094] It should be noted that the tool conversion device 500 can receive the control instruction (such as the control instruction for replacing the milling head) sent by the control system, that is, the automatic detection and analysis of the size, shape and defects of the workpiece are performed by the detection and recognition device 400, and the analysis result is sent to the control system, and then the control system sends a control instruction to the tool conversion device 500 according to the analysis result, so that the first rotating driving member 520, the first horizontal driving member 530 and the first vertical driving member 540 cooperate with each other according to the control instruction, and drive the clamping member 550 to clamp the corresponding milling head 253 in the tool assembly 600 and replace it into the milling device 200, so as to ensure the quality of the milling of the workpiece by the milling device 200.

[0095] In the embodiment, the clamping part of the clamping member 550 is provided with a groove structure and a non-slip pad to better clamp the tool.

[0096] It can be understood that the position of the clamping member 550 can be accurately controlled by the first rotating driving member 520, the first horizontal driving member 530 and the first vertical driving member 540, so as to ensure the accuracy of clamping and replacing the milling head 253 by the clamping member 550.

[0097] As shown in Figure 7 and Figure 8 In some embodiments of the present application, the large-scale shipborne launch device brazing pre-milling equipment further comprises a tool assembly 600 adjacent to the tool conversion device 500, and the tool assembly 600 comprises a third support frame 610, a third driving member 620, an adapter 630, a supporting member 640 and a plurality of milling heads 253.

[0098] It should be noted that each of the plurality of milling heads 253 is different, so as to mill the opening edge of different workpieces and improve the flexibility of the large-scale shipborne launch device brazing pre-milling equipment in use.

[0099] The third driving member 620 is arranged on one side of the third supporting frame 610, the adapter 630 is connected with the output end of the third driving member 620, so that the adapter 630 is driven to rotate by the third driving member 620, and the supporting member 640 is arranged on the side, away from the third driving member 620, of the adapter 630, so that the adapter 630 drives the supporting member 640 to rotate in the process of rotating, the supporting member 640 has a plurality of mounting grooves 641, and the milling and grinding head 253 is arranged in the mounting groove 641, each milling and grinding head 253 is arranged in one mounting groove 641, so that the milling and grinding head 253 is limited by the groove wall of the mounting groove 641, and the stability of the milling and grinding head 253 on the supporting member 640 is ensured.

[0100] In the embodiment, the milling and grinding head 253 is at least partially located outside the mounting groove 641 in the first direction, so that the clamping member 550 clamps the milling and grinding head 253 on the supporting member 640.

[0101] As shown in the drawings, Figure 1 In some embodiments of the present application, the large shipborne launch device brazing pre-milling and grinding equipment further comprises a dust collector 700, the dust collector 700 is arranged on one side of the first frame body 110, and the dust suction port 710 of the dust collector 700 faces the milling and grinding area 113.

[0102] It should be noted that when the milling and grinding device 200 automatically mills and grinds the opening edge of the workpiece and prepares the bevel, the dust collector 700 simultaneously operates to reduce dust.

[0103] As shown in the drawings, Figure 12 The present application provides a control method, which is applied to the large shipborne launch device brazing pre-milling and grinding equipment in any of the above embodiments, and the control method comprises the following steps: In step S100, a workpiece to be processed is obtained, and the workpiece is moved from the feeding area to the carrying table in the loading area by the gantry.

[0104] The workpiece to be processed is obtained and placed in the feeding area 310, and before the workpiece is moved to the loading area 111, the carrying table 130 is also moved to the loading area 111, and when the carrying table 130 is located in the loading area 111, the workpiece in the feeding area 310 is moved to the carrying table 130 in the loading area 111 by the gantry 300.

[0105] In step S200, the workpiece is identified, the driving assembly controls the carrying table to move from the loading area to the detection and identification area, the workpiece is visually detected and analyzed by the detection and identification device, and the detection and analysis results are sent to the control system.

[0106] The driving assembly 120 controls the moving of the bearing table 130 from the feeding area 111 to the detection and identification area 112.

[0107] Specifically, the first gear 123 is driven to rotate along the first hour hand by the first driving member 121, and the first gear 123 is driven to move along the first rack 122 by the meshing action between the first rack 122 and the first gear 123, so that the first driving member 121 and the bearing table 130 are driven to move from the feeding area 111 to the detection and identification area 112 by the first gear 123, and the workpiece is driven to move from the feeding area 111 to the detection and identification area 112 by the bearing table 130.

[0108] The detection and identification device 400 performs visual detection and analysis on the workpiece, and detects and analyzes the size, shape and defects of the workpiece, and sends the analysis result to the control system, so that the control system sends a control instruction to the milling and grinding device 200 or sends a control instruction to the tool switching device 500 to replace the milling head 253, so that the tool switching device 500 selects the corresponding milling head 253 in the tool assembly, and the milling and grinding device 200 mills the opening edge of the workpiece in combination with the detection result of the workpiece.

[0109] Step S300, milling head replacement, whether the milling head needs to be replaced is determined according to the detection and analysis, if yes, the control system sends a control instruction to the tool switching device to replace the milling head, the tool switching device selects the corresponding milling head in the tool assembly, and the selected milling head is replaced to the milling and grinding device.

[0110] It can be understood that whether the milling head 253 needs to be replaced is determined according to the detection result of the detection and identification device 400, the analysis result is sent to the control system, and the control system receives the analysis result and sends a control instruction to the tool switching device 500.

[0111] If the control instruction is a replacement instruction of the milling head, the control system sends a control instruction to the tool switching device 500 to replace the milling head 253, the tool switching device 500 selects the corresponding milling head 253 in the tool assembly 600, and the selected milling head 253 is replaced to the milling and grinding device 200, so as to ensure the quality of the milling and grinding processing of the workpiece.

[0112] If not, the step of assembling the milling and grinding device and the workpiece is performed.

[0113] It can be understood that if the milling head 253 does not need to be replaced, steps S400 to S600 are performed.

[0114] Step S400, assembly of the milling and grinding device and the workpiece, the driving assembly controls the bearing table to move the recognized workpiece from the detection and recognition area to the milling and grinding area, the gantry moves the milling and grinding device to the milling and grinding area, and the milling and grinding device is installed on the inner wall of the workpiece.

[0115] Wherein, after the workpiece is detected and analyzed by the detection and recognition device 400, the first gear 123 is driven to rotate along the first hour hand by the first driving member 121, and the first driving member 121 and the bearing table 130 are moved from the detection and recognition area 112 to the milling and grinding area 113, so that the workpiece is moved from the detection and recognition area 112 to the milling and grinding area 113 by the bearing table 130.

[0116] Secondly, the milling and grinding device 200 is moved to the milling and grinding area 113 by the gantry 300, and the milling and grinding device 200 is assembled on the inner wall of the workpiece in the milling and grinding area 113.

[0117] Specifically, the sliding arm 222 is fixed in the opening inner wall of the workpiece to be processed by the suction cup head 223 in the milling and grinding device 200, so as to realize the first device profiling positioning, and the first roller 243 is pushed to tightly adhere to the opening inner wall of the container by the first elastic buffer 242 and the fifth support frame 241, so as to realize the second device profiling positioning, so as to ensure the stability of the assembly of the milling and grinding device 200 and the workpiece.

[0118] Step S500, workpiece milling, the opening edge of the workpiece is milled by the milling head of the milling and grinding device.

[0119] Wherein, the rotating member 233 is driven to rotate by the second rotating driving member 231, and the turntable 234 is driven to rotate by the rotating member 233, so that the elastic support structure 240 and the milling head 253 are driven to rotate by the turntable 234, so that the first elastic buffer 242 and the fifth support frame 241 push the first roller 243 to move along the workpiece opening inner wall in the profiling mode, and in the profiling moving process, the container opening edge is automatically milled and beveled by the milling head 253.

[0120] It should be noted that the workpiece is milled in the milling and grinding area 113, and the dust collector 700 is operated, and the dust generated in the workpiece milling process is absorbed by the dust collector 700, so as to reduce the dust.

[0121] Step S600, unloading, the workpiece after milling is moved to the discharging area by the driving assembly, and then the workpiece on the discharging area is transferred to the finished product area by the gantry.

[0122] It should be noted that when the workpiece milling and grinding is completed, the milling and grinding device 200 is transferred from the milling and grinding area 113 to the tool conversion area 320 through the gantry 300, so as to replace the milling head 253 of the milling and grinding device 200, and facilitate the milling and grinding of the next workpiece. Secondly, the workpiece after milling and grinding is moved to the unloading area 116 through the driving assembly 120, and the workpiece after milling and grinding is transferred from the unloading area 116 to the finished product area 330 through the gantry 300, so as to complete the milling and grinding of the workpiece.

[0123] In some embodiments of the present application, the workpiece identification step includes: workpiece cleaning, cleaning the surface of the workpiece by the cleaner 450.

[0124] It can be understood that before the detection and identification device 400 detects and identifies the workpiece, the workpiece is preliminarily cleaned by the cleaner 450 to ensure the cleanliness of the surface of the workpiece, so that the detection and identification device 400 can better detect and analyze the size, shape and defects of the workpiece, improve the accuracy of workpiece identification and analysis, and thus ensure the quality of workpiece milling and grinding processing.

[0125] In all examples shown and described herein, any specific values should be interpreted as merely exemplary and not as a limitation, and thus other examples of the example embodiments can have different values.

[0126] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and thus once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0127] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application.

Claims

1. A milling and grinding device for pre-coating of a large shipborne launcher, characterized in that, include: A conveying device includes a first frame, a drive assembly, and a carrier platform. The first frame defines a loading area, a detection and identification area, a milling area, and a unloading area. The drive assembly is connected to the first frame and is configured to drive the carrier platform to move in the loading area, the detection and identification area, the milling area, and the unloading area. A milling device is disposed on one side of the conveying device, and the milling device is configured to mill the workpiece. A gantry frame defines a material feeding area, a tool changing area, and a finished product area adjacent to the first frame. The gantry frame is configured to move the milling device in the milling area and the tool changing area, and the gantry frame is also configured to move the workpiece. An inspection and identification device is disposed on one side of the first frame, and the inspection and identification device is configured to inspect the workpiece.

2. The pre-coating milling equipment for large shipborne launchers according to claim 1, characterized in that, The milling device includes a first support platform, a telescopic component, a rotating component, an elastic support structure, and a milling component; The large shipborne launch device pre-coating milling equipment has a first direction, and the telescopic component is disposed on one side of the first support platform along the first direction. The telescopic component includes a first transmission structure, multiple sliding arms and a suction head. The sliding arms are movably connected to the first transmission structure, and the suction head is disposed at the end of the sliding arm away from the first transmission structure. The rotating component is disposed on the side of the first support platform away from the telescopic component, and the rotating component includes a plurality of rotating parts that rotate relative to the first support platform; The elastic support structure is movably connected to the rotating part along a direction perpendicular to the first direction; The milling assembly is configured to mill the edge of the workpiece opening. The milling assembly includes a buffer structure, a second drive member, and a milling head. The buffer structure is connected to the rotating assembly. The second drive member is elastically connected to the output end of the buffer structure. The milling head is disposed on the side of the second drive member facing the buffer structure along the first direction.

3. The pre-coating milling equipment for large shipborne launchers according to claim 2, characterized in that, The first transmission structure includes a fourth driving member, a fixed rod, multiple connecting rods, and multiple third slide rails, wherein the fourth driving member and the multiple third slide rails are respectively connected to the first support platform; One end of the fixed rod is connected to the output end of the fourth driving component, and the other end of the fixed rod is rotatably connected to one end of the plurality of connecting rods. The end of the connecting rod away from the fixed rod is connected to one end of the sliding arm. The sliding arm is slidably connected to the third slide rail, and the suction cup head is disposed at the end of the sliding arm away from the connecting rod.

4. The pre-coating milling equipment for large shipborne launchers according to claim 3, characterized in that, The telescopic assembly further includes a fixed cantilever arm, which is threaded to the first support platform along a direction perpendicular to the first direction. The fixed cantilever arm and the sliding arm are spaced apart, and the suction cup head is provided at the end of the fixed cantilever arm away from the fixed rod. The extension directions of the fixed cantilever and the plurality of sliding arms intersect the axis of the first support platform.

5. The pre-coating milling equipment for large shipborne launchers according to claim 2, characterized in that, The rotating assembly includes a second rotating drive, a second support platform, a rotating component, and a turntable; The second support platform is disposed on the side of the first support platform away from the telescopic component, and the second rotary drive member is disposed on the side of the second support platform facing the first support platform; The rotating component is disposed on the side of the second support platform away from the first support platform and is connected to the output end of the second rotating drive component. The turntable is connected to the end of the rotating component away from the second rotating drive component along the first direction. Along a direction perpendicular to the first direction, the circumference of the turntable is provided with a plurality of spaced-apart guides to form the rotating part, and the extending directions of the plurality of guides intersect the axis of the turntable at the same point.

6. The pre-coating milling equipment for large shipborne launchers according to claim 5, characterized in that, The elastic support structure includes a fifth support frame, a first elastic buffer, and a first roller, wherein the fifth support frame is slidably connected to the guide member; One end of the first elastic buffer is connected to the turntable, and the other end of the first elastic buffer is connected to the fifth support frame. The first roller is disposed on the side of the fifth support frame away from the turntable.

7. The pre-coating milling equipment for large shipborne launchers according to any one of claims 1 to 6, characterized in that, The detection and identification device includes a first support frame, a robotic arm, a connecting frame, a vision recognition device, and a cleaner; The robotic arm is disposed on one side of the first support frame, the connecting frame is disposed at the end of the robotic arm away from the first support frame, the vision recognition device is disposed on one side of the connecting frame, the recognition end of the vision recognition device faces the detection recognition area, and the vision recognition device is configured to detect the edge of the workpiece opening; The cleaner is located on the side of the connecting frame away from the vision recognition device, and the cleaner is configured to clean the edges of the workpiece opening.

8. The pre-coating milling equipment for large shipborne launchers according to any one of claims 2 to 6, characterized in that, The pre-coating milling equipment for the large shipborne launch device also includes a tool conversion device, which is located in the tool conversion area. The tool conversion device includes a second support frame, a first rotary drive component, a first horizontal drive component, a first vertical drive component, and a clamping component. The first rotary drive member is disposed on one side of the second support frame along the first direction, the first horizontal drive member is disposed on the side of the first rotary drive member away from the second support frame, the first vertical drive member is disposed on the side of the first horizontal drive member away from the first rotary drive member, and the clamping member is disposed at the output end of the first horizontal drive member.

9. The pre-coating milling equipment for large shipborne launchers according to claim 8, characterized in that, The pre-coating milling equipment for the large shipborne launch device also includes a tool assembly, which is adjacent to the tool conversion device. The tool assembly includes a third support frame, a third drive component, a converter component, a support component, and multiple milling heads. The third driving component is disposed on one side of the third support frame, the adapter is connected to the output end of the third driving component, the support component is disposed on the side of the adapter component away from the third driving component, the support component has multiple mounting slots, and the milling head is disposed in the mounting slots.

10. A control method applied to the pre-coating milling equipment for a large shipborne launch device according to any one of claims 1 to 9, characterized in that, The control method includes the following steps: The workpiece to be processed is obtained and moved from the unloading area to the bearing platform of the loading area by the gantry crane; Workpiece identification involves the drive component controlling the carrier platform to move from the loading area to the detection and identification area, where the detection and identification device performs visual inspection and analysis on the workpiece and sends the inspection and analysis results to the control system. For milling head replacement, the system determines whether the milling head needs to be replaced based on the detection and analysis. If so, the system sends a control command to the tool conversion device to replace the milling head. The tool conversion device selects the corresponding milling head from the tool assembly and replaces the selected milling head onto the milling device. The milling device is assembled with the workpiece. The drive component controls the carrier to move the workpiece from the detection and identification area to the milling area after identification. The gantry moves the milling device to the milling area and installs the milling device on the inner wall of the workpiece. Workpiece milling involves milling the open edges of the workpiece using the milling head of a milling device. Unloading involves moving the milled workpiece to the unloading area via a drive assembly, and then transferring the workpiece from the unloading area to the finished product area via a gantry crane.

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