Self-adaptive variable-diameter spiral groove numerical control machining method and device based on wood curvature perception

Abstract

The invention discloses a self-adaptive variable-diameter spiral groove numerical control machining method and device based on wood curvature perception, and belongs to the technical field of wood spiral groove machining. The method comprises the following steps that S1, wood feeding and positioning are conducted, square timber to be machined is fixed through a self-adaptive clamp, and it is ensured that the axis of the square timber is aligned with the machining standard; s2, real-time data collection is conducted, specifically, the front face, the back face and the two side faces of the batten are scanned through multiple sets of laser displacement sensors, the curvature and moisture content data of the wood are collected in a high-precision mode through the multiple sets of laser displacement sensors, and a customized tool path matched with irregular deformation of the wood is generated in combination with a least square method curvature fitting algorithm; and meanwhile, a cutting pressure dynamic compensation mechanism is matched, the cutting pressure is stabilized within a reasonable range, heat expansion and cold contraction deformation of the groove profile is avoided through composite cooling shaping after machining, finally, the groove profile machining precision reaches + / -0.05 mm, the problems that traditional fixed parameter machining is poor in adaptability and low in size consistency are thoroughly solved, and the follow-up assembly difficulty is greatly reduced.

Description

Technical Field

[0001] This invention belongs to the field of wood grooving technology, specifically an adaptive variable diameter grooving CNC machining method and device based on wood curvature sensing. Background Technology

[0002] In the field of wood processing, especially in the grooving process of irregularly shaped square timber, wood inevitably has natural defects such as natural curvature deformation and uneven moisture content distribution due to its growth characteristics. This places extremely high demands on the precision and consistency of grooving.

[0003] The feed mechanism and tool path of existing grooving equipment are mostly preset fixed values. Before processing, the equipment parameters need to be manually adjusted according to the nominal specifications of the wood. During the processing, it cannot respond to the real-time curvature changes of the wood. For square timber with curvature deformation, fixed path processing is prone to insufficient fit between the groove depth and width and the wood surface, resulting in problems such as excessive cutting causing wood cracking or shallow cutting causing unqualified processing. Summary of the Invention

[0004] The purpose of this invention is to provide an adaptive variable diameter rotary groove CNC machining method and apparatus based on wood curvature sensing, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an adaptive variable diameter rotary groove CNC machining method based on wood curvature sensing, comprising the following steps:

[0006] S1: Timber loading and positioning, fixing the square timber to be processed with adaptive clamps to ensure that the axis of the square timber is aligned with the processing reference;

[0007] S2: Real-time data acquisition, scanning the front, back and two sides of the timber with multiple sets of laser displacement sensors to collect surface curvature data and moisture content distribution data of the timber. The data sampling frequency is ≥100Hz, and the collected data is transmitted to the CNC controller.

[0008] S3: Path planning and parameter optimization. Based on the collected data, the CNC controller generates a variable-diameter groove tool path suitable for the curvature deformation of the log through an algorithm, and automatically optimizes the tool speed, feed rate and depth of cut parameters.

[0009] S4: Preheating and softening treatment, the preheating module precisely heats the square timber processing area, and the heating time is dynamically adjusted according to the moisture content of the square timber;

[0010] S5: Adaptive grooving machining. The CNC controller controls the grooving tool to process according to the optimized path and parameters. During the machining process, the tool force data is fed back in real time, and the cutting pressure is dynamically adjusted.

[0011] S6: Cooling and shaping process, the processed tank shape is cooled by a composite cooling module of atomized water and cold air;

[0012] S7: Processing inspection and blanking. The vision inspection module detects the accuracy of the groove dimensions. If the accuracy meets the standard, the blanking is completed. If the accuracy does not meet the standard, the feedback is sent to the CNC controller for parameter correction.

[0013] As a further preferred embodiment of this technical solution: the algorithm in step S3 includes a data filtering module, a curvature fitting module, a path generation module and a parameter optimization module, wherein the curvature fitting adopts the least squares method and the fitting error is ≤0.02mm.

[0014] As a further preferred embodiment of this technical solution: in step S4, when the moisture content of the square timber is in the range of 10-15%, the heating time of the preheating module is set to 30-60 seconds.

[0015] As a further preferred embodiment of this technical solution: an adaptive variable diameter grooving CNC machining device based on wood curvature sensing, comprising a frame, an adaptive positioning fixture assembly, a laser data acquisition module, a preheating module, a grooving module, a cooling and shaping module, a vision inspection module, and a CNC controller; the CNC controller is electrically connected to the adaptive positioning fixture assembly, the laser data acquisition module, the preheating module, the grooving module, the cooling and shaping module, and the vision inspection module, respectively, for receiving data from each module, generating machining paths, optimizing machining parameters, and controlling the collaborative work of each module; the vision inspection module includes an industrial camera, and the industrial camera is positioned to the side of the cooling and shaping module.

[0016] As a further preferred embodiment of this technical solution: the adaptive positioning fixture assembly includes:

[0017] The V-shaped positioning block is slidably connected to the conveyor table set on the frame for clamping the wood. The conveyor table is slidably connected to the limiting groove opened in the frame, and a pressure sensor is set on the inner side of the V-shaped positioning block.

[0018] A bidirectional threaded rod is rotatably connected to the conveyor table to drive the V-shaped positioning block to move, and the V-shaped positioning block is threadedly connected to the bidirectional threaded rod.

[0019] Servo motor one is set on one side of the conveyor table, and one end of the bidirectional threaded rod is fixedly arranged at the output end of servo motor one;

[0020] Lead screw one is rotatably connected to the bottom of the frame, and the bottom of the conveyor table moves along lead screw one;

[0021] Servo motor 2 is bolted to one end of the bottom of the frame, and one end of lead screw 1 is fixedly connected to the output end of servo motor 2.

[0022] As a further preferred embodiment of this technical solution: the laser data acquisition module includes:

[0023] A laser displacement sensor is positioned on the side of the adaptive positioning fixture assembly;

[0024] A slider is used to support the laser displacement sensor, and the upper end of the laser displacement sensor is mounted on the bottom of the slider.

[0025] A locking bolt, threaded through the upper end of the slider, is used to limit the slider's movement.

[0026] The bracket is bolted to the frame, and the slider is slidably connected to the bracket.

[0027] As a further preferred embodiment of this technical solution: the preheating module includes:

[0028] Infrared heating tubes are used to preheat wood;

[0029] The protective housing is fitted over the infrared heating tube and is bolted to the frame on the side of the laser data acquisition module. A temperature sensor is installed inside the protective housing.

[0030] As a further preferred embodiment of this technical solution: the grooving module includes:

[0031] The cutting tool assembly is located to the side of the preheating module;

[0032] The feed carriage is used to support the tool assembly, and the power seat of the tool assembly is slidably connected in a groove opened in the feed carriage;

[0033] The second lead screw is arranged on one side of the feed frame, and the feed frame moves along the second lead screw;

[0034] Servo motor three is used to drive lead screw two to rotate, and the upper end of lead screw two is fixedly arranged at the output end of servo motor three.

[0035] The mounting bracket is bolted to the machine frame, and the servo motor is mounted on the upper end of the mounting bracket. The lower end of the lead screw is rotatably connected to the mounting bracket, and the feed bracket is slidably connected to the limiting groove opened inside the mounting bracket.

[0036] As a further preferred embodiment of this technical solution: the grooving module is also provided with an adaptive pressure compensation mechanism, including:

[0037] The tension spring is fixedly arranged at the lower end on the upper end of the tool assembly power seat to adjust the pressure of the tool assembly, and the power seat is equipped with a pressure sensor.

[0038] The telescopic cylinder is mounted on the feed frame, and its output end passes through the feed frame and is fixedly connected to the upper end of the tension spring.

[0039] As a further preferred embodiment of this technical solution: the cooling and shaping module includes:

[0040] The cooling rack is bolted to the frame.

[0041] Atomizing nozzles, mounted on a cooling rack, are used to cool the grooved wood.

[0042] A water pipe runs through the cooling rack and connects to the atomizing nozzle to supply water.

[0043] An air duct is installed inside the cooling rack to provide airflow. The cooling rack has multiple air outlets that communicate with the air duct, and one end of the air duct is connected to the air cooler.

[0044] A circulating filter water tank, located at the bottom of the frame, is used to recycle cooling water;

[0045] The water pump is located on one side of the circulating filter tank, with its inlet end passing through the circulating filter tank and its outlet end connected to one end of the water pipe.

[0046] Compared with the prior art, the beneficial effects of the present invention are:

[0047] 1. In this invention, multiple sets of laser displacement sensors are used to collect high-precision data on the curvature and moisture content of wood. The least squares curvature fitting algorithm is combined to generate a customized tool path that adapts to the irregular deformation of the wood. At the same time, a dynamic compensation mechanism for cutting pressure is used to stabilize the cutting pressure within a reasonable range. After processing, composite cooling and shaping are used to avoid thermal expansion and contraction deformation of the groove. Finally, the machining accuracy of the groove reaches ±0.05mm, which completely solves the problems of poor adaptability and low dimensional consistency of traditional fixed parameter processing, and greatly reduces the difficulty of subsequent assembly.

[0048] 2. In this invention, the wood processing area is precisely preheated and softened by infrared heating tubes before processing to reduce wood cutting stress and avoid cracking and chipping during grooving. During processing, the cutting pressure is dynamically adjusted to further reduce wood processing defects, reducing the material loss rate from the traditional 10-15% to below 3%. At the same time, the cooling water is recycled and filtered to save water resources, thus effectively controlling processing costs from both raw material and consumable aspects.

[0049] 3. In this invention, a fully closed-loop control system is formed with a CNC controller as the core. From wood positioning and conveying, data acquisition, and path parameter optimization to grooving, pressure compensation, cooling and shaping, and accuracy detection, no manual intervention is required for processing parameters throughout the entire process, and the processing efficiency is improved by more than 50% compared with traditional processes. At the same time, the adaptive positioning fixture and adjustable laser sensor bracket can be adapted to square timber of different cross-section specifications, and the path and parameters can be dynamically adjusted according to the curvature of the wood, which can meet the grooving processing requirements of wood with different curvatures. The equipment has strong versatility and a wide range of applications. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the overall structure of the adaptive variable diameter grooving CNC machining method and device based on wood curvature sensing of the present invention. Figure 1 ;

[0051] Figure 2 This is a structural diagram of the adaptive positioning fixture component of the adaptive variable diameter grooving CNC machining method and device based on wood curvature sensing of the present invention.

[0052] Figure 3 This is a structural diagram of the laser data acquisition module of the adaptive variable diameter rotary groove CNC machining method and device based on wood curvature sensing of the present invention;

[0053] Figure 4 This is a schematic diagram of the overall structure of the adaptive variable diameter grooving CNC machining method and device based on wood curvature sensing of the present invention. Figure 2 ;

[0054] Figure 5 This is a structural diagram of the grooving module of the adaptive variable diameter grooving CNC machining method and device based on wood curvature sensing of the present invention.

[0055] Figure 6 This is a structural diagram of the cooling and shaping module of the adaptive variable diameter rotary groove CNC machining method and device based on wood curvature sensing of the present invention;

[0056] Figure 7 This is a flowchart illustrating the workflow of the adaptive variable diameter rotary groove CNC machining method and apparatus based on wood curvature sensing of the present invention.

[0057] Legend: 1. Frame;

[0058] 2. Adaptive positioning fixture assembly; 201. V-shaped positioning block; 202. Bidirectional threaded rod; 203. Servo motor one; 204. Lead screw one; 205. Servo motor two;

[0059] 3. Laser data acquisition module; 301. Laser displacement sensor; 302. Slider; 303. Locking bolt; 304. Bracket;

[0060] 4. Preheating module; 401. Infrared heating tube; 402. Protective housing;

[0061] 5. Grooving module; 501. Tool assembly; 502. Feed frame; 503. Lead screw II; 504. Servo motor III; 507. Mounting bracket;

[0062] Adaptive pressure compensation mechanism: 505, tension spring; 506, telescopic cylinder

[0063] 6. Cooling and shaping module; 601. Cooling rack; 602. Atomizing nozzle; 603. Water pipe; 604. Air pipe; 605. Circulating filter water tank; 606. Water pump;

[0064] 7. Industrial cameras. Detailed Implementation

[0065] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0066] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0067] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0068] Example

[0069] Please see Figures 1-7 As shown, the present invention provides a technical solution: an adaptive variable diameter rotary groove CNC machining method based on wood curvature sensing, comprising the following steps:

[0070] S1: Timber loading and positioning, fixing the square timber to be processed with adaptive clamps to ensure that the axis of the square timber is aligned with the processing reference;

[0071] S2: Real-time data acquisition, scanning the front, back and two sides of the timber with multiple sets of laser displacement sensors to collect surface curvature data and moisture content distribution data of the timber. The data sampling frequency is ≥100Hz, and the collected data is transmitted to the CNC controller.

[0072] S3: Path planning and parameter optimization. Based on the collected data, the CNC controller generates a variable-diameter groove tool path suitable for the curvature deformation of the log through an algorithm, and automatically optimizes the tool speed, feed rate and depth of cut parameters.

[0073] S4: Preheating and softening treatment, the preheating module precisely heats the square timber processing area, and the heating time is dynamically adjusted according to the moisture content of the square timber;

[0074] S5: Adaptive grooving machining. The CNC controller controls the grooving tool to process according to the optimized path and parameters. During the machining process, the tool force data is fed back in real time, and the cutting pressure is dynamically adjusted.

[0075] S6: Cooling and shaping process, the processed tank shape is cooled by a composite cooling module of atomized water and cold air;

[0076] S7: Processing inspection and blanking. The vision inspection module detects the accuracy of the groove dimensions. If the accuracy meets the standard, the blanking is completed. If the accuracy does not meet the standard, the feedback is sent to the CNC controller for parameter correction.

[0077] This process employs an integrated CNC machining logic encompassing perception, calculation, processing, shaping, and detection. First, a fixture precisely positions the wood. Then, multiple laser displacement sensors collect real-time data on wood curvature and moisture content. The CNC controller's algorithm generates a variable-diameter groove tool path adapted to the wood's natural deformation and optimizes processing parameters. Preheating softens the wood, reducing cutting stress. During processing, dynamic feedback on tool force adjusts cutting pressure. Combined with atomized water and cold air cooling, rapid groove shaping is achieved. Finally, visual inspection verifies accuracy; if unqualified, parameters are corrected in a closed-loop manner. The entire process is automated without human intervention, addressing the pain points of traditional processing methods that cannot adapt to wood curvature deformation and have fixed parameters. This enables intelligent and adaptive square timber grooving, achieving a groove machining accuracy of ±0.05mm, reducing material loss to below 3%, and increasing processing efficiency by over 50%.

[0078] In this embodiment, specifically: the algorithm in step S3 includes a data filtering module, a curvature fitting module, a path generation module, and a parameter optimization module, wherein the curvature fitting adopts the least squares method and the fitting error is ≤0.02mm.

[0079] It should be noted that the algorithm in step S3 is a multi-module collaborative data analysis and processing system. The data filtering module removes interference noise from the raw data acquired by laser to ensure data accuracy. The curvature fitting module uses the least squares method to perform curve fitting on the filtered curvature data, controlling the fitting error to ≤0.02mm to restore the true curvature shape of the wood. The path generation module generates a variable-diameter grooved tool movement path that fits the deformation of the wood based on the fitted curvature. The parameter optimization module automatically matches core processing parameters such as tool speed (2000-8000r / min), feed rate (5-30mm / s), and depth of cut by combining moisture content and curvature data, providing accurate data algorithm support for tool path and processing parameters, ensuring that the path is highly adapted to the curvature of the wood, and the fitting error is much lower than that of traditional processing, thus improving the dimensional consistency of grooved processing from the source.

[0080] In this embodiment, specifically: in step S4, when the moisture content of the square timber is in the range of 10-15%, the heating time of the preheating module is set to 30-60 seconds.

[0081] In addition, the preheating module precisely heats the square timber grooving area using infrared heating tubes. Temperature sensors provide real-time feedback on the heating temperature, which is controlled by the CNC controller at 40-60℃. When the moisture content of the square timber is in the core range of 10-15%, the CNC controller dynamically matches the heating time to 30-60 seconds. If the moisture content is too high, the heating time is extended appropriately, and if it is too low, the heating time is shortened. Heating softens the wood fibers, reduces the internal cutting stress of the wood, and prevents cracking and chipping due to excessive hardness of the wood during grooving. This reduces material waste, improves the plasticity of the wood processing, makes the cutting tool smoother, and further ensures the surface processing quality of the groove.

[0082] In this embodiment, specifically: the adaptive variable diameter grooving CNC machining device based on wood curvature perception includes a frame 1, an adaptive positioning fixture assembly 2, a laser data acquisition module 3, a preheating module 4, a grooving machining module 5, a cooling and shaping module 6, a vision inspection module, and a CNC controller; the CNC controller is electrically connected to the adaptive positioning fixture assembly 2, the laser data acquisition module 3, the preheating module 4, the grooving machining module 5, the cooling and shaping module 6, and the vision inspection module, respectively, and is used to receive data from each module, generate machining paths, optimize machining parameters, and control the collaborative work of each module. The vision inspection module includes an industrial camera 7, and the industrial camera 7 is located on the side of the cooling and shaping module 6.

[0083] It should also be understood that, with the frame 1 as the basic carrier, the adaptive positioning fixture assembly 2, laser data acquisition module 3, preheating module 4, grooving module 5, and cooling and shaping module 6 are arranged sequentially along the wood feeding direction. The vision inspection module is located to the side of the cooling and shaping module 6. The CNC controller is the core control center of the entire device and is electrically connected to all functional modules. The CNC controller receives the sensor data (curvature, moisture content, temperature, force, size, etc.) from each module, centrally completes path generation and parameter optimization, and sends control commands to each module to achieve synchronous and collaborative work of all modules, forming a closed-loop control system of data acquisition-command output-processing execution-data feedback. This realizes the integrated linkage of each module of the device, replacing the traditional decentralized processing mode of manual control. No manual intervention is required throughout the processing, which greatly improves processing efficiency, while ensuring the accuracy of the connection between each process. It is suitable for grooving processing of square timber of different specifications and curvatures and has strong versatility.

[0084] In this embodiment, specifically: the adaptive positioning fixture assembly 2 includes: a V-shaped positioning block 201, slidably connected to a conveyor platform on the frame 1 for clamping the wood, and the conveyor platform is slidably connected to a limiting groove in the frame 1, and a pressure sensor is provided on the inner side of the V-shaped positioning block 201; a bidirectional threaded rod 202, rotatably connected to the conveyor platform for driving the V-shaped positioning block 201 to move, and the V-shaped positioning block 201 is threadedly connected to the bidirectional threaded rod 202; a servo motor 203, located on one side of the conveyor platform, and one end of the bidirectional threaded rod 202 is fixedly arranged at the output end of the servo motor 203; a lead screw 204, rotatably connected to the bottom of the frame 1, and the bottom of the conveyor platform moves along the lead screw 204; and a servo motor 205, bolted to one end of the bottom of the frame 1, and one end of the lead screw 204 is fixedly arranged at the output end of the servo motor 205.

[0085] The adaptive positioning fixture assembly 2 is a pre-positioning mechanism for wood processing. It drives the bidirectional threaded rod 202 to rotate via a servo motor 203, which in turn drives two V-shaped positioning blocks 201 to slide along the conveyor table in opposite directions, thus clamping square timbers of different cross-sectional sizes. The pressure sensor inside the V-shaped positioning block 201 detects the clamping pressure in real time and feeds it back to the CNC controller to precisely control the clamping force and prevent the wood from being deformed. The servo motor 205 drives the lead screw 204 to rotate, which in turn drives the conveyor table to slide along the limit groove of the frame 1, thus enabling the square timber to be smoothly conveyed forward along the processing reference axis. This ensures that the wood axis is precisely aligned with the processing reference, achieving automated and deformation-free clamping and positioning of the square timber. It is suitable for the positioning requirements of square timbers of different specifications, with high positioning accuracy, laying the coaxiality foundation for all subsequent processing steps and avoiding groove processing errors caused by wood offset.

[0086] In this embodiment, specifically: the laser data acquisition module 3 includes: a laser displacement sensor 301, arranged on the side of the adaptive positioning fixture assembly 2; a slider 302, used to support the laser displacement sensor 301, and the upper end of the laser displacement sensor 301 is installed on the bottom of the slider 302; a locking bolt 303, threaded through and connected to the upper end of the slider 302, used to limit the slider 302; and a bracket 304, which is installed on the frame 1 by bolts, and the slider 302 is slidably connected to the bracket 304.

[0087] In this embodiment, the laser data acquisition module 3 is the core sensing mechanism for wood curvature and moisture content. Four sets of laser displacement sensors 301 (detection accuracy ±0.01mm) are installed at the bottom of the slider 302. The slider 302 can slide along the bracket 304 on the frame 1. The position of the slider 302 is fixed by locking bolts 303. The sensor spacing can be adjusted to 50-80mm and covers the entire length of the square timber processing. The sensors scan synchronously from the front, back and both sides of the timber, collecting curvature and moisture content data at a sampling frequency of ≥100Hz. The collected electrical signals are transmitted to the CNC controller in real time, providing raw data for subsequent path planning and parameter optimization. This enables multi-dimensional, high-frequency, and high-precision data acquisition of wood, with no detection blind spots and a data sampling accuracy of ±0.01mm, providing a real and accurate data source for algorithm processing. The bracket 304 can be manually adjusted to adapt to the detection needs of different specifications of square timber, making operation convenient.

[0088] In this embodiment, specifically: the preheating module 4 includes: an infrared heating tube 401 for preheating the wood; a protective shell 402, which is fitted over the infrared heating tube 401 and is bolted to the frame 1 on the side of the laser data acquisition module 3, and a temperature sensor is provided inside the protective shell 402.

[0089] The preheating module 4 is a softening treatment mechanism for wood before cutting. The infrared heating tube 401 is the core heating element, and a protective shell 402 is installed on the outside to provide heat insulation and prevent heat loss. The temperature sensor (PT100, detection accuracy ±1℃) inside the protective shell 402 detects the temperature of the heating area in real time and feeds it back to the CNC controller. The CNC controller dynamically adjusts the heating power according to the moisture content data of the wood, and accurately controls the temperature of the processing area at 40-60℃. This achieves directional and precise heating of the wood processing area, softening only the processing part without affecting the overall performance of the wood. This allows for precise control of the heating temperature and range, effectively softening the wood fibers, reducing cutting stress, and reducing wood cracking and chipping. At the same time, the high temperature detection accuracy prevents the wood from carbonizing and deforming due to overheating, ensuring the physical properties of the wood after processing.

[0090] In this embodiment, specifically: the grooving module 5 includes: a tool assembly 501, arranged on the side of the preheating module 4; a feed frame 502, used to support the tool assembly 501, and the power seat of the tool assembly 501 is slidably connected in the groove opened in the feed frame 502; a second lead screw 503, arranged on one side of the feed frame 502, and the feed frame 502 moves along the second lead screw 503; a third servo motor 504, used to drive the second lead screw 503 to rotate, and the upper end of the second lead screw 503 is fixedly arranged on the output end of the third servo motor 504; a mounting frame 507, connected to the frame 1 by bolts, and the third servo motor 504 is mounted on the upper end of the mounting frame 507, and the lower end of the second lead screw 503 is rotatably connected to the mounting frame 507, and the feed frame 502 is slidably connected in the limiting groove opened inside the mounting frame 507.

[0091] It should be noted that the grooving module 5 is the core processing mechanism of the device. The tool assembly 501 adopts a carbide-coated stepped cutting edge tool (diameter 20-30mm), and its power seat can slide along the slide groove of the feed frame 502. The servo motor 3 504 drives the lead screw 2 503 to rotate, which drives the feed frame 502 to move along the limit groove of the mounting frame 507 to achieve precise tool feeding. The CNC controller controls the tool to complete the variable diameter grooving cutting according to the optimized path and parameters. The pressure sensor 2 collects the force data of the tool in real time and feeds it back to the controller. The lead screw 2 503 drives the tool to achieve high precision and stable feeding, high positioning accuracy, and with the stepped cutting edge tool, the cutting efficiency is high and the tool wear resistance is strong. It can achieve precise machining of variable diameter grooves according to the optimized path, adapt to the irregular changes in the curvature of wood, and the groove machining accuracy reaches ±0.05mm.

[0092] In this embodiment, specifically: the grooving module 5 is also provided with an adaptive pressure compensation mechanism, including: a tension spring 505, the lower end of which is fixedly arranged on the upper end of the power seat of the tool assembly 501, for adjusting the pressure of the tool assembly 501, and a pressure sensor 2 is provided on the power seat; a telescopic cylinder 506, which is installed on the feed frame 502, and the output end passes through the feed frame 502 and is fixedly connected to the upper end of the tension spring 505.

[0093] It should be noted that the adaptive pressure compensation mechanism is a dynamic pressure adjustment mechanism for grooving, used in conjunction with the tool assembly 501. It consists of a tension spring 505 and a telescopic cylinder 506. The lower end of the tension spring 505 is fixed to the power seat of the tool assembly 501, and the upper end is fixed to the output end of the telescopic cylinder 506. During the machining process, the pressure sensor (HBMC16) detects the cutting force data of the tool in real time and transmits it to the CNC controller. The controller compares the actual force with a preset threshold (0.2-0.8MPa). If the pressure is too high, the telescopic cylinder 506 is controlled to contract, causing the tension spring 505 to stretch and buffer the cutting reaction force. If the pressure is too low, the telescopic cylinder 506 is controlled to extend, causing the tension spring 505 to compress and increase the cutting pressure of the tool. This achieves dynamic compensation of the cutting pressure, which is used to dynamically adjust the cutting pressure of the tool in real time, stabilizing the pressure within a reasonable range of 0.2-0.8MPa. This avoids problems such as wood cracking and tool wear due to excessive pressure, or substandard machining and poor groove surface quality due to insufficient pressure, thereby further improving the machining accuracy and surface quality of the groove and extending the tool life.

[0094] In this embodiment, specifically: the cooling and shaping module 6 includes: a cooling rack 601, which is bolted to the frame 1; an atomizing nozzle 602, which is disposed on the cooling rack 601 and used to cool the grooved wood; a water pipe 603, which runs through the cooling rack 601 and is connected to the atomizing nozzle 602, for supplying water; an air pipe 604, which runs through the cooling rack 601 and is used to supply air, and the cooling rack 601 is provided with multiple sets of air outlets connected to the air pipe 604, and one end of the air pipe 604 is connected to a cooler; a circulating filter water tank 605, which is arranged at the bottom of the frame 1 and is used to recover cooling water; and a water pump 606, which is disposed on one side of the circulating filter water tank 605, with the inlet end running through the circulating filter water tank 605 and the outlet end connected to one end of the water pipe 603.

[0095] In addition, the cooling and shaping module 6 serves as a shaping and holding mechanism after the groove is processed. The cooling rack 601 is the basic support, and the atomizing nozzle 602 is connected to the circulating filter water tank 605 and water pump 606 at the bottom of the frame 1 through the water pipe 603. The water pump 606 delivers the filtered cooling water to the atomizing nozzle 602, spraying atomized water onto the processed groove at a pressure of 0.3-0.5MPa. The air pipe 604 is connected to the air cooler, blowing 15-25℃ cold air onto the groove through the air outlet on the cooling rack 601. This system achieves composite cooling using atomized water and cold air. Wastewater generated during cooling flows back to the circulating filter water tank 605 below the cooling rack 601, where it is filtered with a precision of 10μm and then recycled, thus achieving water resource recovery. The composite cooling method enables rapid cooling and shaping of the trough, preventing deformation of the trough dimensions caused by thermal expansion and contraction of the wood and ensuring the stability of the trough dimensions. The circulating and filtered cooling water saves water resources and reduces processing costs. The cooling parameters are controllable and adaptable to the shaping needs of wood of different specifications and moisture contents.

[0096] Working principle or structural principle: During operation, the adaptive positioning fixture assembly 2, through a servo motor, bidirectional threaded rod 202, lead screw 204, and pressure sensor 1, firstly achieves deformation-free clamping of the timber and smooth transport along the processing datum. Then, the four sets of laser displacement sensors 301 of the laser data acquisition module 3 collect curvature and moisture content data from the front, back, and both sides of the timber at a sampling frequency of ≥100Hz and a detection accuracy of ±0.01mm, and transmit the data to the CNC controller. The CNC controller, through its built-in multi-module algorithm, performs data filtering and least squares curvature... After fitting the rate, a variable-diameter groove tool path is generated to adapt to the irregular deformation of the wood, and the machining parameters such as tool speed, feed rate, and cutting depth are automatically optimized. Then, the preheating module 4 uses an infrared heating tube 401 and a temperature sensor to precisely control the temperature of the square wood processing area at 40-60℃, and dynamically adjusts the heating time according to the moisture content to soften the wood fibers and reduce cutting stress. The grooving module 5 is then driven by the servo motor 3 504 to drive the lead screw 2 503, which drives the feed frame 502 and the carbide coated stepped cutting tool to complete the variable-diameter grooving cutting according to the optimized path.

[0097] During the processing, the pressure sensor on the tool power seat detects the cutting force in real time. The CNC controller controls the telescopic cylinder 506 and tension spring 505 of the adaptive pressure compensation mechanism according to the force data to dynamically compensate and stabilize the cutting pressure at 0.2-0.8MPa, so as to avoid the wood from cracking or the processing is not up to standard. The processed square timber then enters the cooling and shaping module 6.

[0098] The wood is rapidly cooled and shaped using a composite cooling method consisting of an atomizing nozzle 602 and a cold air outlet. Cooling wastewater is recycled and filtered through a circulating filter tank 605. Finally, the industrial camera 7 of the vision inspection module captures the groove shape image and checks the dimensional accuracy. If the accuracy meets the standard, the material is cut; otherwise, the data is fed back to the CNC controller, which automatically corrects the processing path and parameters to form a closed-loop adjustment. The entire process relies on the full collaboration of sensor detection, algorithm optimization, and mechanical execution to achieve real-time perception of the wood curvature and adaptive adjustment of variable diameter grooving. There is no manual intervention in the processing parameters throughout the process, which adapts to the processing needs of square timber of different specifications and curvatures, achieving high precision, low loss, and intelligent grooving.

[0099] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0100] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0101] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. An adaptive variable diameter grooving CNC machining method based on wood curvature sensing, characterized in that: Includes the following steps: S1: Timber loading and positioning, fixing the square timber to be processed with adaptive clamps to ensure that the axis of the square timber is aligned with the processing reference; S2: Real-time data acquisition, scanning the front, back and two sides of the timber with multiple sets of laser displacement sensors to collect surface curvature data and moisture content distribution data of the timber. The data sampling frequency is ≥100Hz, and the collected data is transmitted to the CNC controller. S3: Path planning and parameter optimization. Based on the collected data, the CNC controller generates a variable-diameter groove tool path suitable for the curvature deformation of the log through an algorithm, and automatically optimizes the tool speed, feed rate and depth of cut parameters. S4: Preheating and softening treatment, the preheating module precisely heats the square timber processing area, and the heating time is dynamically adjusted according to the moisture content of the square timber; S5: Adaptive grooving machining. The CNC controller controls the grooving tool to process according to the optimized path and parameters. During the machining process, the tool force data is fed back in real time, and the cutting pressure is dynamically adjusted. S6: Cooling and shaping process, the processed tank shape is cooled by a composite cooling module of atomized water and cold air; S7: Processing inspection and blanking. The vision inspection module detects the accuracy of the groove dimensions. If the accuracy meets the standard, the blanking is completed. If the accuracy does not meet the standard, the feedback is sent to the CNC controller for parameter correction.

2. The adaptive variable diameter grooving CNC machining method based on wood curvature sensing according to claim 1, characterized in that: The algorithm in step S3 includes a data filtering module, a curvature fitting module, a path generation module, and a parameter optimization module. The curvature fitting uses the least squares method, and the fitting error is ≤0.02mm.

3. The adaptive variable diameter grooving CNC machining method based on wood curvature sensing according to claim 2, characterized in that: In step S4, when the moisture content of the timber is in the range of 10-15%, the heating time of the preheating module is set to 30-60 seconds.

4. An adaptive variable diameter rotary groove machining device based on wood curvature sensing, applicable to the machining method described in any one of claims 1-3, characterized in that, The system includes a frame (1), an adaptive positioning fixture assembly (2), a laser data acquisition module (3), a preheating module (4), a grooving module (5), a cooling and shaping module (6), a vision inspection module, and a CNC controller. The CNC controller is electrically connected to the adaptive positioning fixture assembly (2), the laser data acquisition module (3), the preheating module (4), the grooving module (5), the cooling and shaping module (6), and the vision inspection module, respectively. It is used to receive data from each module, generate processing paths, optimize processing parameters, and control the collaborative work of each module. The vision inspection module includes an industrial camera (7), and the industrial camera (7) is located on the side of the cooling and shaping module (6).

5. The adaptive variable diameter rotary groove machining method and apparatus based on wood curvature sensing according to claim 4, characterized in that: The adaptive positioning fixture assembly (2) includes: V-shaped positioning block (201) is slidably connected to the conveyor table set on the frame (1) for clamping the wood. The conveyor table is slidably connected to the limiting groove opened in the frame (1). A pressure sensor is set on the inner side of the V-shaped positioning block (201). A bidirectional threaded rod (202) is rotatably connected to the conveyor table to drive the V-shaped positioning block (201) to move, and the V-shaped positioning block (201) is threadedly connected to the bidirectional threaded rod (202); Servo motor 1 (203) is set on one side of the conveyor table, and one end of the bidirectional threaded rod (202) is fixedly arranged at the output end of servo motor 1 (203); Screw 1 (204) is rotatably connected to the bottom of the frame (1), and the bottom of the conveyor table moves along screw 1 (204); Servo motor 2 (205) is bolted to one end of the bottom of the frame (1), and one end of lead screw 1 (204) is fixedly arranged at the output end of servo motor 2 (205).

6. The adaptive variable diameter rotary groove CNC machining method and apparatus based on wood curvature sensing according to claim 5, characterized in that: The laser data acquisition module (3) includes: A laser displacement sensor (301) is arranged on the side of the adaptive positioning fixture assembly (2); A slider (302) is used to support a laser displacement sensor (301), and the upper end of the laser displacement sensor (301) is mounted on the bottom of the slider (302); A locking bolt (303) is threaded through and connected to the upper end of the slider (302) to limit the slider (302); The bracket (304) is bolted to the frame (1), and the slider (302) is slidably connected to the bracket (304).

7. The adaptive variable diameter grooving CNC machining method and apparatus based on wood curvature sensing according to claim 6, characterized in that: The preheating module (4) includes: Infrared heating tube (401) is used to preheat wood; The protective housing (402) is fitted over the infrared heating tube (401) and is mounted on the frame (1) on the side of the laser data acquisition module (3) by bolts. A temperature sensor is installed inside the protective housing (402).

8. The adaptive variable diameter rotary groove CNC machining method and apparatus based on wood curvature sensing according to claim 7, characterized in that: The grooving module (5) includes: The cutting tool assembly (501) is arranged on the side of the preheating module (4); The feed holder (502) is used to support the tool assembly (501), and the power seat of the tool assembly (501) is slidably connected in the groove opened in the feed holder (502); The second lead screw (503) is arranged on one side of the feed frame (502), and the feed frame (502) moves along the second lead screw (503); Servo motor three (504) is used to drive lead screw two (503) to rotate, and the upper end of lead screw two (503) is fixedly arranged at the output end of servo motor three (504); Mounting bracket (507) is bolted to the frame (1), and servo motor three (504) is mounted on the upper end of mounting bracket (507), and the lower end of lead screw two (503) is rotatably connected to mounting bracket (507), and feed bracket (502) is slidably connected to the limiting groove opened inside mounting bracket (507).

9. The adaptive variable diameter grooving CNC machining method and apparatus based on wood curvature sensing according to claim 8, characterized in that: The grooving module (5) is also equipped with an adaptive pressure compensation mechanism, including: The tension spring (505) is fixedly arranged at the lower end on the upper end of the power seat of the tool assembly (501) to adjust the pressure of the tool assembly (501), and a pressure sensor is provided on the power seat. The telescopic cylinder (506) is installed on the feed frame (502), and its output end passes through the feed frame (502) and is fixedly connected to the upper end of the tension spring (505).

10. The adaptive variable diameter rotary groove CNC machining method and apparatus based on wood curvature sensing according to claim 9, characterized in that: The cooling and shaping module (6) includes: Cooling rack (601) is bolted to frame (1); Atomizing nozzle (602) is mounted on a cooling rack (601) and is used to cool the grooved wood. A water pipe (603) is installed inside the cooling rack (601) and connected to the atomizing nozzle (602) to supply water; An air duct (604) is installed inside the cooling rack (601) to provide air. The cooling rack (601) is provided with multiple sets of air outlets that communicate with the air duct (604). One end of the air duct (604) is connected to the air cooler. A circulating filter water tank (605) is arranged at the bottom of the frame (1) for recycling cooling water; A water pump (606) is installed on one side of the circulating filter water tank (605), with its inlet end passing through the circulating filter water tank (605) and its outlet end connected to one end of the water pipe (603).

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