A milling and grinding device and a method of operation thereof

Abstract

This invention provides a milling and grinding device and its working method, relating to the field of industrial robot processing technology. The industrial robot has a base mounted on a mobile platform; a mounting base connected to the movable end of the industrial robot; a first drive spindle mounted on the mounting base, with a milling tool detachably connected to its drive end; a second drive spindle mounted on the mounting base, with a grinding head detachably connected to its drive end; a workpiece calibration device including a workpiece calibration probe for calibrating workpiece coordinates, detachably connected to the drive end of the first drive spindle; and a control device including a pose adjustment module electrically connected to the industrial robot. The pose adjustment module adjusts the industrial robot's pose according to the coordinates of the workpiece with holes, enabling milling and grinding operations on the workpiece, and processing of bevels and cladding layers.

Description

Technical Field

[0001] This invention relates to the field of industrial robot processing technology, and in particular to a milling and grinding device and its working method. Background Technology

[0002] Laser cladding, also known as laser direct metal deposition (LDMD), is a manufacturing technology that uses a laser beam to melt an alloy powder coating on a base metal into a cladding layer, bonding it to a thin, molten layer on the base metal. Laser cladding offers advantages such as high bonding strength, minimal heat-affected zone, and high repair precision, making it widely used for repairing components with high quality, complex shapes, and stringent performance requirements. However, laser cladding is based on rapid directional solidification technology. In this technology, the columnar crystals formed by the high-temperature alloy eliminate transverse grain boundaries perpendicular to the stress axis, resulting in macroscopic anisotropy in mechanical properties. This alters the mechanical properties of the repaired component.

[0003] Laser cladding offers advantages such as small machining allowances, high material utilization, short cycle times, and low costs, but it suffers from relatively poor manufacturing precision. To address this, laser cladding is often combined with lathe machining. Before laser cladding, the bevel needs to be machined on a lathe using a milling machine, and after laser cladding, the cladding layer needs to be polished, providing end-to-end process support for both pre- and post-laser cladding treatments. However, current lathe operations suffer from poor machining precision and low efficiency.

[0004] There is an urgent need to develop a milling and grinding device that can calibrate the workpiece, adjust the position of the milling tool 8, and perform milling and grinding operations on the workpiece to improve processing accuracy and work efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a milling and grinding device and its working method to solve the problems existing in the prior art. It can effectively calibrate the workpiece, adjust the position of the milling tool, and on this basis, perform milling and grinding operations on the workpiece. It can efficiently process bevels and cladding layers, and improve processing accuracy and work efficiency.

[0006] To achieve the above objectives, the present invention provides the following solution: a milling and grinding device, comprising: a mobile platform; an industrial robot, the base of which is disposed on the mobile platform; a mounting base connected to the movable end of the industrial robot; a first drive spindle disposed on the mounting base, the drive end of which is detachably connected to a milling tool; a second drive spindle disposed on the mounting base, the drive end of which is detachably connected to a grinding head; a workpiece calibration device, comprising a workpiece calibration probe for calibrating workpiece coordinates, the workpiece calibration probe being detachably connected to the drive end of the first drive spindle; and a control device, comprising a pose adjustment module electrically connected to the industrial robot, the pose adjustment module adjusting the pose of the industrial robot according to the workpiece coordinates marked by the workpiece calibration probe with holes.

[0007] Preferably, the milling tool includes a face beveling cutter, an in-hole beveling cutter, a face cladding cutter, and an in-hole cladding cutter; the face beveling cutter includes a first tool holder and a first forming cutter that matches the bevel shape of the workpiece with the hole; the in-hole beveling cutter includes a second tool holder, an angle head, and a second forming cutter that matches the in-hole bevel on the workpiece with the hole, the two ends of the angle head being connected to the second tool holder and the second forming cutter respectively; the face cladding cutter assembly includes a third tool holder and a face cutter for removing the excess cladding layer on the face of the workpiece with the hole; the in-hole cladding cutter includes a fourth tool holder and a T-shaped cutter for removing the excess cladding layer inside the hole.

[0008] Preferably, the angle head of the in-hole beveling milling cutter includes a vertically bent section, and the rotation axis of the second forming milling cutter is perpendicular to the rotation axis of the first drive spindle.

[0009] Preferably, the mobile platform is equipped with a tool magazine, a control cabinet, an operating table, and an electrical cabinet. The tool magazine includes a tool storage area capable of accommodating the workpiece calibration probe, the end face beveling cutter, the hole beveling cutter, the end face cladding cutter, and the hole cladding cutter. The operating table is electrically connected to the electrical cabinet, and the electrical cabinet is electrically connected to the control cabinet. An operating panel is provided on the operating table.

[0010] Preferably, the mounting base is a triangular bracket, and the first drive spindle and the second drive spindle are respectively mounted on two adjacent inclined surfaces of the triangular bracket. A light source for supplementing light to the industrial camera is installed in the accommodating cavity. An industrial camera that cooperates with the light source is also provided on the inclined surface of the triangular bracket, and an accommodating cavity is opened in the middle of the triangular bracket.

[0011] Preferably, the first drive spindle is an electric water-cooled spindle, the drive end of which is detachably connected to the milling tool or workpiece calibration probe, and the triangular bracket is provided with an air blowing device for cleaning chips during milling. The second drive spindle is a floating spindle, the drive end of which is detachably connected to the grinding head.

[0012] A method for using a milling and grinding device includes the following steps: S1. Control the movement of the mobile platform, and match the processing range of the milling and grinding device with the position of the workpiece with holes, so that the mobile platform moves into place; S2. The workpiece calibration probe is mounted on the first drive spindle, and the drive end of the first drive spindle is connected to the workpiece calibration probe. S3. Control the industrial robot to make the workpiece calibration probe make contact operation on the end face of the workpiece with holes, mark the coordinates of the workpiece with holes, and calculate the three-dimensional coordinate system of the milling tool based on the coordinates of the workpiece with holes, wherein the Z-axis of the three-dimensional coordinate system is perpendicular to the plane where the end face is located. S4. The control device adjusts the posture of the industrial robot according to the three-dimensional coordinate system, so that the industrial robot is adjusted into position and the center of the hole in the end face is calibrated. S5. The bevel is processed, the workpiece calibration probe is removed, the milling tool is installed on the first drive spindle, and the control device controls the first drive spindle to move through the industrial robot, so that the milling tool can mill the workpiece with holes from the processing start point along the feed direction. S6. The cladding layer is processed. The control device controls the industrial robot to move into position. The first drive spindle drives the milling tool to mill the workpiece with holes from the processing start point along the feed direction. After the milling is completed, the grinding head is installed on the drive end of the second drive spindle. The second drive spindle can drive the grinding head to rotate. The control device adjusts the posture of the industrial robot and polishes the milled position through the grinding head.

[0013] Preferably, step S3 further includes: sequentially touching four points on the end face of the workpiece with holes in a counterclockwise order, denoted as point one, point two, point three, and point four respectively; obtaining a first vector through the coordinates of point one and point three; obtaining a second vector through the coordinates of point two and point four; obtaining the plane normal vector of the plane containing the end face of the workpiece with holes by cross product and normalization of the first vector and the second vector; the plane normal vector is the Z-axis direction vector of the milling tool; and calculating the X-axis direction vector and Y-axis direction vector of the milling tool through the plane normal vector.

[0014] Preferably, step S4 further includes: determining the center of the hole at the end face; the industrial robot drives the workpiece calibration probe to extend into the hole to be processed in the workpiece with the hole, and moves along the X-axis direction vector to obtain contact point X1 and contact point X2, and calculates the center point X0 of the two contact points; moving bidirectionally along the Y-axis direction vector through the center point X0 of the X-axis direction to obtain contact point Y1 and contact point Y2, calculating the center point P of the two contact points, and projecting P onto the plane where the end face is located to obtain the desired center point.

[0015] Preferably, in step S5, when machining the end face of the workpiece with the hole, the first drive spindle drives the milling tool to perform milling along the crack direction; when machining the inner hole of the workpiece with the hole, the rotation axis of the milling tool is perpendicular to the axis of the first drive spindle, and the first drive spindle drives the milling tool to perform milling along the crack direction.

[0016] The present invention achieves the following technical effects compared to the prior art: This invention first controls the moving platform to its designated position; then, a workpiece calibration probe is installed on the first drive spindle, and the drive end of the first drive spindle is connected to the workpiece calibration probe. The workpiece calibration probe makes contact with the end face of the workpiece with a hole, marking the coordinates of the workpiece and calculating the three-dimensional coordinate system of the milling tool based on the coordinates of the workpiece with a hole, ensuring that the Z-axis of the three-dimensional coordinate system is perpendicular to the plane of the end face. The control device adjusts the pose of the industrial robot according to the three-dimensional coordinate system, positioning the industrial robot to its designated position and calibrating the center of the hole in the end face of the workpiece with a hole. When machining the bevel, the workpiece calibration probe is removed, and the milling tool is installed on the first drive spindle. The first drive spindle drives the milling tool to mill the workpiece with a hole from the machining start point along the feed direction. When processing the cladding layer, the posture of the industrial robot can also be adjusted. The control device controls the industrial robot to move into position, and the first drive spindle drives the milling tool to mill the workpiece with holes from the processing start point along the feed direction. After the milling is completed, the grinding head is installed on the drive end of the second drive spindle, which drives the grinding head to rotate. The control device adjusts the posture of the industrial robot, and the grinding head polishes the milled area. This invention can effectively calibrate the workpiece, adjust the posture of the milling tool, and on this basis, perform milling and grinding operations on the workpiece. It can efficiently process bevels and cladding layers, improving processing accuracy and work efficiency.

[0017] Other technical solutions of the present invention also achieve the following technical effects: This invention integrates an industrial robot, tool magazine, guardrail, operating table, electrical cabinet, and control cabinet onto a mobile platform. It combines the grinding and polishing device with the milling device, resulting in a high degree of integration, simple structure, reasonable design, and ease of use. Furthermore, this invention can simultaneously perform beveling and cladding layer grinding and polishing, integrating these two processes into one. This forms an industrial robot milling and grinding composite equipment that meets the pre- and post-processing requirements of laser cladding, improving processing efficiency and quality while reducing operational difficulty and labor costs. The workpiece calibration method provided by this invention introduces a workpiece calibration probe used on machine tools into the industrial robot's processing system, providing an effective solution for calibrating workpieces with holes, simplifying the workflow, and enabling rapid calculation of the processing feed direction. This effectively increases processing accuracy. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall device of the present invention; Figure 2 This is a schematic diagram of the mounting base assembly of the present invention; Figure 3 This is a schematic diagram of the overall tool magazine device of the present invention; Figure 4 This is a schematic diagram illustrating the end face normal vector calibration principle of the present invention; Figure 5 This is a schematic diagram illustrating the principle of center calibration in this invention.

[0020] The components include: 1. Mobile platform; 2. Industrial robot; 3. Mounting base; 4. First drive spindle; 5. Second drive spindle; 6. Grinding head; 7. Workpiece calibration probe; 8. Milling tool; 9. First forming milling cutter; 10. Angle head; 11. Second forming milling cutter; 12. Face milling cutter; 13. T-shaped milling cutter; 14. Tool magazine; 15. Control cabinet; 16. Operating console; 17. Electrical cabinet; 18. Photoelectric sensor; 19. Tool connector; 20. Wheels; 21. Hydraulic outriggers; 22. Guardrail; 23. Tri-color light; 24. Power interface; 25. Air source interface; 26. Industrial camera; 27. Light source; 28. Air hose; 29. ​​Junction box; 30. Cable bundle; 31. Point 1; 32. Point 2; 33. Point 3; 34. Point 4; 35. Vector. 36. Vector 37. Plane normal vector 38. Workpiece with hole; 39. Inner hole; 40. Center point X0; 41. Contact point X1; 42. Contact point X2; 43. Contact point Y1; 44. Contact point Y2; 45. Center point P. Detailed Implementation

[0021] 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.

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Example 1: Please refer to Figures 1 to 5As shown, this embodiment provides a mobile milling device, including a mobile platform 1, an industrial robot 2, a mounting base 3, a first drive spindle 4, a second drive spindle 5, a workpiece calibration device, and a control device. The industrial robot 2 includes a base, which is mounted on the mobile platform 1, providing stable support for the industrial robot 2. The mounting base 3 is mounted on the movable end of the industrial robot 2, and the operation of the industrial robot 2 efficiently drives the mounting base 3 to move synchronously. The first drive spindle 4 is mounted on the mounting base 3, and its drive end is detachably connected to a milling tool 8, preferably a milling cutter. The first drive spindle 4 drives the milling tool 8 to rotate, performing milling operations on the workpiece. The second drive spindle 5 is also mounted on the mounting base 3, and its drive end is detachably connected to a grinding head 6, preferably a flexible grinding head. The second drive spindle 5 drives the grinding head 6 to rotate, performing grinding operations on the workpiece. The workpiece is preferably a perforated workpiece 38, which refers to a workpiece with an inner hole 39 in the middle. The workpiece calibration device includes a workpiece calibration probe 7, which can calibrate the coordinates of the workpiece 38 with holes, and the workpiece calibration probe 7 is detachably connected to the drive end of the first drive spindle 4. The control device includes a pose adjustment module, which is electrically connected to the industrial robot 2, and can adjust the pose of the industrial robot 2 according to the coordinates of the workpiece 38 with holes.

[0024] Working principle: The moving platform 1 is controlled to move, and the processing range of the milling and grinding device is matched with the position of the workpiece 38 with holes. The milling and grinding device can effectively process the workpiece 38 with holes, so that the moving platform 1 moves into position. The workpiece calibration probe 7 is installed on the first drive spindle 4, and the drive end of the first drive spindle 4 is connected to the workpiece calibration probe 7. The industrial robot 2 is controlled to move, so that the workpiece calibration probe 7 makes contact operation on the end face of the workpiece 38 with holes, marks the coordinates of the workpiece 38 with holes, and calculates the three-dimensional coordinate system of the milling tool 8 based on the coordinates of the workpiece 38 with holes. Preferably, the Z-axis of the three-dimensional coordinate system is perpendicular to the plane where the end face of the workpiece 38 with holes is located. The control device adjusts the posture of the industrial robot 2 according to the three-dimensional coordinate system, so that the industrial robot 2 is adjusted into position and the center of the hole in the end face of the workpiece 38 with holes is calibrated. When machining the bevel, the workpiece calibration probe 7 is removed, and the milling tool 8 is mounted on the first drive spindle 4. The control device controls the movement of the industrial robot 2, and the first drive spindle 4 drives the milling tool 8 to mill the perforated workpiece 38 from the machining start point along the feed direction. When machining the cladding layer, the posture of the industrial robot 2 can be adjusted using the same method, and the control device controls its movement. The first drive spindle 4 drives the milling tool 8 to mill the perforated workpiece 38 from the machining start point along the feed direction. After milling, the grinding head 6 is mounted on the drive end of the second drive spindle 5. The second drive spindle 5 drives the grinding head 6 to rotate, and the control device adjusts the posture of the industrial robot 2. The grinding head 6 then polishes the milled area. This invention can effectively calibrate the workpiece, adjust the posture of the milling tool 8, and, based on this, perform milling and grinding operations on the perforated workpiece 38. It can efficiently machine the bevel and cladding layer, improving machining accuracy and work efficiency.

[0025] In one embodiment, both the first drive spindle 4 and the second drive spindle 5 include rotary motors, which drive the corresponding milling tools 8 and grinding heads 6 to rotate. The milling tools 8 include four types of milling cutters: end face beveling cutters, in-hole beveling cutters, end face cladding cutters, and in-hole cladding cutters. The end face beveling cutter includes a first tool holder and a first forming cutter 9. The first forming cutter 9 conforms to the bevel shape of the workpiece 38 with the hole, enabling milling operations on the bevel on the end face of the workpiece 38 with the hole. The in-hole beveling cutter includes a second tool holder, an angle head 10, and a second forming cutter 11, and the angle head 10... The two ends of 0 are connected to the second tool holder and the second forming cutter 11 respectively to meet the requirements of beveling inside the hole; the end face cladding layer milling cutter assembly includes the third tool holder and the face milling cutter 12, which removes the excess height of the cladding layer on the end face of the workpiece 38 with the hole, ensuring the processing efficiency and quality of the end face cladding layer; the hole cladding layer milling cutter includes the fourth tool holder and the T-shaped milling cutter 13, which removes the excess height of the cladding layer inside the hole, ensuring the processing efficiency and quality of the hole cladding layer.

[0026] In this embodiment, the angle head 10 includes a vertical bending section, which can adjust the relative position of the second tool holder and the second forming milling cutter 11, and make the rotation axis of the second forming milling cutter 11 perpendicular to the axis of the first drive spindle 4 through the angle head 10.

[0027] In one embodiment, the mobile platform 1 is provided with a tool magazine 14, a control cabinet 15, an operating table 16, and an electrical cabinet 17. The tool magazine 14 includes a tool storage area, which can store the workpiece calibration probe 7, end face beveling cutters, hole beveling cutters, end face cladding cutters, and hole cladding cutters. Preferably, the tool magazine 14 is within the movable range of the industrial robot 2. A tool puller mechanism is provided on the first drive spindle 4. When the industrial robot 2 drives the first drive spindle 4 to the tool magazine 14, the tool puller mechanism can automatically load the tool and clamp the milling cutter or the workpiece calibration probe 7. The operating table 16 is electrically connected to the electrical cabinet 17, and the electrical cabinet 17 is electrically connected to the control cabinet 15. An operating panel is provided on the operating table 16. Operators can monitor and control the machining process through the control panel 16, and view the equipment status and machining progress in real time. The electrical cabinet 17 coordinates and controls various sub-units of the equipment, and interacts with the control system through a communication interface to provide feedback on equipment status and control results. Preferably, the control device is located in the control cabinet 15, which controls the machining posture of the industrial robot 2 and provides real-time feedback on the status of the industrial robot 2 to the electrical cabinet 17. The tool magazine 14 also includes a photoelectric sensor 18 for tool position detection. The tool magazine 14 is equipped with a tool connector 19. The workpiece calibration probe 7, end face beveling cutter, hole beveling cutter, end face cladding cutter, and hole cladding cutter are all connected to the tool magazine 14 through the tool connector 19. The tool connector 19 provides a stable support structure for the tool magazine 14, ensuring the stability of the tools during storage and replacement. When the photoelectric sensor 18 detects that the first drive spindle 4 is close to the tool connector 19, it sends a signal to reduce the joint movement speed of the industrial robot 2, so that the tool clamping mechanism of the first drive spindle 4 can stably complete the clamping operation of the tool holder and prevent the tool connector 19 from being damaged due to excessive speed.

[0028] In this embodiment, the bottom of the mobile platform 1 is equipped with wheels 20 and hydraulic outriggers 21. The hydraulic outriggers 21 support the mobile platform 1, and the operator can control the movement of the mobile platform 1 remotely. The base of the industrial robot 2 is located at the center of gravity of the entire device, ensuring stability during movement and processing. The tool magazine 14 is preferably located on the left side of the mobile platform. A guardrail 22 is provided on the mobile platform to provide safety protection and prevent operators from accidentally contacting the working mechanical parts, reducing the occurrence of safety accidents. Preferably, guardrails 22 are installed on three sides of the mobile platform 1, and the open side without guardrails 22 is the processing surface, thereby avoiding interference between the guardrails 22 and the processing operation. The guardrail 22 mainly includes a safety fence, a three-color light 23, a main power switch, a main air supply switch, and a protective cover. The main power switch and the main air supply switch each include a power interface 24 and an air supply interface 25, respectively. Safety barriers prevent operators from accessing moving parts, reducing the risk of collisions. A tri-color light 23, installed on the safety barrier and protective cover, indicates the equipment's operating status: green indicates normal operation, yellow indicates a warning or standby mode, and red indicates an emergency stop or malfunction. The main power switch turns the power supply to the equipment on or off, allowing for quick power cut-off in emergencies. The main air supply switch includes a filter and a pressure booster valve to ensure a supply of compressed air. A protective cover covers the exterior of the electrical cabinet 17 and control cabinet 15, protecting the internal equipment from external environmental factors and preventing unauthorized personnel from accessing internal circuits or control systems, thus avoiding electric shock accidents.

[0029] In this embodiment, the mounting base 3 is a triangular bracket. The first drive spindle 4 and the second drive spindle 5 are respectively mounted on two adjacent inclined surfaces of the triangular bracket. An industrial camera 26 is also provided on the inclined surface of the triangular bracket, which can observe and scan the perforated workpiece 38. A receiving cavity is formed in the middle of the triangular bracket, and a light source 27 is provided in the receiving cavity to provide supplementary lighting for the industrial camera 26. Preferably, the industrial camera 26 is used to observe and scan the crack damage of the perforated workpiece 38. Before repair, the crack damage can be viewed through the point cloud obtained by the industrial camera 26, and after repair, the repair quality can be viewed through the point cloud. The light source 27 is used to provide illumination for the industrial camera 26 to ensure image clarity, and when necessary, the industrial robot 2 can rotate the angle to align the industrial camera 26 with the perforated workpiece 38 for precise scanning and observation. The triangular bracket has good stability, providing a stable support structure for the first drive spindle 4 and the second drive spindle 5.

[0030] In this embodiment, the first drive spindle 4 is an electric water-cooled spindle. The drive end of the electric water-cooled spindle is detachably connected to the milling tool (milling cutter) 8 or the workpiece calibration probe 7. The electric water-cooled spindle can be used for milling operations. The water-cooling system reduces the spindle temperature during milling and extends its service life. An air blowing device is also installed on the tripod. The blowing action of the air blowing device can clean the chips generated during the milling process. Preferably, the air blowing device includes an air blowing pipe 28. One end of the air blowing pipe 28 is set on the tripod, and the other end is close to the electric water-cooled spindle. Preferably, the air blowing pipe 28 is installed parallel to the axial direction of the water-cooled electric spindle. The second drive spindle 5 is a floating spindle. The drive end of the floating spindle is detachably connected to the grinding head 6. The floating spindle can ensure constant force contact between the grinding head 6 and the processed surface during the grinding and polishing process. A junction box 29 and a cable bundle 30 are also provided on the tripod. The junction box 29 is used to connect the spindle, sensors, and other equipment. The cable bundle 30 can organize and store cables, air pipes, water pipes and other necessary lines, preventing them from getting tangled and damaged when moving with the industrial robot 2.

[0031] Example 2: Including the mobile milling and grinding device in Embodiment 1, this embodiment provides a working method for a milling and grinding device, including beveling and cladding layer polishing; specifically including the following steps: Beveling: S1: The operator remotely controls the mobile platform 1 to move into position, so that the workpiece 38 with holes is within the working range of the milling and grinding device, and the hydraulic outriggers 21 at the bottom of the mobile platform 1 support the working platform.

[0032] S2: Press the "Take workpiece calibration probe" command on the control panel of the operating console 16. The electrical cabinet 17 sends a command to the control cabinet 15 to control the mounting base 3 at the end of the industrial robot 2 to move above the tool magazine 14 and make the central axis of the electric water-cooled spindle coincide with the central axis of the workpiece calibration probe 7, and descend along the direction of the electric water-cooled spindle axis.

[0033] S3. When the photoelectric sensor 18 detects that the electric water-cooled spindle is close to the tool connector 19, the joint movement speed of the industrial robot 2 decreases until it reaches the preset position, and then the tool pull mechanism of the electric water-cooled spindle completes the clamping operation of the tool holder of the workpiece calibration probe 7. S4. The electric water-cooled spindle at the end of the industrial robot 2 returns to the initial processing position with the workpiece calibration probe 7 clamped in it, completing the "take workpiece calibration probe" command. S5. The operator controls the industrial robot 2 to perform contact operations to determine the tool posture, and sequentially touches four points on the end face in a counterclockwise order, denoted as point 1 (31), point 2 (32), point 3 (33), and point 4 (34). The vector is obtained through the coordinates of point 1 (31) and point 3 (33). 35. Obtain the vector using the coordinates of point 2 (32) and point 4 (34). 36, Vector 35 and vectors 36. After cross product and normalization, the normal vector (u) of the plane containing the end face is obtained. z , v z , w z ), denoted as the plane normal vector. 37. Let the plane containing the end face of the workpiece 38 with holes be... The values ​​of A, B, and C correspond to the plane normal vectors, respectively. Given coordinates 37, and using the workpiece calibration probe 7 to touch any point on the end face, the value of D can be calculated by substituting the coordinates of the touch point. Therefore, the equation of the plane containing the end face can be obtained. .

[0034] With plane normal vector 37 is the z-axis direction vector of milling tool 8, and the plane normal vector. The cross product of 37 and the unit vector (0,0,1) yields the x-axis direction vector (u) of the milling tool 8. x , v x , w x ), denoted as Plane normal vector 37 and vectors The outer product yields the y-axis direction vector (u) of milling tool 8. y , v y , w y ), denoted as From vectors , , The rotation matrix of the coordinate system is obtained as follows: When u z When the value is not equal to ±1, the rotation matrix is ​​non-singular, according to the formula: The pitch angle is obtained from the formula: The roll angle is obtained from the formula: The yaw angle is obtained, and then the rotation matrix is ​​converted into Euler angles (P, R, Y). The pose of the milling tool 8 is corrected by calculating the Euler angles, so that the axis of the milling tool 8 is perpendicular to the plane containing the end face; S6. Determine the center point of the hole on the end face of the perforated workpiece 38 to perform beveling and cladding layer grinding processes in the inner hole 39 of the perforated workpiece 38. Insert the workpiece calibration probe 7 into the inner hole 39 and move it bidirectionally along the x-axis direction determined in step S5. Preferably, the bidirectional movement is in both forward and reverse directions, obtaining contact points X141 and X242. Calculate the center point X040 of the two contacts. Move bidirectionally along the y-axis direction through the center point X040 of the x-axis direction to obtain contact points Y143 and Y244. Calculate the center point P45 of the two contacts. Using the projection formula: Projecting P onto the plane containing the end face yields the desired center point. ; S7. Select different milling machining schemes for different working conditions. For the end face of the workpiece 38 with holes, the water-cooled electric spindle clamps the first forming milling cutter 9 and performs milling along the crack direction. For the inner hole 39 of the workpiece 38 with holes, the second forming milling cutter 11 is installed on the angle head 10. The rotation axis of the second forming milling cutter 11 is perpendicular to the rotation axis of the water-cooled electric spindle. The water-cooled electric spindle clamps the angle head 10 and performs milling along the crack direction.

[0035] Specifically, for end face beveling: the operator controls the workpiece calibration probe 7 at the end of the industrial robot 2 to touch the starting point of the end face crack, projecting the starting point onto the plane where the end face of the workpiece 38 with the hole is located, and calculating the machining direction vector through the coordinates of the two points. The industrial robot 2 then replaces the workpiece calibration probe 7 at the end with the first forming milling cutter 9, and obtains process parameters such as milling depth, feed rate, and spindle speed according to the beveling machining expert system integrated in the equipment. It feeds from the starting point along the determined machining direction vector to obtain the end face beveling. For the internal beveling: the beveling feed direction is the same as the direction of the internal crack. After manually determining the location of the internal crack, the workpiece calibration probe 7 at the end of the industrial robot 2 touches the straight line projected onto the end face along the radial extension of the crack initiation point. This contact point is then projected onto the plane of the end face. The center and radius of the hole are known; the coordinates of the machining initiation point on the hole can be obtained using similar triangles. The direction vector of the line connecting the initiation point and the center of the hole is then calculated. Plane normal vector 37 and direction vector The outer product yields a vector Through direction vector , and Determine the new rotation matrix The new milling tool 8 is positioned using the method shown in S5. The industrial robot 2 replaces the end-effector calibration probe 7 with an angle head 10, which is then connected to the second forming milling cutter 11. The rotation axis of the second forming milling cutter 11 is perpendicular to the rotation axis of the water-cooled electric spindle. Based on the beveling expert system integrated in the equipment, the milling depth, feed rate, spindle speed, and other process parameters are obtained. The tool is fed along the end face normal direction according to the new tool position to obtain the bevel inside the hole.

[0036] Clad layer polishing: This includes steps S1-S6 in the beveling process; S7. Select different milling and grinding combination schemes for different working conditions. For the end face of the workpiece 38 with holes, first use the face milling cutter 12 to efficiently remove the excess height of the cladding layer on the workpiece 38 with holes, and then use the flexible grinding head to polish the surface after milling to achieve high roughness requirements. For the inner hole 39 of the workpiece 38 with holes, first use the T-shaped milling cutter 13 to efficiently remove the excess height of the cladding layer, and then use the flexible grinding head to polish the surface after milling.

[0037] Specifically, for end-face cladding layer polishing: The operator controls the workpiece calibration probe 7 at the end of the industrial robot 2 to touch the starting point of the end-face cladding layer, projecting the starting point onto the plane of the end face, and calculating the machining direction vector using the coordinates of the two points. The end of the industrial robot 2 is moved to the tool magazine 14, and the tool holder of the workpiece calibration probe 7 on the electric water-cooled spindle is replaced with the third tool holder of the face milling cutter 12. Based on the cladding layer polishing expert system integrated into the equipment, process parameters such as milling depth, feed rate, and spindle speed are obtained. The machine feeds from the starting point along the calculated machining direction vector to remove the excess cladding layer height. The end of the industrial robot 2 is rotated so that the axis of the floating spindle is aligned with the plane normal vector. The 37 (end face normal vector) direction is parallel. Based on the cladding layer grinding and polishing expert system integrated in the equipment, the grinding depth, feed rate, spindle speed, air float pressure and other process parameters are obtained, and the surface is polished along the milling path.

[0038] For polishing the cladding layer inside the hole: Using the workpiece calibration probe 7, three points are taken on the end face around the cladding layer. These three points are projected onto the plane of the end face. Given the center and radius of the hole, the radius of the T-shaped end mill 13, and the radius of the flexible grinding head, the tangent points between the T-shaped end mill 13, the flexible grinding head, and the hole can be determined using similar triangles. The polishing trajectory is obtained by fitting the arcs to the circumcircle of the triangle based on the three tangent points. The end effector of the mobile industrial robot 2 moves to the tool magazine 14 and replaces the tool holder of the workpiece calibration probe 7 on the electric water-cooled spindle with the fourth tool holder of the T-shaped end mill 13. Based on the cladding layer grinding and polishing expert system integrated in the equipment, the milling depth, feed rate, spindle speed and other process parameters are obtained. The milling feed direction is along the grinding and polishing trajectory direction. After a single milling, the feed is along the end face normal vector direction until all the cladding layer excess height is removed. Rotate the end of the industrial robot 2 mounting frame to make the floating spindle axis parallel to the end face normal vector direction. Based on the grinding depth, feed rate, spindle speed, air float pressure and other process parameters obtained from the cladding layer grinding and polishing expert system integrated in the equipment, the surface is polished along the milling path.

[0039] This invention integrates an industrial robot 2, a tool magazine 14, a guardrail 22, an operating table 16, an electrical cabinet 17, and a control cabinet 15 onto a mobile platform 1. It combines the grinding and polishing device with the milling device into a single unit, resulting in a high degree of integration, simple structure, reasonable design, and ease of use. Furthermore, this invention can simultaneously perform beveling and cladding layer grinding and polishing, integrating these two processes into one, forming an industrial robot milling and grinding composite equipment that meets the pre- and post-processing requirements of laser cladding. This improves processing efficiency and quality while reducing operational difficulty and labor costs. The workpiece calibration method provided by this invention introduces the workpiece calibration probe 7 used on the machine tool into the processing system of the industrial robot 2, providing an effective solution for calibrating workpieces 38 with holes, simplifying the workflow, and enabling rapid calculation of the processing feed direction. This effectively increases processing accuracy.

[0040] It should be noted that, for those skilled in the art, it is obvious that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0041] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A milling and grinding device, characterized in that, include: Mobile platform (1); An industrial robot (2) has its base mounted on the mobile platform (1); Mounting base (3), which is connected to the movable end of the industrial robot (2); The first drive spindle (4) is mounted on the mounting base (3), and the drive end of the first drive spindle (4) is detachably connected to a milling tool (8). The second drive spindle (5) is mounted on the mounting base (3), and the drive end of the second drive spindle (5) is detachably connected to a grinding head (6). The workpiece calibration device includes a workpiece calibration probe (7) for calibrating workpiece coordinates, and the workpiece calibration probe (7) is detachably connected to the drive end of the first drive spindle (4). The control device includes a pose adjustment module electrically connected to the industrial robot (2), which adjusts the pose of the industrial robot (2) according to the coordinates of the workpiece (38) with holes marked by the workpiece calibration probe (7).

2. The milling and grinding apparatus according to claim 1, characterized in that, The milling tool (8) includes a face beveling cutter, an in-hole beveling cutter, a face cladding cutter, and an in-hole cladding cutter; the face beveling cutter includes a first shank and a first forming cutter (9) that matches the bevel shape of the workpiece (38) with holes; the in-hole beveling cutter includes a second shank, an angle head (10), and a second forming cutter (11) that matches the in-hole bevel on the workpiece (38) with holes, the two ends of the angle head (10) being connected to the second shank and the second forming cutter (11) respectively; the face cladding cutter assembly includes a third shank and a face cutter (12) for removing the excess cladding layer on the face of the workpiece (38) with holes; the in-hole cladding cutter includes a fourth shank and a T-shaped cutter (13) for removing the excess cladding layer inside the hole.

3. The milling and grinding apparatus according to claim 2, characterized in that, The angle head (10) in the in-hole beveling milling cutter includes a vertically bent section, and the rotation axis of the second forming milling cutter (11) is perpendicular to the rotation axis of the first drive spindle (4).

4. The milling and grinding device according to claim 3, wherein the mobile platform (1) is provided with a tool magazine (14), a control cabinet (15), an operating table (16) and an electrical cabinet (17), the tool magazine (14) includes a tool accommodating area, the tool accommodating area is capable of accommodating the workpiece calibration probe (7), the end face beveling cutter, the hole beveling cutter, the end face cladding cutter and the hole cladding cutter; the operating table (16) is electrically connected to the electrical cabinet (17), the electrical cabinet (17) is electrically connected to the control cabinet (15), and the operating table (16) is provided with an operating panel.

5. The milling and grinding device according to claim 4, wherein the mounting base (3) is a triangular bracket, wherein the first drive spindle (4) and the second drive spindle (5) are respectively mounted on two adjacent inclined surfaces of the triangular bracket, and a receiving cavity is provided in the middle of the triangular bracket, wherein a light source (27) for supplementing light to the industrial camera (26) is installed in the receiving cavity; and an industrial camera (26) cooperating with the light source (27) is also provided on the inclined surface of the triangular bracket.

6. The milling and grinding apparatus according to claim 5, characterized in that, The first drive spindle (4) is an electric water-cooled spindle. The drive end of the electric water-cooled spindle is detachably connected to the milling tool (8) or the workpiece calibration probe (7). The triangular bracket is equipped with an air blowing device for cleaning chips during milling. The second drive spindle (5) is a floating spindle. The drive end of the floating spindle is detachably connected to the grinding head (6).

7. A method of operating the milling and grinding apparatus as described in any one of claims 1-6, characterized in that, Includes the following steps: S1. Control the movement of the moving platform (1) so that the processing range of the milling and grinding device matches the position of the workpiece (38) with holes, so that the moving platform (1) moves into place; S2. The workpiece calibration probe (7) is installed on the first drive spindle (4), and the drive end of the first drive spindle (4) is connected to the workpiece calibration probe (7). S3. Control the industrial robot (2) to make the workpiece calibration probe (7) make contact operation on the end face of the workpiece with hole (38), mark the coordinates of the workpiece with hole (38), and calculate the three-dimensional coordinate system of the milling tool (8) based on the coordinates of the workpiece with hole (38). The Z-axis of the three-dimensional coordinate system is perpendicular to the plane where the end face is located. S4. The control device adjusts the posture of the industrial robot (2) according to the three-dimensional coordinate system, so that the industrial robot (2) is adjusted to the position and the center of the hole in the end face is marked. S5. The bevel is processed, the workpiece calibration probe (7) is removed, the milling tool (8) is installed on the first drive spindle (4), and the control device controls the first drive spindle (4) to move through the industrial robot (2), so that the milling tool (8) can mill the workpiece (38) with holes from the processing start point along the feed direction. S6. The cladding layer is processed. The control device controls the industrial robot (2) to move into position. The first drive spindle (4) drives the milling tool (8) to mill the workpiece (38) with holes from the starting point along the feed direction. After the milling is completed, the grinding head (6) is installed on the drive end of the second drive spindle (5). The second drive spindle (5) can drive the grinding head (6) to rotate. The control device adjusts the posture of the industrial robot (2) and polishes the milled position through the grinding head (6).

8. The working method according to claim 7, characterized in that, The S3 further includes: touching four points on the end face of the workpiece with holes (38) in a counterclockwise order, which are respectively called point one (31), point two (32), point three (33), and point four (34). A first vector is obtained by taking the coordinates of point one (31) and point three (33), and a second vector is obtained by taking the coordinates of point two (32) and point four (34). The first vector and the second vector are cross-productted and normalized to obtain the plane normal vector of the plane on which the end face of the workpiece with holes (38) is located. The plane normal vector is the Z-axis direction vector of the milling tool (8). The X-axis direction vector and Y-axis direction vector of the milling tool (8) are calculated by taking the plane normal vector.

9. The working method according to claim 8, characterized in that, Step S4 further includes: determining the center of the hole at the end face, the industrial robot (2) driving the workpiece calibration probe (7) to extend into the hole to be processed in the workpiece (38) with hole, moving along the X-axis direction vector to obtain contact point X1 (41) and contact point X2 (42), and calculating the center point X0 (40) of the two contact points; moving bidirectionally along the Y-axis direction vector through the center point X0 (40) in the X-axis direction to obtain contact point Y1 (43) and contact point Y2 (44), calculating the center point P (45) of the two contact points, and projecting the center point P (45) onto the plane where the end face is located to obtain the desired center point.

10. The working method according to claim 9, characterized in that, In step S5, when machining the end face of the workpiece with hole (38), the first drive spindle (4) drives the milling tool (8) to perform milling along the crack direction; when machining the inner hole (39) of the workpiece with hole (38), the rotation axis of the milling tool (8) is perpendicular to the axis of the first drive spindle (4), and the first drive spindle (4) drives the milling tool (8) to perform milling along the crack direction.

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