A machining milling system and method for sheet metal parts

Abstract

The application discloses a kind of metal plate machining milling system and method, to solve the technical problems of insufficient precision, obvious vibration, low processing efficiency and poor adaptability in the existing metal plate milling processing;The system includes rack, clamping positioning mechanism, milling execution mechanism, intelligent control system and cooling lubricating mechanism, clamping positioning mechanism adopts multi-point self-adaptive clamping design, which can adapt to different specifications of metal plate and avoid clamping deformation.The method includes preprocessing, positioning and clamping, parameter setting, layered milling, precision detection and finished product unloading, etc.Through optimizing milling path and cutting parameters, effectively reducing tool wear and processing vibration, improving the processing precision and surface quality of metal plate, adapting to the batch milling processing needs of different specifications of metal plate in the fields of aerospace, automobile manufacturing, etc., significantly improving processing efficiency and product qualification rate.

Description

Technical Field

[0001] This invention relates to the field of metal sheet machining technology, and more specifically, to a milling system and method for machining metal sheets. Background Technology

[0002] In the milling of metal sheets, existing technologies typically focus on balancing dimensional accuracy, surface quality, and machining efficiency. In practice, a clamping and positioning mechanism is usually arranged on the machine frame to clamp and position the sheet. The milling actuator then performs rough milling and finish milling sequentially according to a predetermined toolpath. The intelligent control system adjusts the cutting parameters synchronously based on spindle load, feed changes, and vibration sampling. The cooling and lubrication mechanism continuously provides cooling and lubrication to maintain the continuous stability of the entire machining process. Taking the continuous processing of thin-walled aerospace panels or automotive body panels with large-area weight reduction cavities as an example, the site often requires continuous material removal under multiple tool switching in one clamping. It is not allowed to stop the machine for retesting, reclamping, or insert additional correction processes outside the existing cycle for local areas. At the same time, it is also required that the remaining structure after the previous stage of material removal can directly enter the next stage of fine finishing. However, under these working conditions, a phenomenon repeatedly occurs in actual production: the load, vibration, and temperature rise data corresponding to the rough milling stage are not obviously abnormal, and no overall instability is observed when observing the finish milling stage alone. However, in the transition area between the exit of the rough milling tool and the entry of the finish milling tool, local dimensional drift, surface steps, increased edge ripples, or poor contour continuity are prone to occur. Moreover, these abnormalities are mostly concentrated at the junction of different tool path groups. The root cause is that the existing processing method usually incorporates this transition area into the ordinary continuous tool path for unified processing, and does not treat the superimposed effects of the changes in the load response of the machine frame during the transition period, the changes in the adjacent support status of the clamping and positioning mechanism, the changes in the entry method of the milling execution mechanism, and the changes in the range of action of the cooling and lubrication mechanism as separate objects for control. The technical problem to be solved by this application is: how to independently control the path transition area formed by switching between different tool groups during continuous milling of metal plates, so as to reduce the local accuracy instability and surface quality abnormalities caused by the transition from rough milling to finish milling in this area. Summary of the Invention

[0003] To overcome the aforementioned deficiencies of the prior art, embodiments of the present invention provide a machining milling system and method for metal plates. By independently identifying the path transition region between the exit of the rough milling cutter and the entry of the finish milling cutter, and combining the support state, load response, cutting state, and local cooling and lubrication conditions on both sides of the path transition region, the corresponding support switching, transition milling, and local supply control results are obtained, thereby solving the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a method for machining and milling metal plates, comprising: S1. Place the metal plate to be processed on the support frame and use the positioning and clamping structure to perform clamping and positioning. At the same time, on the edge calculation side, according to the sequence of the tools in the preset milling path, extract the connected area between the exit segment of the previous tool and the entry segment of the next tool, and output the junction set. S2. Around each junction, extract the support points located on both sides of the junction in the positioning and clamping structure, whose projection points fall within the corresponding boundary line segment along the normal direction of the junction boundary and whose normal distance to the corresponding boundary line segment is ranked first as the adjacent support points. Combine the bearing positions on the bearing frame that are fixed to each adjacent support point, and output the junction correspondence table. S3. Utilize the milling machining structure to perform rough milling according to the preset milling path, and at the moment of tool exit corresponding to each junction zone, collect spindle load, vibration amplitude, feed change, clamping status of adjacent support points and load position response, and output the junction status table. S4. On the edge calculation side, compare the handover status table and the handover correspondence table one by one to determine the support switching sequence, transition milling insertion path and local cooling and lubrication supply range corresponding to each handover zone, and output the handover control results. S5. Based on the handover control results, the positioning and clamping structure performs support switching, the cooling and lubrication structure performs local supply, the milling machining structure completes transition milling along the insertion path and continues to perform finish milling corresponding to the next tool, and outputs the milling results of the metal plate.

[0005] In a preferred embodiment, S1 includes: S11. On the edge computing side, the preset milling path is segmented and expanded according to the tool identifier and the path execution order. The last exit segment corresponding to each tool and the first and second entry segments corresponding to the subsequent tools are extracted, and the handover candidate segment pair set is output. S12. Perform contour same-layer verification and endpoint adjacency verification on each candidate segment pair, retain the candidate segment pairs that are located on the same machining contour and have a continuous material removal boundary between the end point of the previous tool exit segment and the start point of the next tool entry segment, and output the set of connected segments. S13. Perform closed enclosing processing on the continuous material removal boundaries of each joint connection segment set, extract the enclosing connected area between the previous tool exit segment and the next tool entry segment as the joint zone, and output the joint zone set.

[0006] In a preferred embodiment, S2 includes: S21. Around each junction zone, perform normal expansion on both sides of the junction zone according to the boundary point order to form corresponding boundary line segment groups. Then, perform normal projection on each support point in the positioning and clamping structure onto the corresponding boundary line segment group. Retain the support points whose projection points fall within the corresponding boundary line segment range as candidate support points. At the same time, extract the corresponding bearing position of each candidate support point and output the junction candidate table. S22. Perform bilateral pairing on the candidate support points of the handover list according to the handover zone number. For each candidate support point on both sides of the handover zone, calculate the normal distance order, the position difference order along the boundary direction, and the connection order of the corresponding bearing position on the bearing frame. Perform lexicographical pairing using the normal distance order, position difference order, and connection order as a three-item sorting group. Delete candidate pairings that are duplicated on the same side, have the bilateral connection line cross the center line of the handover zone, or have the bearing position order reversed. Output the adjacent support point pairing list.

[0007] In a preferred embodiment, S2 further includes: S23. For each pair of adjacent support points in the adjacent support point pair table, perform reverse projection verification from the projection point of the adjacent support point on one side to the boundary on the other side, and perform reverse projection verification from the projection point of the adjacent support point on the other side to the boundary on that side. Retain the pair of adjacent support points whose bidirectional projections both fall within the corresponding boundary line segment range and whose corresponding bearing positions maintain a fixed correspondence on the same side as the target pair of adjacent support points, and write the handover zone number, the target pair of adjacent support points and the corresponding bearing positions into the handover correspondence table.

[0008] In a preferred embodiment, S3 includes: S31. Utilize the milling machining structure to perform rough milling according to the preset milling path, and expand the execution time of each previous tool exit segment in the preset milling path on the edge calculation side. Correspond the last execution time of each previous tool exit segment to the handover zone acquisition time and output the handover acquisition time table. S32. For each transfer zone acquisition time in the transfer acquisition time table, extract the spindle load, vibration amplitude and feed change at the corresponding time, and write them into the cutting state group according to the transfer zone number and acquisition time execution order, and output the transfer cutting table.

[0009] In a preferred embodiment, S3 further includes: S33. For each handover zone acquisition time in the handover acquisition timetable, extract the clamping status of the adjacent support points and the response results of the corresponding bearing positions of the handover zone, and perform corresponding writing according to the handover zone number, support point side and bearing position number, and output the handover support table. S34. Merge the cutting and support tables according to the transfer zone number and acquisition time, and write the spindle load, vibration amplitude, feed change, clamping status of adjacent support points and load position response into the same transfer status record, and output the transfer status table.

[0010] In a preferred embodiment, S4 includes: S41. On the edge calculation side, perform same-number expansion on the handover status table and handover correspondence table according to the handover zone number. Write the spindle load, vibration amplitude, feed change, clamping status of adjacent support points on both sides, load position response on both sides, and correspondence between adjacent support points on both sides and handover zone corresponding to each handover zone into the same handover constraint record, and output the handover constraint table. S42. Construct a candidate control diagram around each handover constraint record, consisting of the end point of the previous tool exit segment, the start point of the next tool entry segment, the boundary point of the handover zone, and the projection points of the adjacent support points on both sides. Configure two support switching orders for the adjacent support points on both sides for each connected path in the candidate control diagram, and perform lexicographical order retention using four cost groups consisting of path length order, cumulative vibration amplitude order of path coverage, cumulative response order of the bearing position on the first switching side, and support switching count, and output the handover candidate control table.

[0011] In a preferred embodiment, S4 further includes: S43. For each candidate control result in the handover candidate control table, map the projection points of the adjacent support points on the first switching side and the adjacent support points on the second switching side to the corresponding connected paths according to the support switching order. Extract the path segment between the two projection points as the local supply interval. Perform forward verification from the end of the previous tool exit segment to the start of the next tool entry segment and reverse verification from the start of the next tool entry segment to the end of the previous tool exit segment. Delete candidate control results with inconsistent forward and reverse verification results and output the handover verification table. S44. For the handover verification table, retain the candidate control results ranked first according to the handover zone number. Stop the iteration when the handover zone number, support switching order, connection path and local supply interval are the same in the retained results of two adjacent rounds. Write the corresponding support switching order, transition milling insertion path and cooling lubrication local supply interval into the handover control results.

[0012] In a preferred embodiment, S5 includes: S51. Based on the support switching sequence in the handover control results, sequentially perform single-sided release, other-sided holding, and release-side re-tightening on adjacent support points on both sides of the handover zone, and record the corresponding load position response after each tightening, and output the support execution table. S52. Based on the local supply interval in the handover control results, perform fixed-area supply within the range from the starting point to the end point of the insertion path in the corresponding handover zone, and write the bearing position response in the support execution table and the corresponding path points of the insertion path into the path execution table, and output the transition execution table. S53. According to the transition execution table, perform transition milling along the insertion path, and after the end of the insertion path coincides with the starting point of the next tool entry segment, continue to perform the finish milling corresponding to the next tool, and write the corresponding handover zone number, support switching result, local supply result and finish milling completion result into the metal plate milling result.

[0013] A milling system for machining metal sheets, the system comprising a frame, a clamping and positioning mechanism, a milling execution mechanism, an intelligent control system, and a cooling and lubrication mechanism: The frame is used to place the metal sheet to be processed on the support frame and perform clamping and positioning using the positioning and clamping structure. At the same time, on the edge calculation side, according to the sequence of the tools in the preset milling path, the connected area between the exit segment of the previous tool and the entry segment of the next tool is extracted and the junction set is output. The clamping and positioning mechanism is used to extract the support points located on both sides of the joint zone in the positioning and clamping structure, whose projection points fall within the corresponding boundary line segment along the normal direction of the joint zone boundary and whose normal distance to the corresponding boundary line segment is ranked first as the adjacent support points, and output the joint correspondence table by combining the bearing position on the bearing frame that is fixed to each adjacent support point. The milling actuator is used to perform rough milling according to a preset milling path using a milling machining structure. At the moment of tool exit corresponding to each transition zone, it collects spindle load, vibration amplitude, feed change, clamping status of adjacent support points and load position response, and outputs a transition status table. The intelligent control system is used to compare the handover status table and the handover correspondence table one by one on the edge computing side to determine the support switching sequence, transition milling insertion path and local cooling and lubrication supply range corresponding to each handover zone, and output the handover control results. The cooling and lubrication mechanism is used to perform support switching by the positioning and clamping structure, local supply by the cooling and lubrication structure, and transition milling by the milling machining structure along the insertion path to continue the finish milling corresponding to the next tool, based on the handover control results, and output the milling results of the metal plate.

[0014] The technical effects and advantages of this invention are as follows: 1. This solution extracts the transition zone between the previous tool exit segment and the next tool entry segment, and establishes separate support, status and control links for this transition zone. This allows the superimposed effects of rough milling to finish milling to be independently constrained, thereby relatively suppressing local accuracy instability and surface quality abnormalities in the path transition area. 2. Select adjacent support points around the two sides of the junction zone and establish a fixed correspondence between the adjacent support points and the load-bearing positions. This will make the support source and the stress position in the junction area clearly correspond, which will help to improve the targeting and consistency of the junction control. 3. At the moment the previous tool exits, the spindle load, vibration amplitude, feed change, clamping status and load position response are collected simultaneously and merged into a handover status record according to the handover zone number. This allows the cutting state and the support state to be expressed in association at the same time, which helps to improve the effectiveness of subsequent control calculations. 4. By constructing candidate control charts and configuring support switching order, local supply intervals and insertion paths for connected paths, and then performing lexicographical order retention according to the four cost groups, the handover control results have fixed solution rules, which helps to relatively reduce the dispersion and parallel conflicts of control results. 5. Perform forward and reverse verification on the candidate control results, and delete candidate control results that are inconsistent between the forward and reverse verification results. This ensures that the retained control results meet the bidirectional consistency requirements, thereby improving the stability and verifiability of the path transition control. Attached Figure Description

[0015] Figure 1 This is a flowchart outlining the method steps of the present invention; Figure 2 This is a schematic diagram of the system module structure of the present invention. Detailed Implementation

[0016] 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.

[0017] Refer to the instruction manual appendix Figure 1-2 The present invention provides a method for machining and milling a metal plate, comprising: S1. Place the metal plate to be processed on the support frame and use the positioning and clamping structure to perform clamping and positioning. At the same time, on the edge calculation side, according to the sequence of the tools in the preset milling path, extract the connected area between the exit segment of the previous tool and the entry segment of the next tool, and output the junction set. This implementation describes how to stably extract a set of intersection zones from a preset milling path on the edge computing side. Its function is to first separate candidate intersection relationships during tool switching from the entire preset milling path, then perform contour consistency and connectivity checks on the candidate intersection relationships, and finally close the continuous material removal boundaries that meet the conditions into an intersection zone that can be directly called upon for subsequent support pairing, status acquisition, and control calculation. The preset milling path includes at least the path segment number, tool identifier, path execution order, path segment type, start coordinates, end coordinates, and the corresponding machining contour identifier. The path segment type at least distinguishes between entry segments, exit segments, and continuous material removal segments. The path execution order is determined according to the order in which the CNC program is written or the order in which the process document is issued. The corresponding machining contour identifier is uniformly assigned by the continuously closed material removal boundaries under the same machining depth level. This implementation process includes the following steps: In S11, the goal is to form subsequently verifiable candidate segments from the preset milling path. Its mechanism involves using tool identifiers and path execution order to decompose the entire preset milling path into adjacent tool switching relationships. The input is the preset milling path. The processing actions include: first, on the edge calculation side, sorting all path segments in ascending order according to path execution order; then, grouping and expanding adjacent path segments according to tool identifiers; for the path segment group corresponding to the same tool identifier, extracting the last path segment in the path execution order sorted by type "cut-out segment" as the last exit segment corresponding to that tool; and for the next tool immediately following it... Identify the corresponding path segment group, extract the path segment that is first in the path execution order and whose path segment type is a cutting segment as the first cutting segment corresponding to the subsequent tool; then write the last exit segment number, the first cutting segment number, the previous tool identifier, the next tool identifier, the execution order number of the preceding and following paths and the corresponding machining contour identifier into the same candidate record to form a set of handover candidate segments for S12 to read; if there are multiple last exit segments under the same tool identifier or multiple first cutting segments under the same subsequent tool identifier, retain one record according to the first one in the path execution order, and write the remaining records into the candidate rejection record area with a path duplication reason code attached; In S12, the purpose is to remove candidate records that are not actual tool handover relationships from the set of candidate handover segments. Its mechanism is based on the dual constraints of consistent machining contours and continuous boundary connectivity, retaining only the candidate handover segments that can form actual transition areas. The input quantities are the set of candidate handover segments and the corresponding machining contour identifiers, path point sequences, and material removal boundary point sequences in the preset milling path. The processing actions include: first, performing contour same-level verification on each candidate handover segment, that is, reading the machining contour identifiers of the previous tool exit segment and the machining contour identifiers of the next tool entry segment. If they are the same, it is determined to pass; otherwise, the candidate handover segment is deleted. Then, performing endpoint adjacency verification on the records that pass the contour same-level verification, that is, reading the end point of the previous tool exit segment and the start point of the next tool entry segment, and searching point by point along the material removal boundary point sequence corresponding to the corresponding machining contour. If there is an uninterrupted continuous material removal boundary between the two points, it is determined to pass. Among them, continuous material removal boundary refers to the sequence of boundary points that are connected in order of fixed sampling step size and have no unprocessed gaps in between; for the intersection candidate segment pair that passes both contour same-layer check and endpoint adjacency check, the intersection candidate segment pair number, continuous material removal boundary number, the end point of the previous tool exit segment, the start point of the next tool entry segment, and the corresponding machining contour identifier are written into the intersection connected segment set and read by S13; if there are multiple continuous material removal boundaries between two points, the first one is retained according to the number of boundary points; if the number of boundary points is the same, the records are retained according to the order of continuous material removal boundary numbers, and the remaining records are written into the connected rejection record area; In S13, the objective is to convert the boundary connectivity relationships in the set of intersecting connected segments into a clearly defined geometric region of the intersecting zone. Its mechanism is to use the previous tool exit segment, the next tool entry segment, and the continuous material removal boundary to form a closed enclosure, thereby extracting a unique usable enclosed connected region. The input is the set of intersecting connected segments and the corresponding sequence of the previous tool exit segment, the next tool entry segment, and the continuous material removal boundary point. The processing actions include: for each intersecting connected record, first closing the end point of the previous tool exit segment, the sequence of continuous material removal boundary points, and the start point of the next tool entry segment in the order of connection to form a closed boundary. Next, enclosing region extraction is performed on the closed boundary to obtain one or more enclosing connected regions. Then, enclosing connected regions that simultaneously contain the end point of the previous tool exit segment and the start point of the next tool entry segment are searched, and these enclosing connected regions are identified as the transition zone. If there are multiple enclosing connected regions that simultaneously meet the conditions, the first one is retained according to the number of boundary points of the enclosing region. If the number of boundary points is the same, the enclosing region is retained in order of its enclosing region number. The output is the transition zone set, which includes at least the transition zone number, the number of the previous tool exit segment, the number of the next tool entry segment, the corresponding machining contour identifier, and the sequence of boundary points of the enclosing region. This set is written into the subsequent S2 call area. If the closed boundary cannot form an enclosing region, the corresponding transition connected record is written into the invalid transition record area and a closure failure reason code is attached. Through the above implementation process, the tool switching relationship in the preset milling path is gradually converged into the handover zone set. The path relationship, contour relationship and connectivity relationship between the previous tool exit segment and the next tool entry segment have been fixedly written, thus providing a unified input basis for subsequent extraction of adjacent support points, acquisition of handover status and solution of handover control. In practical applications: For a thin-walled metal plate for aerospace with a weight reduction cavity and a reinforcing edge, a preset milling path containing two sets of tool paths, a rough milling cutter and a finish milling cutter, can be issued by the process document. The edge calculation side extracts the last exit segment of the rough milling cutter and the first entry segment of the finish milling cutter in sequence. It is verified that the two belong to the same machining contour of the reinforcing edge and that there is a continuous material removal boundary between the end point and the start point. Then, the continuous material removal boundary and the two segments before and after are closed to form an enclosed connected region. The enclosed connected region is written into the junction zone set, so that subsequent steps can directly perform double-sided support point pairing and junction control around the junction zone.

[0018] S2. Around each junction, extract the support points located on both sides of the junction in the positioning and clamping structure, whose projection points fall within the corresponding boundary line segment along the normal direction of the junction boundary and whose normal distance to the corresponding boundary line segment is ranked first as the adjacent support points. Combine the bearing positions on the bearing frame that are fixed to each adjacent support point, and output the junction correspondence table. This implementation describes how to form a handover correspondence around the handover zone that can be directly invoked for subsequent handover status acquisition and handover control calculation. The process is as follows: First, the two sides of the handover zone are converted into a calculable set of boundary segments. Then, candidate support points with a stable spatial correspondence with the handover zone are selected from all support points of the positioning and clamping structure. Subsequently, pairing, deletion, and reverse verification are performed on the candidate support points on both sides. Finally, adjacent support point pairs that satisfy the condition of bidirectional projection and do not experience cross-side misalignment are written into the handover correspondence table. This implementation process includes the following steps: In S21, the objective is to extract candidate support points that satisfy geometric projection constraints. Its mechanism involves transforming the positional relationship between the boundary of the junction zone and the support points into a normal distance relationship. The input quantities are the junction zone set, all support points in the positioning and clamping structure, and the fixed bearing positions of each support point. During processing, the sequence of boundary points of the enclosing area of ​​each junction zone is first read. Adjacent boundary points are connected in order to form closed boundary segments. Then, using the reference line connecting the end point of the previous tool exit segment and the starting point of the next tool entry segment as the boundary, the closed boundary segments are divided into two groups of boundary segments located on either side of the reference line, serving as the boundary segment groups on both sides of the junction zone. Subsequently, the tangential direction of each boundary segment is determined according to the boundary point order, and the tangential direction is rotated to obtain the normal direction. Next, read all the installation coordinates of the support points, and perform normal projection on each boundary segment in the boundary segment group on both sides. Find the intersection point of the support point with the boundary segment along the normal direction of the boundary segment. When the intersection point is located between the two ends of the boundary segment and the parameter value of the intersection point is between the parameter values ​​of the start point and the end point of the segment, the projection point is considered to fall within the range of the corresponding boundary segment. For support points that meet this condition, calculate the normal distance value from the support point to the corresponding boundary segment, and extract the fixed bearing position number of the support point. Write the junction zone number, side, boundary segment number, support point number, projection point coordinates, normal distance value, and bearing position number into the junction candidate table for S22 to read. If the same support point forms a valid projection on multiple boundary segments on the same side, retain the projection record with the first normal distance value sorted, and write the remaining records into the candidate elimination record area with a multi-projection reason code. If there is no valid projection support point on one side of a junction zone, write the junction zone number into the missing record area with a side missing reason code. In S22, the objective is to form adjacent support point pairs from the handover candidate table for consistency verification. The mechanism involves using bilateral pairing and lexicographical retention of three sorting groups, while deleting candidate pairs with invalid spatial relationships or inconsistent load-bearing relationships. The input consists of the handover candidate table and the fixed adjacency relationships between each load-bearing position on the load-bearing frame. During processing, the handover candidate table is first grouped according to the handover zone number, and within each handover zone group, it is split into two sets of candidate support points on each side. Then, bilateral pairing is performed on the two sets of candidate support points to form all candidate pairs for that handover zone. For each candidate pair, the normal distance values ​​of the two support points are read, and a normal distance order is generated in ascending order within each side set. Next, the position parameters of the projection points of the two support points in the corresponding boundary segment group are read, and the position difference along the boundary direction of the projection points is calculated according to the boundary point order. A position difference order is then generated in ascending order of position difference among all candidate pairs. Then, the bearing position numbers corresponding to the support points on both sides are read, and the connection path from one bearing position to the other bearing position is obtained according to the bearing position adjacency table pre-established on the bearing frame. The connectivity order is generated based on the number of bearing positions traversed. Then, a three-item sorting group is formed by normal distance order, position difference order, and connectivity order. All candidate pairs in the same junction zone are retained in lexicographical order. The deletion rules include: when the same side is repeatedly occupied, only the candidate pair at the first position of its sorting group is retained; when the line connecting the two side projection points intersects with the center line of the junction zone, the candidate pair is deleted; the two side bearing positions When the direction of the connection path is opposite to the direction of the order of the projection points along the boundary points, the candidate pair is deleted. For the remaining candidate pairs after deletion, the junction zone number, the number of the support points on both sides, the coordinates of the projection points on both sides, the order of the normal distance on both sides, the position difference order, and the number of the bearing position on both sides are written into the adjacent support point pair table for S23 to read. If there are no remaining candidate pairs after deleting the same junction zone, the junction zone number is written into the pairing failure record area and a deletion reason code is attached. If the three sorting groups are completely the same, the first candidate pair is retained according to the lexicographical order of the combination of the support point numbers on both sides. In S23, the purpose is to perform bidirectional mutual verification on adjacent support point pairs to form the final target adjacent support point pairs that can be written into the handover correspondence table. Its working mechanism is to use bidirectional reverse projection verification and same-side fixed correspondence verification of bearing position to eliminate support point pairs that are only valid in one direction or have cross-side misalignment. The input quantities are the adjacent support point pair table, the boundary line segment groups on both sides of the handover zone, and the bearing positions corresponding to the fixed bearing positions of the support points on both sides. During processing, for each adjacent support point pair, the projection point coordinates of the adjacent support point on one side are read first. Using the projection point as the base point, a reverse projection is performed on the boundary line segment group on the other side. When the projection intersection is located between the two ends of the boundary line segment on the other side and the projection parameter value is between the start parameter value and the end parameter value of the corresponding line segment, the reverse projection in that direction is considered to be successful. Then, the projection point coordinates of the adjacent support point on the other side are read, and a reverse projection is performed on the boundary line segment group on that side using the projection point as the base point. The same rules are used to determine whether it is successful. Subsequently, the bearing position numbers corresponding to the adjacent support points on both sides are read. It is verified that an adjacent support point on one side corresponds to a bearing position on one side only, and an adjacent support point on the other side corresponds to a bearing position on the other side only, and there is no cross-side misalignment where the left support point corresponds to the right bearing position or the right support point corresponds to the left bearing position. For adjacent support point pairs that simultaneously satisfy the condition that both bidirectional projections fall within the corresponding boundary line segment range and the bearing positions on both sides maintain a fixed correspondence on the same side, they are identified as target adjacent support point pairs. The handover zone number, target adjacent support point pair number, both side support point numbers, both side projection point coordinates, and both side bearing position numbers are written into the handover correspondence table for subsequent handover status acquisition steps. If the reverse projection in any direction fails, the adjacent support point pair is written into the reverse verification failure record area with a direction failure reason code. If a cross-side misalignment of the bearing position occurs, the adjacent support point pair is written into the bearing misalignment record area with a misalignment reason code. Through the above implementation process, the boundary relationship, support point relationship and bearing position correspondence on both sides of the handover zone are uniformly converged into the handover correspondence table. Subsequent handover status collection can directly read the adjacent support points and corresponding bearing positions on both sides according to the handover zone number, avoiding the source of support points being unknown, side misalignment, or bearing positions being written back across sides. In practical applications: For aluminum alloy plates with long strip-shaped weight reduction cavities, firstly, boundary line segment groups can be formed on both sides of the junction zone. Then, the support points distributed on both sides of the junction zone in the positioning and clamping structure can be projected onto the boundary line segment groups in the normal direction to screen out candidate support points whose projection points fall within the boundary line segment range. Subsequently, the candidate support points on both sides are paired according to the normal distance sequence, position difference sequence, and load-bearing position connectivity sequence. Candidate pairings with lines crossing the center line of the junction zone and reversed load-bearing position sequence are deleted. Finally, the remaining candidate pairings are checked by bidirectional reverse projection. The target adjacent support point pairs with both bidirectional projections being valid and no cross-side misalignment of the load-bearing positions on both sides are retained and written into the junction correspondence table for subsequent direct acquisition of the clamping status of the corresponding support points on both sides and the corresponding load-bearing position response at the moment of tool withdrawal.

[0019] S3. Utilize the milling machining structure to perform rough milling according to the preset milling path, and at the moment of tool exit corresponding to each junction zone, collect spindle load, vibration amplitude, feed change, clamping status of adjacent support points and load position response, and output the junction status table. This implementation describes how to form a handover state table around the handover zone that can be directly called upon for subsequent handover control calculations. The process is as follows: First, determine the acquisition time corresponding to each handover zone from the preset milling path. Then, extract the cutting state quantity and support state quantity around each handover zone acquisition time. Finally, merge the same-signature data using a unified corresponding key to form a complete handover state record for the same handover zone at the same acquisition time. The handover acquisition time is determined by the execution time of the last path point of the corresponding previous tool exit segment. The vibration amplitude is determined by the peak-to-valley difference within the fixed sampling window before and after the corresponding acquisition time. The feed change is determined by the difference between the feed value at the previous sampling point and the feed value at the current sampling point. The fixed sampling window is jointly determined by the equipment sampling cycle and the preset sampling length on the edge calculation side. This implementation process includes the following steps: In S31, the purpose is to establish a unified acquisition time for each transition zone. Its mechanism is to transform the tool exit process in the preset milling path into a time reference for subsequent state acquisition. The input quantities are the preset milling path, the transition zone set, and the path execution time record. During processing, the milling structure first performs rough milling according to the preset milling path. Then, on the edge calculation side, the path point sequence and corresponding execution time of each previous tool exit segment are read according to the path execution order. For each previous tool exit segment, the execution time of the last path point in the path execution order is extracted as the last execution time of that previous tool exit segment. Then, based on the transition zone and... The correspondence between the previous tool exit segment and the last execution time is mapped to the handover zone acquisition time. The handover zone number, the previous tool exit segment number, the last path point number, and the handover zone acquisition time are written into the handover acquisition time table for S32 and S33 to read together. If the same handover zone corresponds to multiple previous tool exit segments, the first one is retained according to the path execution order, and the remaining records are written into the acquisition time elimination record area with a duplicate corresponding reason code. If the previous tool exit segment lacks the execution time of the last path point, the corresponding handover zone number is written into the acquisition missing record area with a time missing reason code. In S32, the purpose is to form a cutting state record around the acquisition time of the transition zone. Its working mechanism is to uniformly map the spindle load, vibration amplitude, and feed change to the acquisition time of the transition zone. The input is the acquisition time table and the corresponding spindle load sampling sequence, vibration sampling sequence, and feed sampling sequence. During processing, the spindle load value of the corresponding time is read sequentially according to the transition zone number and the acquisition time of the transition zone. Then, with the acquisition time of the transition zone as the center, the vibration sampling value within the fixed sampling window before and after the vibration sampling sequence is extracted. The difference between the maximum and minimum sampling values ​​within the window is calculated as the vibration amplitude of the corresponding acquisition time of the transition zone. Then, the current feed value corresponding to the sampling time of the transfer zone and the feed value of the previous sampling point are read, and the difference between the two is calculated as the feed change. Finally, the transfer zone number, transfer zone sampling time, spindle load, vibration amplitude, feed change and sampling time execution order are written into the cutting state group, and the transfer cutting table is output for S34 to read. If the vibration sampling window is incomplete, the vibration amplitude is calculated after shortening it to the available window length according to the preset sampling length, and a window shortening mark is attached to the transfer cutting table. If the feed sequence lacks the previous sampling point, the feed change is recorded as the difference between the current feed value and the zero value reference, and the first sampling reason code is attached. In S33, the purpose is to form a support status record around the acquisition time of the junction zone. Its working mechanism is to uniformly map the clamping status of adjacent support points and the corresponding load-bearing position response to the acquisition time of the junction zone. The inputs are the junction acquisition time table, the junction correspondence table, the clamping status record of the positioning and clamping structure, and the load-bearing position response sampling sequence. During processing, firstly, the numbers of the adjacent support points on both sides and the numbers of the load-bearing positions on both sides corresponding to the junction zone number are read from the junction correspondence table. Then, the clamping status of the adjacent support points on both sides is read around the acquisition time of the junction zone. The clamping status includes at least the support point number, side, and clamping. The status indicator and current clamping value are displayed. Then, the response values ​​of the bearing positions on both sides at the time of the data collection at the junction are read. In this embodiment, the bearing position response is the displacement change of the corresponding bearing position. The junction number, junction collection time, support point side, support point number, clamping status, bearing position number, and bearing position response are then written into the junction support table for S34 to read. If a support point on one side lacks a clamping status, the clamping status of that side is recorded as missing and a status missing reason code is attached. If a bearing position lacks a response value, it is filled with the previous valid response value at the time of data collection at the junction and a response filling reason code is attached. In S34, the goal is to create a complete record of the handover status of the same handover zone at the same acquisition time. Its mechanism involves merging the cutting status record and the support status record into a single handover status record using a unified corresponding key. The inputs are the handover cutting table and the handover support table. During processing, the handover zone number and the handover zone acquisition time are used as the same-signature corresponding key to perform a same-signature search on the handover cutting table and the handover support table. When the handover zone numbers and acquisition times are the same, they are considered to be the same-signature record. Then, the spindle load, vibration amplitude, feed change, clamping status of adjacent support points on both sides, and bearing position on both sides are entered into the same-signature record. The response is written to the same handover status record, and the handover zone number, handover zone acquisition time, cutting status group number, and support status group number are written to the handover status table for subsequent handover constraint table construction steps to read. If the same handover zone number and handover zone acquisition time correspond to multiple handover cutting records, the first record is retained according to the execution order of acquisition time. If it corresponds to multiple handover support records, they are written to the same handover status record in ascending order of support point side (left to right) and bearing position number. If the handover cutting table and the handover support table cannot be paired using the same key, the unpaired record is written to the merge failure record area along with the unpaired reason code. Through the above implementation process, the acquisition time of the transfer zone, the cutting state and the support state are uniformly converged into the transfer state table. Subsequent transfer control calculations can directly read the spindle load, vibration amplitude, feed change, clamping status of adjacent support points and load position response according to the transfer zone number and the acquisition time of the transfer zone, avoiding inconsistencies in time, numbering or writing order between state quantities from different sources. In practical applications: For an aluminum alloy plate with reinforcing ribs and a weight-reducing cavity, the last execution time of each tool exit segment can be extracted according to the preset milling path during rough milling and written into the handover acquisition time table. Then, the spindle load is read around each handover acquisition time, the peak-to-valley difference within the vibration sampling window is calculated and the vibration amplitude is obtained. The difference between the current feed value and the feed value of the previous sampling point is calculated to obtain the feed change. At the same time, the clamping status of the adjacent support points on both sides and the displacement change of the bearing positions on both sides are read. Finally, the cutting state record and the support state record are merged and written into the handover state table with the handover zone number and the handover acquisition time as corresponding keys, so that the subsequent handover control result can be directly called.

[0020] S4. On the edge calculation side, compare the handover status table and the handover correspondence table one by one to determine the support switching sequence, transition milling insertion path and local cooling and lubrication supply range corresponding to each handover zone, and output the handover control results. This implementation describes how to extract directly executable handover control results from the handover state table and the handover correspondence table. The process is as follows: First, the cutting state, support state, and spatial correspondence are merged into a unified handover constraint record according to the handover zone number. Then, a candidate control chart is constructed around each handover constraint record, and candidate control results are generated. Subsequently, local supply interval extraction and forward / backward consistency verification are performed on the candidate control results. Finally, the support switching order, transition milling insertion path, and cooling / lubrication local supply interval are output in a fixed retention order. The corresponding key for expansion with the same number is the handover zone number. The edge-building rule for the candidate control chart allows edge building when there is a continuous material removal boundary or a fixed correspondence between two nodes. The two support switching orders only include left-side switching followed by right-side switching and right-side switching followed by left-side switching. The order of each item in the four cost groups is generated in ascending order. This implementation process includes the following steps: In S41, the purpose is to form a unified handover constraint record required for subsequent control solutions. Its mechanism involves writing the state variables and their correspondences within the same handover zone into the same record unit. The input variables are the handover state table and the handover correspondence table. During processing, the handover state table is first grouped according to the handover zone number, and the spindle load, vibration amplitude, feed change, clamping status of adjacent support points on both sides, and the response of the load-bearing positions on both sides corresponding to each handover zone are read. Then, the adjacent support point numbers, projection coordinates of the adjacent support points on both sides, and the load-bearing positions on both sides are read from the handover correspondence table according to the same handover zone number. The system records the number and the corresponding sides of the adjacent support points on both sides and the junction zone; then, the above information is written into the same junction constraint record, and the junction zone number, junction status record number, and junction corresponding record number are written into the junction constraint table for S42 to read; if the same junction zone number corresponds to multiple junction status records, the first record is retained in ascending order of junction zone acquisition time; if the same junction zone number corresponds to multiple junction corresponding records, the first record is retained in ascending order of the target adjacent support points; if any source record is missing, the corresponding junction zone number is written into the constraint missing record area along with the missing source reason code; In S42, the goal is to generate candidate control results for verification from the handover constraint records. Its mechanism involves candidate control chart construction, connected path expansion, and preservation of the lexicographical order of the four cost groups to filter out control candidates whose spatial and state relationships are both executable. The inputs are the handover constraint table, the end point of the previous tool exit segment, the start point of the next tool entry segment, the handover zone boundary point sequence, and the coordinates of the projection points of adjacent support points on both sides. During processing, a candidate control chart is first constructed around each handover constraint record, using the end point of the previous tool exit segment, the start point of the next tool entry segment, the handover zone boundary points, and the projection points of adjacent support points on both sides as nodes. When there is a continuous material removal boundary between two nodes, a path edge is established; when there is a fixed correspondence between the projection points of adjacent support points and the corresponding side boundary points, a corresponding edge is established. Then, all connected paths are expanded from the end point of the previous tool exit segment to the start point of the next tool entry segment. Subsequently, two support switching sequences were configured for each connected path: left-side switching followed by right-side switching and right-side switching followed by left-side switching, forming candidate control results. For each candidate control result, four cost groups were calculated: path length order (generated in ascending order of the number of nodes traversed by the connected path), accumulated vibration amplitude order (generated in ascending order of the accumulated vibration amplitude at the boundary points covered by the connected path), accumulated response order of the first-switched side bearing position (generated in ascending order of the accumulated response values ​​collected before and after the support switching), and the number of support switching orders (generated in ascending order of the candidate control result). The number of support switching actions occurring in the control results is generated in ascending order; then, the four cost groups are retained in lexicographical order, and the handover zone number, support switching order, connected path number, four cost groups, and candidate control result number are written into the handover candidate control table for S43 to read; if a certain handover zone does not have a connected path from the end of the previous tool exit section to the start of the next tool entry section, the handover zone number is written into the mapping failure record area along with a reason code for no connected path; if the four cost groups are completely identical, the first candidate control result is retained in lexicographical order according to the connected path node number sequence. In S43, the purpose is to perform local supply interval extraction and bidirectional consistency verification on the candidate control results. Its working mechanism is to delete candidate control results that are only valid in one direction through projection point mapping and forward and reverse mutual verification. The input quantities are the handover candidate control table, the coordinates of the projection points of the adjacent support points on both sides, the connected paths corresponding to each candidate control result, and the end point of the previous tool exit segment and the start point of the next tool entry segment. During processing, the first switching side and the second switching side are determined according to the support switching order of each candidate control result. Then, the projection points of the adjacent support points of the first switching side and the adjacent support points of the second switching side are mapped to the nearest path nodes in the corresponding connected paths, and the path segment between the two path nodes is extracted as the local supply interval. Then, the forward verification is performed with the end point of the previous tool exit segment as the start point and the start point of the next tool entry segment as the end point, and the connected path number and the start and end nodes of the local supply interval are read in this direction. Then, starting from the beginning of the next tool entry segment and ending at the end of the previous tool exit segment, a reverse check is performed. The connected path number and the start and end nodes of the local supply interval are read in this direction. When the connected path number and the start and end nodes of the local supply interval are the same as the forward check result and the reverse check result, the candidate control result is considered to have passed the consistency check. The handover zone number, support switching order, connected path number, local supply interval and check result are written into the handover check table for S44 to read. If the forward check and reverse check results are inconsistent, the candidate control result is deleted and written into the check failure record area with an inconsistency reason code. If the projection point cannot be mapped to the connected path node, the candidate control result is written into the mapping failure record area with a mapping failure reason code. In S44, the goal is to output a unique handover control result from the candidate control results that have passed the verification. Its mechanism is to eliminate parallel results by fixing the retention order and the iteration stopping rule. The input is the handover verification table. During processing, the handover verification table is first grouped according to the handover zone number. Then, for each handover zone, the candidate control results corresponding to the candidate control results are retained in the order of the four cost groups. After that, a full round of handover zone traversal is completed, and the retained results of this round are compared with the retained results of the previous round item by item. When the handover zone number, support switching order, connected path number, and local supply interval are all the same in the retained results of two adjacent rounds, the iteration stop condition is determined to be met. Then, the corresponding support switching order is written into the support switching field, the corresponding connected path is written into the transition milling insertion path field, and the corresponding local supply interval is written into the cooling and lubrication local supply interval field. The handover control result is output for subsequent support switching, local supply, and transition milling execution steps to read. If there is no candidate control result that passes the verification in a certain handover zone group, the handover zone number is written into the control empty result record area and an empty result reason code is attached. If only the local supply interval is different when comparing two adjacent rounds, the iteration continues until all fields are consistent or the candidate control results are exhausted. Through the above implementation process, the handover state variables, support correspondence and spatial connectivity are uniformly converged into the handover control result. Subsequent execution steps can directly read the support switching order, transition milling insertion path and local cooling and lubrication supply interval according to the handover zone number, avoiding scattered control basis, non-unique path retention or inconsistent forward and reverse judgment. In practical applications: For an aluminum alloy plate with a weight-reducing cavity and reinforcing edges, the corresponding spindle load, vibration amplitude, feed change, clamping status of adjacent support points on both sides, and load position response on both sides can be merged into a joint constraint record according to the joint zone number. Then, a candidate control map is constructed using the end point of the rough milling cutter exit section, the start point of the finish milling cutter entry section, the boundary point of the joint zone, and the projection points of adjacent support points on both sides. All connected paths are expanded and two support switching sequences are configured respectively. Then, lexicographical order retention is performed according to the path length sequence, vibration amplitude accumulation sequence, load position response accumulation sequence of the first switching side, and support switching count. Next, the projection points of adjacent support points on both sides are mapped to the retained path and the local supply interval is extracted. Forward and reverse checks are performed, and inconsistent candidate control results are deleted. Finally, the candidate control results that pass the check are retained in order of their first position. When the retained results of two adjacent rounds are consistent, the joint control result is output for subsequent support switching of the positioning and clamping structure, local supply of the cooling and lubrication structure, and transition milling of the milling structure.

[0021] S5. Based on the handover control results, the positioning and clamping structure performs support switching, the cooling and lubrication structure performs local supply, the milling machining structure completes transition milling along the insertion path and continues to perform finish milling corresponding to the next tool, and outputs the milling results of the metal plate. This implementation method illustrates how to convert handover control results into actual execution actions and form metal sheet milling results. The process flow is as follows: First, switch adjacent support points on both sides according to the support switching sequence and record the load-bearing position response. Then, perform localized supply within the insertion path range according to the local supply interval and establish path execution relationships. Finally, complete transition milling and subsequent finish milling according to the transition execution table, and write the execution results into the metal sheet milling results. The support switching sequence is taken from the handover control results, the local supply interval is taken from the start and end path point numbers in the handover control results, and the endpoint of the insertion path coinciding with the start point of the next tool entry segment means that the corresponding path point numbers are the same. This implementation process includes the following steps: In S51, the goal is to translate the support switching sequence in the handover control results into executable support actions. Its mechanism involves releasing one side, maintaining the other side, and then re-pressuring the released side to form a stable transition support. The inputs are the handover control results, the handover correspondence table, and the load-bearing position numbers corresponding to the adjacent support points on both sides. During processing, the support switching sequence is first read according to the handover zone number to determine the first and last switching sides. Then, the adjacent support points on the first switching side are released, while the adjacent support points on the last switching side remain pressed. Finally, the adjacent support points on the released side are re-pressed. Tighten; after each re-tightening is completed, immediately read the response value of the corresponding bearing position on that side. In this embodiment, the bearing position response is the displacement change of the corresponding bearing position; finally, write the handover belt number, support switching order, side, support point number, tightening completion time, bearing position number, and bearing position response into the support execution table for S52 to read; if the release action is not completed, stop the subsequent execution of the handover belt and write the handover belt number into the support abnormal record area; if the bearing position response is missing after re-tightening, fill it in with the previous valid response value and attach the response filling reason code; In S52, the purpose is to establish a one-to-one correspondence between local supply actions and insertion paths. Its mechanism is to limit the local supply interval to a fixed area from the start to the end of the insertion path and to synchronously write the support execution results into the path-level execution record. The input quantities are the handover control results, the support execution table, and the path point sequence of the insertion path. During processing, the local supply interval, the start of the insertion path, and the end of the insertion path are read according to the handover zone number. Then, the path point numbers are read sequentially from the start to the end of the insertion path, and the path points located within the local supply interval are determined as fixed-area supply path points. Subsequently, the cooling and lubrication structure is controlled to supply all fixed-area supply path points, and the supply start time and supply end time are recorded according to the path point number. Next, the load-bearing position response of the corresponding handover zone is read from the support execution table, and the load-bearing position response and each path point of the inserted path are written into the path execution table according to the path point number; finally, the handover zone number, path point number, local supply identifier, load-bearing position response and supply time are written into the transition execution table for S53 to read; if the local supply interval exceeds the range of the insertion path start point and insertion path end point, the fixed-area supply is performed after being truncated according to the insertion path start point and insertion path end point, and the interval truncation reason code is attached; if a certain path point lacks a load-bearing position response, the load-bearing position response corresponding to the previous path point is inherited, and the path inheritance reason code is attached; In S53, the purpose is to complete the transition milling and subsequent finish milling according to the transition execution table. Its mechanism is to first eliminate the machining abrupt change at the junction along the insertion path, and then continue to perform finish milling after connecting the end of the insertion path with the start of the next tool entry segment. The input quantities are the transition execution table, the insertion path, the next tool entry segment, and the junction control result. During processing, the path point sequence of the insertion path and the corresponding local supply identifier are read according to the junction number, and the milling machining structure is controlled to perform transition milling sequentially along the insertion path. Then, the path point number corresponding to the end of the insertion path and the path point number corresponding to the start of the next tool entry segment are read. When the two are the same, they are considered to be coincident. After the overlap is confirmed, the milling structure continues to execute the finish milling corresponding to the next tool until the preset finish milling path corresponding to the next tool is completed. Then, the handover zone number, support switching result, local supply result, transition milling completion mark, finish milling completion mark, and completion time are written into the metal plate milling result for subsequent whole plate processing result summary steps to read. If the end point of the inserted path does not coincide with the start point of the next tool's entry segment, the finish milling execution is stopped and the handover zone number is written into the path connection anomaly record area. If the transition milling is interrupted, the completed path point number is retained with an interruption reason code, and the finish milling completion mark is not written. Through the above implementation process, the handover control results are implemented as a continuous execution chain of support switching, local supply, transition milling and subsequent finish milling, and finally form the milling results of metal plates. Subsequently, the support actions, supply actions and processing completion status can be directly traced according to the handover tape number, avoiding the disconnect between the execution process and the control results. In practical applications: For an aluminum alloy plate with a weight-reducing cavity and a reinforcing edge, the support switching sequence can be determined first according to the handover control results, with the left side switching first and the right side switching later. The adjacent support points on the left side are released and re-tightened, and the displacement change of the corresponding load-bearing position on the left side is recorded. Then, local supply is performed in the local supply interval from the start to the end of the insertion path, and the load-bearing position response in the support execution table is written into the transition execution table according to the path point number. Finally, the transition milling is completed along the insertion path. After the path point number corresponding to the end of the insertion path is the same as the start of the next tool entry segment, the finish milling is continued, and the corresponding handover zone number, support switching result, local supply result, and finish milling completion result are written into the metal plate milling result.

[0022] Furthermore, the present invention also includes a machining and milling system for metal sheets, the system comprising a frame, a clamping and positioning mechanism, a milling execution mechanism, an intelligent control system, and a cooling and lubrication mechanism: The frame is used to place the metal sheet to be processed on the support frame and perform clamping and positioning using the positioning and clamping structure. At the same time, on the edge calculation side, according to the sequence of the tools in the preset milling path, the connected area between the exit segment of the previous tool and the entry segment of the next tool is extracted and the junction set is output. The clamping and positioning mechanism is used to extract the support points located on both sides of the joint zone in the positioning and clamping structure, whose projection points fall within the corresponding boundary line segment along the normal direction of the joint zone boundary and whose normal distance to the corresponding boundary line segment is ranked first as the adjacent support points, and output the joint correspondence table by combining the bearing position on the bearing frame that is fixed to each adjacent support point. The milling actuator is used to perform rough milling according to a preset milling path using a milling machining structure. At the moment of tool exit corresponding to each transition zone, it collects spindle load, vibration amplitude, feed change, clamping status of adjacent support points and load position response, and outputs a transition status table. The intelligent control system is used to compare the handover status table and the handover correspondence table one by one on the edge computing side to determine the support switching sequence, transition milling insertion path and local cooling and lubrication supply range corresponding to each handover zone, and output the handover control results. The cooling and lubrication mechanism is used to perform support switching by the positioning and clamping structure, local supply by the cooling and lubrication structure, and transition milling by the milling machining structure along the insertion path to continue the finish milling corresponding to the next tool, based on the handover control results, and output the milling results of the metal plate.

[0023] Working principle: This solution first extracts the truly connected area between the exit section of the previous tool and the entry section of the next tool according to the preset milling path, and determines it as the transition zone. Then, it finds the adjacent support points and load-bearing positions corresponding to its spatial position around both sides of the transition zone and establishes the transition correspondence. Subsequently, at the moment of the previous tool exit, it collects spindle load, vibration amplitude, feed change, clamping status of adjacent support points, and load-bearing position response to form the transition state. Then, it combines these states with the transition correspondence to solve the support switching sequence, transition milling insertion path, and local supply interval corresponding to the transition zone. Finally, according to the solved results, it first performs support switching, then performs local supply, then completes transition milling along the insertion path, and continues to perform finish milling of the next tool. After this processing, the local dimensional drift, surface steps, and edge ripples that are easy to appear at the tool switching point are not discovered after the machining is completed, but are identified and controlled in advance at the transition zone. For example, when machining a thin-walled aluminum alloy plate with a weight-reducing cavity and reinforcing edges, the rough milling cutter removes most of the material first, and then the finish milling cutter is used to trim the edges and key contours. According to this solution, the system does not simply connect these two steps directly. Instead, it first identifies the transition zone between the rough milling cutter's exit and the finish milling cutter's entry, then identifies the closest support points on both sides of the transition zone, and collects the vibration, load, and support response at that location at the moment the rough milling cutter exits. If it is found that the support state and load response corresponding to the transition zone are not suitable for directly switching to finish milling, the support is switched in a predetermined order, and then only the insertion path range corresponding to the transition zone is cooled and lubricated. Afterwards, a transition milling is performed along the insertion path to eliminate the abrupt change between rough and finish milling, and finally, finish milling begins. In this way, even if the plate is thin, the local material removal is large, and tool switching is frequent in actual production, the problem can be concentrated and controlled within a small section of the transition zone, reducing instability and machining defects in the subsequent finish milling stage.

[0024] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for machining and milling metal plates, characterized in that, include: S1. Place the metal plate to be processed on the support frame and use the positioning and clamping structure to perform clamping and positioning. At the same time, on the edge calculation side, according to the sequence of the tools in the preset milling path, extract the connected area between the exit segment of the previous tool and the entry segment of the next tool, and output the junction set. S2. Around each junction, extract the support points located on both sides of the junction in the positioning and clamping structure, whose projection points fall within the corresponding boundary line segment along the normal direction of the junction boundary and whose normal distance to the corresponding boundary line segment is ranked first as the adjacent support points. Combine the bearing positions on the bearing frame that are fixed to each adjacent support point, and output the junction correspondence table. S3. Utilize the milling machining structure to perform rough milling according to the preset milling path, and at the moment of tool exit corresponding to each junction zone, collect spindle load, vibration amplitude, feed change, clamping status of adjacent support points and load position response, and output the junction status table. S4. On the edge calculation side, compare the handover status table and the handover correspondence table one by one to determine the support switching sequence, transition milling insertion path, and local cooling and lubrication supply range corresponding to each handover zone, and output the handover control results; S4 includes: S41. On the edge calculation side, perform same-number expansion on the handover status table and handover correspondence table according to the handover zone number. Write the spindle load, vibration amplitude, feed change, clamping status of adjacent support points on both sides, load position response on both sides, and correspondence between adjacent support points on both sides and handover zone corresponding to each handover zone into the same handover constraint record, and output the handover constraint table. S42. Construct a candidate control map around each handover constraint record, consisting of the end point of the previous tool exit segment, the start point of the next tool entry segment, the boundary point of the handover zone, and the projection points of the adjacent support points on both sides. Configure two support switching orders for the adjacent support points on both sides for each connected path in the candidate control map, and perform lexicographical order retention using four cost groups consisting of path length order, cumulative vibration amplitude order of path coverage, cumulative response order of the bearing position on the first switching side, and support switching number, and output the handover candidate control table. S5. Based on the handover control results, the positioning and clamping structure performs support switching, the cooling and lubrication structure performs local supply, the milling machining structure completes transition milling along the insertion path and continues to perform finish milling corresponding to the next tool, and outputs the milling results of the metal plate.

2. The machining and milling method for metal plates according to claim 1, characterized in that: S1 includes: S11. On the edge computing side, the preset milling path is segmented and expanded according to the tool identifier and the path execution order. The last exit segment corresponding to each tool and the first and second entry segments corresponding to the subsequent tools are extracted, and the handover candidate segment pair set is output. S12. Perform contour same-layer verification and endpoint adjacency verification on each candidate segment pair, retain the candidate segment pairs that are located on the same machining contour and have a continuous material removal boundary between the end point of the previous tool exit segment and the start point of the next tool entry segment, and output the set of connected segments. S13. Perform closed enclosing processing on the continuous material removal boundaries of each joint connection segment set, extract the enclosing connected area between the previous tool exit segment and the next tool entry segment as the joint zone, and output the joint zone set.

3. The machining and milling method for metal plates according to claim 2, characterized in that: S2 includes: S21. Around each junction zone, perform normal expansion on both sides of the junction zone according to the boundary point order to form corresponding boundary line segment groups. Then, perform normal projection on each support point in the positioning and clamping structure onto the corresponding boundary line segment group. Retain the support points whose projection points fall within the corresponding boundary line segment range as candidate support points. At the same time, extract the corresponding bearing position of each candidate support point and output the junction candidate table. S22. Perform bilateral pairing on the candidate support points of the handover list according to the handover zone number. For each candidate support point on both sides of the handover zone, calculate the normal distance order, the position difference order along the boundary direction, and the connection order of the corresponding bearing position on the bearing frame. Perform lexicographical pairing using the normal distance order, position difference order, and connection order as a three-item sorting group. Delete candidate pairings that are duplicated on the same side, have the bilateral connection line cross the center line of the handover zone, or have the bearing position order reversed. Output the adjacent support point pairing list.

4. The machining and milling method for metal plates according to claim 3, characterized in that: S2 also includes: S23. For each pair of adjacent support points in the adjacent support point pair table, perform reverse projection verification from the projection point of the adjacent support point on one side to the boundary on the other side, and perform reverse projection verification from the projection point of the adjacent support point on the other side to the boundary on that side. Retain the pair of adjacent support points whose bidirectional projections both fall within the corresponding boundary line segment range and whose corresponding bearing positions maintain a fixed correspondence on the same side as the target pair of adjacent support points, and write the handover zone number, the target pair of adjacent support points and the corresponding bearing positions into the handover correspondence table.

5. The machining and milling method for metal plates according to claim 4, characterized in that: S3 includes: S31. Utilize the milling machining structure to perform rough milling according to the preset milling path, and expand the execution time of each previous tool exit segment in the preset milling path on the edge calculation side. Correspond the last execution time of each previous tool exit segment to the handover zone acquisition time and output the handover acquisition time table. S32. For each transfer zone acquisition time in the transfer acquisition time table, extract the spindle load, vibration amplitude and feed change at the corresponding time, and write them into the cutting state group according to the transfer zone number and acquisition time execution order, and output the transfer cutting table.

6. The machining and milling method for metal plates according to claim 5, characterized in that: S3 also includes: S33. For each handover zone acquisition time in the handover acquisition timetable, extract the clamping status of the adjacent support points and the response results of the corresponding bearing positions of the handover zone, and perform corresponding writing according to the handover zone number, support point side and bearing position number, and output the handover support table. S34. Merge the cutting and support tables according to the transfer zone number and acquisition time, and write the spindle load, vibration amplitude, feed change, clamping status of adjacent support points and load position response into the same transfer status record, and output the transfer status table.

7. The machining and milling method for metal plates according to claim 1, characterized in that: S4 also includes: S43. For each candidate control result in the handover candidate control table, map the projection points of the adjacent support points on the first switching side and the adjacent support points on the second switching side to the corresponding connected paths according to the support switching order. Extract the path segment between the two projection points as the local supply interval. Perform forward verification from the end of the previous tool exit segment to the start of the next tool entry segment, and perform reverse verification from the start of the next tool entry segment to the end of the previous tool exit segment. Delete candidate control results with inconsistent forward and reverse results, and output the handover verification table. S44. For the handover verification table, retain the candidate control results ranked first according to the handover zone number. Stop the iteration when the handover zone number, support switching order, connection path and local supply interval are the same in the retained results of two adjacent rounds. Write the corresponding support switching order, transition milling insertion path and cooling lubrication local supply interval into the handover control results.

8. The method for machining and milling a metal plate according to claim 7, characterized in that: S5 includes: S51. Based on the support switching sequence in the handover control results, sequentially perform single-sided release, other-sided holding, and release-side re-tightening on adjacent support points on both sides of the handover zone, and record the corresponding load position response after each tightening, and output the support execution table. S52. Based on the local supply interval in the handover control results, perform fixed-area supply within the range from the starting point to the end point of the insertion path in the corresponding handover zone, and write the bearing position response in the support execution table and the corresponding path points of the insertion path into the path execution table, and output the transition execution table. S53. According to the transition execution table, perform transition milling along the insertion path, and after the end of the insertion path coincides with the starting point of the next tool entry segment, continue to perform the finish milling corresponding to the next tool, and write the corresponding handover zone number, support switching result, local supply result and finish milling completion result into the metal plate milling result.

9. A machining and milling system for metal plates, used to implement the machining and milling method for a metal plate as described in any one of claims 1-8, the system comprising a frame, a clamping and positioning mechanism, a milling execution mechanism, an intelligent control system, and a cooling and lubrication mechanism, characterized in that: The frame is used to place the metal sheet to be processed on the support frame and perform clamping and positioning using the positioning and clamping structure. At the same time, on the edge calculation side, according to the sequence of the tools in the preset milling path, the connected area between the exit segment of the previous tool and the entry segment of the next tool is extracted and the junction set is output. The clamping and positioning mechanism is used to extract the support points located on both sides of the joint zone in the positioning and clamping structure, whose projection points fall within the corresponding boundary line segment along the normal direction of the joint zone boundary and whose normal distance to the corresponding boundary line segment is ranked first as the adjacent support points, and output the joint correspondence table by combining the bearing position on the bearing frame that is fixed to each adjacent support point. The milling actuator is used to perform rough milling according to a preset milling path using a milling machining structure. At the moment of tool exit corresponding to each transition zone, it collects spindle load, vibration amplitude, feed change, clamping status of adjacent support points and load position response, and outputs a transition status table. The intelligent control system is used to compare the handover status table and the handover correspondence table one by one on the edge computing side to determine the support switching sequence, transition milling insertion path and local cooling and lubrication supply range corresponding to each handover zone, and output the handover control results. The cooling and lubrication mechanism is used to perform support switching by the positioning and clamping structure, local supply by the cooling and lubrication structure, and transition milling by the milling machining structure along the insertion path to continue the finish milling corresponding to the next tool, based on the handover control results, and output the milling results of the metal plate.

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