An automatic flat end device with milling and chamfering functions

Abstract

The present application relates to the technical field of metal processing, and discloses an automatic flat head equipment with milling and chamfering functions, which comprises an operation table, a sliding table base plate is installed on the upper surface of the operation table, a sliding groove seat is installed on the upper surface of the sliding table base plate away from the operation table, moving assemblies are installed on both ends of the sliding groove seat, and processing assemblies are installed at the output ends of the two moving assemblies. Through linkage of the quality detection module, the early warning module and the parameter adjustment module, online closed-loop evaluation of the milling and chamfering two-process machining quality and self-setting of the process parameters are realized, the problem of lack of cooperation between the milling and chamfering processes and the influence of the quality fluctuation of the previous process on the latter process in the prior art is solved, the subsequent processing instructions can be dynamically optimized according to the quality feedback such as the surface roughness and chamfer size of the finished workpiece, process cooperative optimization is realized, and the intelligent level and overall efficiency of the production line are improved.

Description

Technical Field

[0001] This invention relates to the field of metal processing technology, specifically to an automated flat-end machine with milling and chamfering functions. Background Technology

[0002] In the manufacturing industry, especially in the processing of pipes, bars, and profiles, and the preparation of precision components for high-end equipment, there are stringent requirements for the flatness, perpendicularity, and edge quality of the end faces of metal components. The traditional "flattening" process aims to flatten the workpiece end face through cutting, while the "chamfering" process is used to remove edge burrs, prevent stress concentration, or meet assembly requirements. Both are key steps in ensuring product quality, improving assembly accuracy, and ensuring operational safety. With the rapid development of intelligent manufacturing and automated production lines, the demand for production efficiency, processing consistency, and process integration is becoming increasingly urgent. Integrating milling and chamfering functions into a single automated machine to achieve continuous processing of "one clamping, two operations" has become an important technological direction for improving the flexibility and efficiency of production lines.

[0003] However, existing automated milling and chamfering flat-end machines still have many technical bottlenecks, making it difficult to meet the demands of modern manufacturing for high precision, high flexibility, and intelligence.

[0004] Firstly, the integrated mechanical structure is complex, resulting in insufficient precision retention and stability. Existing equipment generally uses a mechanical splicing of milling spindle units and chamfering tool units to achieve function switching. This structure easily leads to uneven distribution of overall rigidity of the equipment. During continuous processing, especially when milling high-hardness materials, it is prone to structural deformation or vibration displacement, directly affecting the flatness, perpendicularity, and chamfer dimension consistency of the end face. At the same time, the complex motion mechanism increases the accumulation of transmission errors and failure points, resulting in poor precision retention under long-term operation and high maintenance costs.

[0005] Secondly, there is a lack of process perception and adaptive control capabilities. Current mainstream equipment control systems largely rely on PLC control and servo drive-assisted trajectory control, lacking real-time status perception and intelligent decision-making during the machining process. For example, the equipment cannot monitor tool wear, cutting force fluctuations, or burr residue during chamfering online. When there are batch differences in workpiece material, minor tool wear, or slight clamping deviations, existing technologies cannot automatically adjust cutting parameters or tool compensation values, leading to fluctuations in machining quality and making stable production difficult.

[0006] Third, the process coordination and efficiency optimization algorithms are lacking, and there is a lack of dynamic correction mechanisms. Although milling and chamfering are continuous processes, the dynamic changes in working conditions, such as the actual quality of the component end face after the previous milling process and the distribution of residual stress, are not fully considered during the cutting and chamfering processes. In actual processing, the micro-unevenness of the end face, micro-defects at the edges, and material hardening caused by the cutting process can lead to unstable tool entry and uneven force during subsequent chamfering, thus affecting the consistency of chamfer dimensions and the accuracy of edge quality.

[0007] In summary, existing automated milling and chamfering flat-end machines generally suffer from poor precision stability due to structural integration, weak process perception and control adaptability, insufficient process collaborative optimization, and low levels of intelligence. These issues make it difficult to guarantee consistent processing quality, hindering the improvement of overall efficiency and intelligence levels in high-end manufacturing production lines. Therefore, developing an automated milling and chamfering flat-end machine capable of online perception, adaptive control, and process collaborative optimization has become a pressing technical challenge in the field of metal processing. Summary of the Invention

[0008] In order to overcome the above-mentioned defects of the prior art, the present invention provides an automated flat-heading machine with milling and chamfering functions that can realize online sensing, adaptive control and process collaborative optimization capabilities.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] An automated flat-end machine with milling and chamfering functions includes an operating table, a sliding table pad is installed on the upper surface of the operating table, a slide seat is installed on the upper surface of the sliding table pad away from the operating table, moving components are installed at both ends of the slide seat, processing components are installed at the output ends of the two moving components, and a transmission component is installed in the middle of the two processing components and on the upper surface of the slide seat for transmitting the workpiece to be processed between the two processing components;

[0011] The processing component includes a protective housing fixedly installed near the output end of the moving component. A rotating rod is installed inside the protective housing. A motion component is provided at one end of the rotating rod near the moving component for controlling the rotation of the rotating rod. A cutting head is provided at one end of the rotating rod away from the motion component. A camera component is provided on the side of the protective housing near the cutting head for image acquisition of the motion trajectory data of the cutting head during operation and the position and shape data of the processed workpiece.

[0012] The motion component is equipped with a drive motor at the end away from the rotating rod, and a speed sensor is provided at the end of the motion component near the rotating rod to collect rotation data of the rotating rod during operation.

[0013] The surface of the operating console is provided with a control component, which is electrically connected to the camera assembly and the speed sensor. The control component includes a synchronization processing module, an image acquisition module, an image processing module, a motion monitoring module, a motion planning module, a quality detection module, an early warning module, a parameter adjustment module, a motion output module, and a display panel. The input terminal of the synchronization processing module is electrically connected to the signal output terminal of the camera assembly and the speed sensor.

[0014] The synchronization processing module can collect image data from the camera component and speed pulse data from the speed sensor, and use its internal high-precision crystal oscillator clock source to stamp a unified timestamp t on the starting point of each frame of image data and the rising edge of each speed pulse signal, generating a synchronization data packet Sync to ensure that the time base of subsequent data processing is consistent.

[0015] Preferably, the input terminal of the image acquisition module is electrically connected to the output terminal of the camera assembly, and is used to receive and buffer the raw image data in Sync. The output terminal of the image acquisition module is electrically connected to the input terminal of the image processing module, and the image processing module can analyze and determine the center position of the workpiece in the image at each time t based on the received raw image data. ;

[0016] The output of the speed sensor is connected to the input of the motion monitoring module, and the input of the motion monitoring module is electrically connected to the output of the image processing module. This allows for the calculation of the real-time difference between the theoretical feed rate of the cutting head and the actual feed rate of the workpiece by combining the image data captured by the camera assembly and the motion data from the speed sensor. and its position along with the workpiece Together with the comprehensive monitoring data, it is output to the motion planning module in real time.

[0017] Preferably, the image processing module calculates the real-time difference between the theoretical feed rate of the cutting head and the actual feed rate of the workpiece based on the image data captured by the camera component and the motion data from the speed sensor. The process is as follows:

[0018] A. Continuous workpiece positions with timestamps output by the image processing module. Utilizing the positional difference between adjacent times With time interval Calculate the instantaneous actual velocity of the workpiece in the image plane. :

[0019]

[0020] A. The motion planning module is configured to receive the theoretical feed rate command issued to the tool head at the current moment. By calculating the synchronization error and The absolute value of the difference: As a real-time synchronization error .

[0021] Preferably, the fusion data output terminal of the motion monitoring module is electrically connected to the real-time feedback input terminal of the motion planning module, and the input terminal of the motion output module is electrically connected to the output terminal of the motion planning module, for generating motion control commands for the drive motor and transmission components.

[0022] Preferably, the input terminal of the quality inspection module is electrically connected to the output terminal of the image processing module, and is used to analyze the image data of the finished workpiece end face acquired by the module based on the camera component after a single processing cycle. The input terminal of the early warning module is electrically connected to the output terminal of the quality inspection module, and the early warning module analyzes and identifies the processing defects of the finished workpiece based on the acquired actual image data and a preset quality threshold.

[0023] Preferably, the warning signal output terminal of the warning module is electrically connected to the trigger terminal of the parameter adjustment module and the alarm information input terminal of the display panel, respectively. The parameter adjustment module matches internally preset parameters based on the processing defect information collected by the warning module. The adjustment rules stipulate that the parameter adjustment module's output terminal is electrically connected to the motion planning module's parameter update input terminal. The motion planning module is based on a preset processing path, ideal parameters, and real-time synchronization error. Generate basic instructions and optimization parameters The fusion process generates the final optimized instructions. ;

[0024] The input terminal of the motion output module is electrically connected to the output terminal of the motion planning module, based on the final optimization instruction received from the motion planning module. Through its internal command arbitration and signal conversion unit, it converts digital control commands into analog voltage or pulse signals that the drive motor can receive, as well as control signals required by the transmission components.

[0025] Preferably, the motion planning module analyzes and calculates motion control commands based on the optimized adjustment parameters provided by the parameter adjustment module and the comprehensive data generated by real-time monitoring, as follows:

[0026] Step 1: Receive workpiece position data from the motion monitoring module Synchronization error And set the optimization parameters from the parameter tuning module to (If no warning is given, the value will be empty or the default value).

[0027] Step 2: Using the preset processing path, ideal parameters, and real-time synchronization error... Generate basic instructions The method is as follows:

[0028] The proportional-integral (PI) control algorithm is used to dynamically calculate the speed adjustment of the drive motor. :

[0029] Preset ideal speed With speed adjustment Combined to form the basic speed command : Combined with path planning, basic motion commands are formed. .

[0030] Step 3: Transfer the basic instructions With optimization parameters Perform fusion to generate final instructions If no optimization parameters are available, then If optimization parameters exist (such as the nominal speed adjusted for surface roughness), Or trajectory compensation for chamfer width If it is, then it is incorporated into the instruction. For example, using Replace the original speed, or overlay it on the path. .

[0031] Preferably, the display panel is electrically connected to the aforementioned multiple modules, specifically including: connection to an image processing module for real-time display of monitoring images and contours; connection to a motion monitoring module for displaying motion parameters; connection to a quality detection module for displaying quality data; and connection to an early warning module for providing audible and visual alarms and displaying early warning information.

[0032] This invention provides an automated flat-end machine with milling and chamfering functions, which has the following advantages compared with the prior art:

[0033] 1. This invention achieves online closed-loop evaluation and process parameter self-tuning of the processing quality of milling and chamfering processes through the linkage of the quality detection module, early warning module and parameter adjustment module. It solves the problems of lack of coordination between milling and chamfering processes in the prior art and the impact of the quality fluctuation of the previous process on the subsequent process. It can dynamically optimize the subsequent processing instructions based on the quality feedback such as the surface roughness and chamfer size of the finished workpiece, realize the collaborative optimization of the process, and improve the intelligence level and overall efficiency of the production line.

[0034] 2. This invention comprehensively processes the workpiece image center position and real-time speed data through a motion monitoring module, calculates the real-time synchronization error between the theoretical feed speed and the actual feed speed, and establishes a real-time motion state quantification model based on the fusion of image processing and rotation speed sensing. This replaces the existing control method that relies on preset parameters and lacks process feedback, effectively avoiding the problem of machining quality fluctuations caused by differences in workpiece material, clamping deviations, or tool wear, and significantly improving the accuracy and stability of motion control.

[0035] 3. This invention designs a machining component that integrates a camera assembly and a rotation speed sensor to achieve synchronous acquisition of multi-dimensional machining parameters such as the movement trajectory of the cutting head, the position and shape of the workpiece, and the rotation speed of the rotary rod. Combined with a synchronous processing module to assign a unified timestamp to the image and rotation speed data, this invention solves the defects of existing technologies where the time base of multi-sensor data is not unified and it is difficult to achieve accurate process synchronous analysis, thus providing a precise data foundation for real-time motion monitoring and adaptive control.

[0036] 4. Based on early warning signals, this invention generates optimized parameters by matching internal rules through a parameter adjustment module, and dynamically corrects and integrates the basic instructions of the motion planning module. This solves the defects of existing technologies where process parameters are fixed and cannot be self-adjusted based on quality feedback. The motion planning module integrates real-time synchronization errors and quality optimization parameters to generate final control instructions to drive the actuator, realizing closed-loop adaptive control of the entire chain from process perception and real-time correction to quality feedback optimization. This significantly improves the consistency and intelligence level of equipment processing quality, meeting the needs of high-end manufacturing for high-precision and highly flexible automated processing equipment. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 This is a schematic diagram of the processing component of the present invention;

[0039] Figure 3 This is a control block diagram of the control component of the present invention.

[0040] In the diagram: 1. Operating table; 2. Sliding table pad; 3. Slide seat; 4. Moving component; 5. Processing component; 51. Protective housing; 52. Rotary rod; 53. Motion component; 54. Cutting head; 55. Camera component; 56. Drive motor; 57. Speed ​​sensor; 6. Transmission component; 7. Control component. Detailed Implementation

[0041] 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.

[0042] Please see Figures 1 to 3 The present invention provides a technical solution: an automated flat-end machine with milling and chamfering functions, including an operating table 1, a sliding table pad 2 installed on the upper surface of the operating table 1, a slide seat 3 installed on the upper surface of the sliding table pad 2 away from the operating table 1, a moving component 4 installed at both ends of the slide seat 3, a processing component 5 installed at the output end of each of the two moving components 4, and a transmission component 6 installed in the middle of the two processing components 5 and located on the upper surface of the slide seat 3, for transmitting the workpiece to be processed between the two processing components 5;

[0043] It should be specifically noted in this embodiment that the specific structure and connection method of the above-mentioned operating table 1, sliding table pad 2, slide seat 3, moving component 4, and transmission component 6 are all existing technologies, which can realize the transmission, positioning and processing power of the workpiece to be processed. This embodiment does not make specific limitations, as long as its structure is set to match the functional effect of this embodiment.

[0044] The processing component 5 includes a protective housing 51 fixedly installed near the output end of the moving component 4. A rotating rod 52 is installed inside the protective housing 51. A motion component 53 is provided at one end of the rotating rod 52 near the moving component 4 for controlling the rotation of the rotating rod 52. A cutting head 54 is provided at one end of the rotating rod 52 away from the motion component 53. A camera component 55 is provided on the side of the protective housing 51 near the cutting head 54 for acquiring images of the motion trajectory data of the cutting head 54 during operation and the position and shape data of the processed workpiece.

[0045] The motion component 53 is provided with a drive motor 56 at one end away from the rotating rod 52, and a speed sensor 57 is provided at one end of the motion component 53 near the rotating rod 52 for collecting rotation data of the rotating rod 52 during operation.

[0046] The surface of the operating console 1 is provided with a control component 7, which is electrically connected to the camera assembly 55 and the speed sensor 57. The control component 7 includes a synchronization processing module, an image acquisition module, an image processing module, a motion monitoring module, a motion planning module, a quality detection module, an early warning module, a parameter adjustment module, a motion output module, and a display panel. The input terminal of the synchronization processing module is electrically connected to the signal output terminal of the camera assembly 55 and the speed sensor 57.

[0047] The synchronization processing module can collect image data from the camera component 55 and rotational speed pulse data from the rotational speed sensor 57, and use its internal high-precision crystal oscillator clock source to stamp a unified timestamp t on the starting point of each frame of image data and the rising edge of each rotational speed pulse signal to generate a synchronization data packet Sync. This ensures that the time base for subsequent data processing is consistent, providing a visual reference for subsequent precise synchronization control and quality inspection, and giving the equipment the eyes to perceive the processed object.

[0048] The input terminal of the image acquisition module is electrically connected to the output terminal of the camera assembly 55, and is used to receive and buffer the raw image data in Sync. The output terminal of the image acquisition module is electrically connected to the input terminal of the image processing module, and is responsible for transmitting the image data to the image processing module. The image processing module can analyze and determine the center position of the workpiece in the image at each time t based on the received raw image data. The overall processing flow mainly involves first performing grayscale preprocessing on the original color image to eliminate color interference and reduce computational complexity. Then, Gaussian filtering is used to suppress image noise and improve subsequent detection accuracy. Next, Canny edge detection is used to accurately extract clear and continuous workpiece edges. Then, the connected contours of the workpiece are extracted, and effective target contour data are selected by combining prior features such as workpiece size, area, and shape. Finally, the coordinates are calculated using geometric calculation methods such as minimum bounding rectangle, centroid calculation, or ellipse fitting. The final output is the real-time center position of the workpiece in the current image coordinate system. ;

[0049] The output of the speed sensor 57 is connected to the input of the motion monitoring module, and the input of the motion monitoring module is electrically connected to the output of the image processing module. This module integrates the image data captured by the camera assembly 55 with the motion data from the speed sensor 57 to calculate the real-time difference between the theoretical feed rate of the cutting head 54 and the actual feed rate of the workpiece. and its position along with the workpiece Together with the comprehensive monitoring data, it is output to the motion planning module in real time, providing accurate data input for subsequent process optimization.

[0050] The image processing module calculates the real-time difference between the theoretical feed rate of the cutter head 54 and the actual feed rate of the workpiece based on the image data captured by the camera component 55 and the motion data of the speed sensor 57. The process is as follows:

[0051] A1. Continuous workpiece positions with timestamps output by the image processing module. Utilizing the positional difference between adjacent times With time interval Calculate the instantaneous actual velocity of the workpiece in the image plane. :

[0052]

[0053] A2. Set the motion planning module to receive the theoretical feed rate command issued to the cutter head 54 at the current moment. By calculating the synchronization error and The absolute value of the difference: As a real-time synchronization error .

[0054] The fusion data output terminal of the motion monitoring module is electrically connected to the real-time feedback input terminal of the motion planning module, and the input terminal of the motion output module is electrically connected to the output terminal of the motion planning module, which is used to generate motion control commands for the drive motor 56 and the transmission component 6.

[0055] The input of the quality inspection module is electrically connected to the output of the image processing module. It is used to analyze the image data of the finished workpiece end face acquired by the camera component 55 after a single processing cycle. The processing mainly relies on the overall shape boundary identified by the image processing module in the preprocessing stage, as well as edge detection and contour analysis of the image. This locates the contour line where the chamfered bevel intersects with the main body of the end face. Based on the identified overall workpiece contour or minimum bounding rectangle, a safety distance is set, and the contour is contracted from each edge towards the workpiece center, ensuring that the new boundary after contraction is completely inside the chamfered contour line. This excludes the entire chamfered bevel area, thus defining a chamfer-free detection area on the workpiece end face. The pixel grayscale values ​​within this area are extracted, and the grayscale mean μ and grayscale standard deviation are calculated. :

[0056]

[0057] when The larger the value, the higher the surface roughness; the measured chamfer width is obtained by extracting the chamfer profile and fitting a straight line. ,angle , respectively with the design value and In comparison, the quality inspection module identifies and extracts the projection contour of the chamfered surface onto the image from the finished workpiece edge image provided by the image processing module, obtaining a series of contour pixels. Then, the least squares method is used to fit a straight line to these discrete contour points, obtaining a straight line equation that best represents the chamfered surface. Among them, the slope *a* and intercept *b* are the key parameters obtained from the fitting. Measured chamfer angle. That is, it is calculated from the slope of the fitted line, and the formula is: The result directly reflects the angle between the inclined plane and the reference plane. Measured chamfer width. The calculation requires combining three elements: the fitted chamfer line, the known position of the workpiece reference edge in the image, and the pixel physical size conversion coefficient k obtained in advance by the system through camera calibration. By calculating the pixel distance between the fitted line and the reference edge in the image, and then multiplying it by the coefficient k, the pixel distance is converted into the actual physical length, thus obtaining the chamfer width. Calculate the width deviation and angle deviation :

[0058]

[0059]

[0060] The final output consists of surface roughness. The quality feature vector Q is composed of chamfer width deviation ΔW and chamfer angle deviation Δθ.

[0061]

[0062] The input terminal of the early warning module is electrically connected to the output terminal of the quality inspection module. Based on the acquired actual image data and a preset quality threshold, the early warning module analyzes and identifies processing defects in the workpiece, and determines the defects based on the preset quality threshold vector. The quality feature vector Q is compared element-wise to obtain the three-dimensional Boolean decision vector Flag. Any element in Flag... =1 means that the corresponding indicator exceeds the standard. When the Flag is logically ORed, an alert is triggered and an Alert signal containing the code of the specific exceeding item is generated. This signal is then output to the parameter adjustment module and the display panel respectively.

[0063] The warning signal output terminal of the warning module is electrically connected to the trigger terminal of the parameter adjustment module and the alarm information input terminal of the display panel, respectively. The parameter adjustment module matches internally preset parameters based on the processing defect information collected by the warning module. Adjust rules and generate optimized adjustment parameters For example, if the surface roughness exceeds the standard, then The reduced nominal feed rate If the chamfer width exceeds the limit, then For trajectory compensation amount The parameter adjustment module's output terminal is electrically connected to the motion planning module's parameter update input terminal. The motion planning module is based on a preset machining path, ideal parameters, and real-time synchronization error. Generate basic instructions and optimization parameters The fusion process generates the final optimized instructions. ;

[0064] The input terminal of the motion output module is electrically connected to the output terminal of the motion planning module, based on the final optimization instruction received from the motion planning module. Through its internal command arbitration and signal conversion unit, it converts digital control commands into analog voltage or pulse signals that the drive motor 56 can receive, as well as control signals required by the transmission component 6. This achieves seamless coordination between real-time control and process optimization, including rapid dynamic adjustment to deal with instantaneous disturbances, and process strategy optimization for long-term trends through quality feedback. This gives the control system two levels of intelligence: high-precision servo tracking capability at the bottom layer, and self-tuning capability of process parameters at the top layer.

[0065] The motion planning module analyzes and calculates motion control commands based on the optimized adjustment parameters provided by the parameter adjustment module and the comprehensive data generated by real-time monitoring, as follows:

[0066] Step 1: Receive workpiece position data from the motion monitoring module Synchronization error And set the optimization parameters from the parameter tuning module to (If no warning is given, the value will be empty or the default value).

[0067] Step 2: Using the preset processing path, ideal parameters, and real-time synchronization error... Generate basic instructions The method is as follows:

[0068] The proportional-integral (PI) control algorithm is used to dynamically calculate the speed adjustment of the drive motor 56. :

[0069] Preset ideal speed With speed adjustment amount Combined to form the basic speed command : Combined with path planning, basic motion commands are formed. .

[0070] Step 3: Transfer the basic instructions With optimization parameters The components are merged to generate the final instruction. If no optimization parameters are available, then If optimization parameters exist (such as the nominal speed adjusted for surface roughness), Or trajectory compensation for chamfer width If it is, then it is incorporated into the instruction. For example, using Replace the original velocity, or add ΔC to the path.

[0071] The display panel is electrically connected to the aforementioned modules, specifically including: a connection to an image processing module for real-time display of monitoring images and outlines; and a connection to a motion monitoring module for displaying real-time rotational speed. Feed rate Motion parameters; connected to the quality detection module for displaying detection results. It provides quality data; connects to the early warning module for audible and visual alarms and displays warning information; the visual interface allows operators to monitor the processing status in real time, quickly handle anomalies, and improve equipment usability and production management efficiency.

[0072] In this embodiment, it should be specifically noted that the specific implementation of each module in the control component 7 (such as image processing algorithms and control algorithms) can be completed using a programmable logic controller (PLC), an industrial computer (IPC), or an embedded system combined with corresponding software programs. These are conventional technical means, and this embodiment does not impose specific limitations on them. The display panel is used to display the processing status, motion parameters, quality inspection results, and early warning information in real time. Its human-machine interface is also a conventional technology, and this embodiment does not impose specific limitations on it.

[0073] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0074] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automated flat-end machine with milling and chamfering functions, comprising an operating table (1), characterized in that: A sliding table pad (2) is installed on the upper surface of the operating table (1). A sliding groove seat (3) is installed on the upper surface of the sliding table pad (2) away from the operating table (1). A moving component (4) is installed at both ends of the sliding groove seat (3). A processing component (5) is installed at the output end of the two moving components (4). A transmission component (6) is installed in the middle of the two processing components (5) and on the upper surface of the sliding groove seat (3) for transmitting the workpiece to be processed between the two processing components (5). The processing component (5) includes a protective housing (51) fixedly installed near the output end of the moving component (4). A rotating rod (52) is installed inside the protective housing (51). A motion component (53) is provided at one end of the rotating rod (52) near the moving component (4) for controlling the rotation of the rotating rod (52). A cutter head (54) is provided at one end of the rotating rod (52) away from the motion component (53). A camera component (55) is provided on the side of the protective housing (51) near the cutter head (54) for image acquisition of the motion trajectory data of the cutter head (54) during operation and the position and shape data of the processed workpiece. The motion component (53) has a drive motor (56) at one end away from the rotating rod (52), and a speed sensor (57) is provided at one end of the motion component (53) near the rotating rod (52) to collect rotation data of the rotating rod (52) during operation. The surface of the operating console (1) is provided with a control component (7), which is electrically connected to the camera assembly (55) and the speed sensor (57). The control component (7) includes a synchronization processing module, an image acquisition module, an image processing module, a motion monitoring module, a motion planning module, a quality detection module, an early warning module, a parameter adjustment module, a motion output module, and a display panel. The input end of the synchronization processing module is electrically connected to the signal output end of the camera assembly (55) and the speed sensor (57). The synchronization processing module can collect image data from the camera component (55) and rotational pulse data from the rotational speed sensor (57), and use its internal high-precision crystal oscillator clock source to stamp a unified timestamp t on the starting point of each frame of image data and the rising edge of each rotational speed pulse signal to generate a synchronization data packet Sync, which is used to ensure that the time base of subsequent data processing is consistent.

2. The automated flat-end machine with milling and chamfering functions according to claim 1, characterized in that: The input terminal of the image acquisition module is electrically connected to the output terminal of the camera assembly (55) for receiving and buffering the raw image data in Sync. The output terminal of the image acquisition module is electrically connected to the input terminal of the image processing module. The image processing module can analyze and determine the center position of the workpiece in the image at each time t based on the received raw image data. ; The output of the speed sensor (57) is connected to the input of the motion monitoring module, and the input of the motion monitoring module is electrically connected to the output of the image processing module. This module is used to combine the image data captured by the camera assembly (55) and the motion data from the speed sensor (57) to calculate the real-time difference between the theoretical feed rate of the cutting head (54) and the actual feed rate of the workpiece. and its position along with the workpiece Together with the comprehensive monitoring data, it is output to the motion planning module in real time.

3. The automated flat-end machine with milling and chamfering functions according to claim 2, characterized in that: The image processing module calculates the real-time difference between the theoretical feed rate of the cutting head (54) and the actual feed rate of the workpiece based on the image data captured by the camera component (55) and the motion data of the speed sensor (57). The process is as follows: A1. Continuous workpiece positions with timestamps output by the image processing module. Utilizing the positional difference between adjacent times With time interval Calculate the instantaneous actual velocity of the workpiece in the image plane. : A2. Set the motion planning module to receive the theoretical feed rate command issued to the cutter head (54) at the current moment. By calculating the synchronization error and The absolute value of the difference: As a real-time synchronization error .

4. The automated flat-end machine with milling and chamfering functions according to claim 1, characterized in that: The fusion data output terminal of the motion monitoring module is electrically connected to the real-time feedback input terminal of the motion planning module, and the input terminal of the motion output module is electrically connected to the output terminal of the motion planning module, which is used to generate motion control commands for the drive motor (56) and the transmission component (6).

5. The automated flat-end machine with milling and chamfering functions according to claim 2, characterized in that: The input end of the quality inspection module is electrically connected to the output end of the image processing module, and is used to analyze the image data of the finished workpiece end face collected by the module based on the camera component (55) after a single processing cycle. The input end of the early warning module is electrically connected to the output end of the quality inspection module. The early warning module analyzes and judges the processing defects of the finished workpiece based on the actual image data collected and the preset quality threshold.

6. The automated flat-end machine with milling and chamfering functions according to claim 5, characterized in that: The warning signal output terminal of the warning module is electrically connected to the trigger terminal of the parameter adjustment module and the alarm information input terminal of the display panel, respectively. The parameter adjustment module matches internally preset parameters based on the processing defect information collected by the warning module. The adjustment rules stipulate that the parameter adjustment module's output terminal is electrically connected to the motion planning module's parameter update input terminal. The motion planning module is based on a preset processing path, ideal parameters, and real-time synchronization error. Generate basic instructions and optimization parameters The fusion process generates the final optimized instructions. ; The input terminal of the motion output module is electrically connected to the output terminal of the motion planning module, based on the final optimization instruction received from the motion planning module. Through its internal instruction arbitration and signal conversion unit, it converts digital control instructions into analog voltage or pulse signals that can be received by the drive motor (56) and control signals required by the transmission component (6).

7. The automated flat-end machine with milling and chamfering functions according to claim 6, characterized in that: The motion planning module analyzes and calculates motion control commands based on the optimized adjustment parameters provided by the parameter adjustment module and the comprehensive data generated by real-time monitoring, as follows: Step 1: Receive workpiece position data from the motion monitoring module Synchronization error And set the optimization parameters from the parameter tuning module to (If no warning is given, the value will be empty or the default value). Step 2: Using the preset processing path, ideal parameters, and real-time synchronization error... Generate basic instructions The method is as follows: The speed adjustment of the drive motor (56) is dynamically calculated using a proportional-integral (PI) control algorithm. : Preset ideal speed With speed adjustment amount Combined to form the basic speed command : Combined with path planning, basic motion commands are formed. . Step 3: Transfer the basic instructions With optimization parameters The components are merged to generate the final instruction. If no optimization parameters are available, then If optimization parameters exist (such as the nominal speed adjusted for surface roughness), Or trajectory compensation for chamfer width If it is, then it is incorporated into the instruction. For example, using Replace the original velocity, or add ΔC to the path.

8. The automated flat-end machine with milling and chamfering functions according to claim 1, characterized in that: The display panel is electrically connected to the aforementioned multiple modules, specifically including: a connection to an image processing module for real-time display of monitoring images and contours; a connection to a motion monitoring module for displaying motion parameters; a connection to a quality detection module for displaying quality data; and a connection to an early warning module for providing audible and visual alarms and displaying warning information.

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