A system for carving a main shaft of a surround wood sculpture based on a correspondence relationship of wood tissue feature positions

Abstract

The application provides a carving spindle system based on the position correspondence relationship of wood organization features of a surround wood carving, and relates to the technical field of wood carving numerical control machining. The system comprises a base, a first rotating table, a second rotating table, a door-shaped frame, a two-axis moving table, a spindle, a balancing assembly, a sensing assembly and a control unit. The sensing assembly collects cutting load information, door-shaped frame vibration information and first rotating table rotation load information in real time. The control unit determines the wood organization feature at the current carving position according to the cutting load information, establishes the position correspondence relationship between the wood organization feature and the carving position, determines the carving preparation interval before the spindle passes the corresponding carving position again, generates the corresponding carving transition state, controls the first rotating table, the two-axis moving table, the spindle and the balancing assembly to enter the corresponding state, and updates the position correspondence relationship according to the cutting load information after passing the carving position. The application is suitable for the numerical control carving machining of surround wood carving.

Description

Technical Field

[0001] This invention relates to the field of CNC machining technology for wood carving, and in particular to a system for a wood carving spindle based on the positional correspondence of wood structure characteristics. Background Technology

[0002] Wood carving is a widely used processing method in the fields of handicrafts, furniture decoration, architectural components, and cultural and artistic products. With the development of CNC machining technology, the use of CNC carving equipment for automated wood carving has become an important means to improve processing efficiency and ensure processing accuracy. For cylindrical wood and three-dimensional wood carvings, in order to improve the accessibility of the cutting tool to various parts of the wood, existing equipment usually adopts a rotary table or a circular motion structure, enabling the carving spindle to perform multi-angle and multi-directional processing around the wood to meet the processing needs of complex curved surfaces and three-dimensional shapes.

[0003] Because natural wood is an anisotropic material, its internal structure naturally varies, with different locations potentially containing knots, resin-rich areas, high-density areas, loose areas, and areas exhibiting variations in grain direction. During carving, as the tool passes through different wood structures, the cutting resistance, cutting load, and vibration state change, thus affecting the tool's stress state and processing stability. When processing parameters remain constant, changes in local structural characteristics can easily lead to cutting impact, processing vibration, decreased surface quality, and accelerated tool wear, negatively impacting the processing accuracy and consistency of complex wood carvings.

[0004] Currently, some CNC engraving equipment can monitor the machining status in real time through machining information such as cutting force, spindle current, drive load, or vibration signals, and dynamically adjust machining parameters based on the real-time detection results to improve the stability of the machining process. However, this type of control is usually real-time feedback control, meaning that the system corrects parameters based on the current detection results after the tool has entered the target machining area, resulting in a certain control response lag. For machining scenarios with complex wood tissue characteristics or rapid local tissue changes, relying solely on real-time feedback adjustment is insufficient to promptly eliminate the instantaneous load changes and vibration effects caused by abrupt changes in wood tissue.

[0005] Furthermore, the internal structure of natural wood typically exhibits a relatively fixed spatial distribution. During carving around the wood or repeated processing of the same location, the structural characteristics at that location show a degree of repeatability. In existing technologies, the wood structure information obtained during processing is mostly used as immediate feedback data of the current processing state. It is less common to establish a long-term correlation between wood structure characteristics and corresponding processing locations, or to utilize historical identification results to pre-adjust the processing state when revisiting the same location. Therefore, there is still room for further optimization of the stability of the wood carving process. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a circumferential wood carving spindle system based on the positional correspondence of wood structure characteristics. By establishing the positional correspondence between wood structure characteristics and carving positions, the system can pre-adjust the same carving positions in the future, thereby reducing the cutting load fluctuation and processing vibration caused by changes in wood structure characteristics and improving the stability of circumferential wood carving.

[0007] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: A wood carving spindle system based on the positional correspondence of wood tissue characteristics includes a base, comprising: a first rotating platform, circular in shape, mounted within the base around its central axis; a second rotating platform, mounted within the base and coaxially disposed inside the first rotating platform; a portal frame, fixedly connected to the first rotating platform; a two-axis movable platform, mounted on the portal frame, the slides of the two-axis movable platform being movable along the central axis and in directions approaching or away from the central axis; a spindle component, mounted on the slides of the two-axis movable platform, used for carving the wood mounted on the second rotating platform; a balancing component, disposed on the portal frame; a sensing component, used for real-time acquisition of cutting load information of the spindle component during the carving process, vibration information of the portal frame, and rotational load information of the first rotating platform; and a control unit connected to the first rotating platform, the two-axis movable platform, the spindle component, the balancing component, and the sensing component. The control unit is configured to: The load characteristic parameters are extracted based on the cutting load information, and the wood structure characteristics at the current carving position are determined according to the preset structure determination rules. A positional correspondence between the wood structure characteristics and the carving position is established. When the spindle passes through the carving position with the established positional correspondence again, the preset distance interval or preset rotation angle interval before the carving position is determined as the carving preparation interval according to the positional correspondence. When the spindle enters the carving preparation interval, the carving parameters and balance state in the preset parameter mapping relationship are called according to the wood structure characteristics in the positional correspondence, and combined to form a carving transition state corresponding to the carving position. The carving transition state includes the carving parameters corresponding to the carving position and the balance state of the portal frame. The first rotary table, the two-axis moving table, the spindle, and the balance component are controlled to enter the carving transition state. After the spindle passes through the carving position, the control unit updates the positional correspondence according to the cutting load information when passing through the carving position.

[0008] Furthermore, the balancing component includes: a counterweight box, fixedly connected to the upper surface of the portal frame; a plurality of counterweight blocks are inserted into slots equidistantly opened on the surface of the counterweight box; an electromagnet is mounted on the surface of the counterweight box; a first ring is rotatably connected to the surface of the base via a first bearing; columns are symmetrically fixedly connected to the surface of the first ring; a magnetic plate is disposed below the electromagnet; the magnetic plate is fixedly connected to two of the columns; and a horizontal plate is fixedly connected to the surface of each column, the horizontal plate contacting and engaging with the corresponding sidewall of the portal frame, so that when the portal frame rotates, the horizontal plate drives the columns and the magnetic plate to rotate synchronously.

[0009] Furthermore, the preset organization determination rule includes the correspondence between load characteristic parameters and preset load ranges.

[0010] Furthermore, the load characteristic parameters include at least one of the peak cutting load, the rate of change of cutting load, and the period of fluctuation of cutting load.

[0011] Furthermore, the positional correspondence is recorded using a wood structure feature map, which includes the carving position and the wood structure features corresponding to the carving position.

[0012] Furthermore, the carving position includes the rotation angle and axial position of the wood.

[0013] Furthermore, when the same carving location is identified as having the same wood structure feature at least twice consecutively, the control unit records the wood structure feature in the wood structure feature map.

[0014] Furthermore, when the wood structure characteristics determined by the current cutting load information are inconsistent with the wood structure characteristics recorded in the wood structure characteristic map at least twice consecutively, the control unit deletes the record of the corresponding carving position and re-establishes the positional correspondence of the carving position.

[0015] Furthermore, the preset distance range is determined based on the feed speed of the spindle, or the preset rotation angle range is determined based on the rotation speed of the first rotary table.

[0016] Furthermore, the engraving transition state includes at least one of the following: a two-axis moving stage feed speed lower than that of the normal engraving state, a spindle depth of cut lower than that of the normal engraving state, and a preset balance state formed by the balancing assembly before the spindle enters the engraving position.

[0017] The above-described solution of the present invention has at least the following beneficial effects: The above-mentioned solution of the present invention establishes a positional correspondence between wood structure characteristics and carving positions, and determines the carving preparation interval before the main spindle passes through the corresponding carving position again. This allows the system to pre-enter a carving transition state adapted to the corresponding wood structure characteristics based on historical recognition results, reducing sudden changes in cutting load caused by changes in wood structure characteristics and improving the stability of the wood carving process. By recognizing wood structure characteristics based on cutting load information and associating and dynamically updating the wood structure characteristics with the carving position, the wood structure characteristic map can be continuously corrected as the carving process progresses, improving the accuracy of wood structure characteristic recognition and the reliability of subsequent control. By generating corresponding carving parameters and balance states based on wood structure characteristics and controlling the first rotary table, two-axis moving tables, main spindle, and balance components to collaboratively enter the carving transition state, the vibration and sway of the portal frame caused by changes in cutting load are reduced, improving the quality and efficiency of wood carving processing. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure provided by the present invention.

[0019] Figure 2 This is a schematic diagram showing the positional relationship between the first rotating platform and the second rotating platform in this invention.

[0020] Figure 3 This is a schematic diagram showing the positional relationship between the two-axis moving stage and the first rotating stage in this invention.

[0021] Figure 4 This is a flowchart of the system for engraving a wood carving main shaft based on the positional correspondence of wood tissue characteristics, provided by the present invention.

[0022] In the diagram: 101, base; 102, first rotating platform; 103, second rotating platform; 104, portal frame; 105, two-axis moving platform; 106, main shaft; 201, counterweight box; 202, electromagnet; 203, first ring; 204, column; 205, horizontal plate; 206, magnetic plate. Detailed Implementation

[0023] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0024] Example 1

[0025] like Figures 1 to 4 As shown, an embodiment of the present invention proposes a surrounding wood carving main shaft system based on the positional correspondence of wood tissue characteristics, including a base 101, which is an integral frame structure used to install and support various moving parts.

[0026] A first rotating platform 102 is provided inside the base 101. It is circular and is installed inside the base 101 around the central axis of the base 101.

[0027] Specifically, the first rotating table 102 is mounted on the base 101 via a slewing bearing and is driven by the first drive motor to rotate around the central axis of the base 101, thereby causing the portal frame 104 mounted thereon to rotate around the wood to be processed.

[0028] A second rotating platform 103 is also provided inside the base 101, and is installed inside the base 101 and coaxially arranged inside the first rotating platform 102. The second rotating platform 103 is located radially inside the first rotating platform 102, and the central axis of the second rotating platform 103 coincides with the central axis of the first rotating platform 102. The second rotating platform 103 is provided with mounting holes and slots that cooperate with the clamping mechanism, for clamping the tooling and fixing the wood to be processed on the second rotating platform 103. The second rotating platform 103 can rotate and index or remain in a fixed state according to processing needs.

[0029] A portal frame 104 is fixedly connected to the first rotating platform 102. The portal frame 104 includes two opposing support plates and a top crossbeam connecting the two support plates, forming a portal structure. The portal frame 104 rotates synchronously with the first rotating platform 102.

[0030] A two-axis moving table 105 is mounted on the portal frame 104. The slide of the two-axis moving table 105 can move along the central axis and in directions close to or away from the central axis. Specifically, the two-axis moving table 105 includes a first linear motion module and a second linear motion module. The first linear motion module is used to realize axial feeding along the central axis of the base 101, and the second linear motion module is used to realize feeding motion along the radial direction of the wood. The slide of the two-axis moving table 105 can perform compound motion in both directions.

[0031] A spindle assembly 106 is mounted on the slide table for carving wood that is mounted on the second rotary table 103. The spindle assembly 106 includes a carving spindle, an electric spindle drive motor, and a tool mounting mechanism. The tool can rotate at high speed under the drive of the spindle to achieve wood carving.

[0032] A balancing component is provided on the portal frame 104 to adjust the force balance state of the portal frame 104 during the rotation process, so as to reduce the vibration and sway of the portal frame 104 caused by the off-center load of the spindle 106 and the change of cutting load.

[0033] In this embodiment, the balancing component includes: A counterweight box 201 is fixedly connected to the upper surface of the portal frame 104. Several counterweight blocks are inserted into slots that are equidistantly opened on the surface of the counterweight box 201. An electromagnet 202 is installed on the surface of the counterweight box 201. A first ring 203 is rotatably connected to the surface of the base 101 through a first bearing. Columns 204 are symmetrically fixedly connected to the surface of the first ring 203. A magnetic plate 206 is provided below the electromagnet 202. The magnetic plate 206 is fixedly connected to the two columns 204. The counterweight box 201 is fixedly installed on the top of the portal frame 104. Multiple counterweights can be added or removed according to the installation position and weight of the main shaft 106 to form static balance compensation.

[0034] The first ring 203 is rotatably mounted on the base 101 via the first bearing. The first ring 203 and the first rotating table 102 are set independently of each other. The first ring 203 does not directly participate in the engraving movement. Its function is to support the magnetic plate 206 and the column 204, and to achieve synchronous rotation with the gate frame 104 through the horizontal plate 205 structure described later.

[0035] The electromagnet 202 is fixedly installed on the surface of the counterweight box 201, and the magnetic plate 206 is located below the electromagnet 202. When the electromagnet 202 is energized, it can generate an attraction force on the magnetic plate 206 to form an adjustable dynamic balance compensation force.

[0036] The surface of each column 204 is fixedly connected with a horizontal plate 205, specifically: A horizontal plate 205 is fixedly connected to the surface of each column 204. The horizontal plate 205 contacts and engages with the corresponding side wall of the portal frame 104 so that when the portal frame 104 rotates, the horizontal plate 205 drives the column 204 and the magnetic plate 206 to rotate synchronously.

[0037] Therefore, when the portal frame 104 rotates around the central axis of the base 101, the horizontal plate 205 remains in contact with the side wall of the portal frame 104 and pushes the first ring 203, the column 204 and the magnetic plate 206 to rotate synchronously, thereby ensuring that the magnetic plate 206 is always below the electromagnet 202, so that the electromagnet 202 can apply an attraction force to the magnetic plate 206 at any rotation angle. The attraction force applied by the electromagnet 202 to the magnetic plate 206 forms a constraint force or damping force opposite to the deflection direction of the portal frame 104 through the interaction between the counterweight box 201, the portal frame 104 and the first ring 203.

[0038] In this embodiment, the system also includes a sensing component for real-time acquisition of cutting load information of the spindle 106 during the engraving process, vibration information of the portal frame 104, and rotational load information of the first rotary table 102.

[0039] Specifically, the sensing components include: A cutting force sensor is installed on the spindle component 106 to acquire cutting load information; Vibration sensors mounted on the portal frame 104 are used to acquire vibration information; A current detection module or torque sensor installed on the first drive motor is used to obtain the rotational load information of the first rotary table 102.

[0040] The system also includes a control unit connected to the first rotary table 102, the two-axis moving table 105, the main spindle 106, the balancing assembly, and the sensing assembly.

[0041] In this embodiment, the control unit can be implemented using an industrial computer, a programmable logic controller, a motion control card, or an embedded controller. It can receive data collected by the sensing components and send control commands to the first rotary table 102, the two-axis moving table 105, the main spindle 106, and the balancing component to complete the control processes in subsequent embodiments, such as wood structure feature recognition, position correspondence establishment, carving transition state generation, and position correspondence update. The control unit can pre-store structure determination rules and parameter mapping relationships between wood structure features and carving parameters and balance states, and query and call these relationships during the processing.

[0042] It should be noted that both the first rotary table 102 and the second rotary table 103 can be implemented using a slewing bearing structure.

[0043] The first rotating platform 102 has a circular rotating platform to accommodate the installation of the second rotating platform 103. The first rotating platform 102 can be installed on the base 101 by means of a slewing bearing, a crossed roller bearing or a turntable bearing, and can achieve rotational movement by means of a servo motor, a reduction mechanism and a gear ring drive. It can also be stopped and positioned by means of servo motor braking or an independently set braking mechanism.

[0044] The second rotating table 103 can be installed in the base 101 through a mounting plate, slewing bearing or turntable bearing, and drive the wood to rotate and index or keep it fixed through a drive mechanism.

[0045] The two-axis moving table 105 can be realized by a linear motion mechanism composed of linear guide rails, lead screw pairs, rack pairs or linear motors. The first linear motion module and the second linear motion module are arranged perpendicular to each other to realize the composite feed motion of the spindle 106 in the axial and radial directions.

[0046] The vertical part of the portal frame 104 is composed of two arc-shaped plates. The openings of the two arc-shaped plates facing the two-axis moving table 105 are relatively small, while the openings of the two arc-shaped plates facing the two-axis moving table 105 are relatively large. This makes it easy to clamp the tool and place the wood onto the second rotating table 103 from the side with the larger opening. During the carving process, airflow can be blown in from the smaller openings of the two arc-shaped plates by an external blower to blow away the wood chips on the surface of the wood, while reducing the amount of wood chips that splash onto the two-axis moving table 105 and interfere with its operation.

[0047] The spindle 106 can be implemented using an electric spindle or a mechanical spindle. The tool is mounted on the output end of the spindle, and the spindle speed is adjusted by a servo driver or a frequency converter.

[0048] The counterweight provides static balance compensation, while the electromagnet 202 and the magnetic plate 206 provide dynamic balance compensation.

[0049] Cutting load information can be obtained through cutting force sensors, spindle current detection modules, or driver load information.

[0050] Vibration information can be obtained through accelerometers, displacement sensors, or velocity sensors.

[0051] Slewing load information can be obtained through a current detection module, torque sensor, or power detection module.

[0052] The control unit can be implemented using an industrial computer, PLC, motion control card, DSP controller or embedded controller.

[0053] The specific structural forms of the first rotating stage 102, the second rotating stage 103, the two-axis moving stage 105, the main spindle 106, the balancing assembly, the sensing assembly, and the control unit are not limited to this embodiment. Those skilled in the art can make equivalent substitutions or modifications according to actual processing needs. As long as the corresponding functions can be achieved, they should all fall within the protection scope of this invention.

[0054] Example 2

[0055] like Figures 1 to 4 As shown, this embodiment, based on the wood carving main axis system of Embodiment 1, explains the method for determining the wood structure characteristics and the method for establishing the positional correspondence between the wood structure characteristics and the carving position.

[0056] During wood carving, different wood structures cause variations in the cutting resistance experienced by the cutting tool, resulting in differences in the cutting load on the spindle 106. Therefore, this embodiment utilizes cutting load information to identify the wood structure characteristics at the current carving position.

[0057] First, the control unit acquires the cutting load information collected by the sensing components. The cutting load information can be the force signal directly output by the cutting force sensor, or it can be an equivalent cutting load signal converted from spindle current, spindle torque, spindle power, or driver load rate.

[0058] To reduce the impact of random noise, the control unit first preprocesses the cutting load information. Preprocessing includes at least one of filtering and sampling window averaging. As one implementation, the control unit uses a preset time window, a preset distance window, or a preset rotation angle window as a sampling unit to average the cutting load within the window.

[0059] In this embodiment, the control unit determines the wood structure characteristics at the current carving position based on the cutting load information.

[0060] Specifically, the control unit extracts load characteristic parameters based on the cutting load information and determines the wood structure characteristics based on the correspondence between the load characteristic parameters and the preset load range.

[0061] In this embodiment, the load characteristic parameters include: Peak cutting load: Fmax = max(Fi); Where Fi is the i-th load value within the sampling window; Cutting load variation rate : ; Where Δt is the time interval between adjacent sampling times; Cutting load fluctuation period: determined by the time interval or distance between two adjacent load peaks. Load characteristic parameters may also include the mean cutting load, standard deviation of cutting load, dominant frequency in the frequency domain, frequency domain energy, or a combination thereof. Specifically, the peak cutting load is used to characterize the magnitude of cutting resistance at the current carving position; the rate of change of cutting load is used to characterize the speed of load change when the wood structure changes; the cutting load fluctuation period is used to characterize the periodic load fluctuations caused by changes in the wood grain direction; the standard deviation of cutting load is used to characterize the stability of the cutting load; and the dominant frequency in the frequency domain and the frequency domain energy are used to characterize the high-frequency vibration characteristics caused by discontinuities in the internal structure of the wood.

[0062] In this embodiment, the preset load range is established through trial cutting.

[0063] Specifically, test cuts were performed in the stable grain-lined region of the wood to be processed, and n sets of cutting load data were collected: F1, F2...Fn.

[0064] Calculate the average load: ; The average load F0 is used as the reference load.

[0065] The range of 0.8F0 to 1.2F0 is defined as the stable load range; the range greater than 1.2F0 is defined as the high load range; and the range less than 0.8F0 is defined as the low load range.

[0066] The above proportions are merely examples. They can be reset based on the test cutting results under different types of wood, tool parameters, and process parameters. The wood structure characteristics are not limited to the precise structure classification in materials science, but refer to the processing response characteristic categories distinguished by the cutting load performance.

[0067] The control unit determines the wood tissue type based on load characteristic parameters and preset load range.

[0068] When determining the wood microstructure characteristics, the control unit compares the peak load, load change rate, and load fluctuation period sequentially according to preset microstructure determination rules, and outputs the corresponding wood microstructure characteristics based on the load characteristics that meet the determination conditions. When multiple load characteristics correspond to different microstructure categories, the final wood microstructure characteristics are determined according to the preset determination priority.

[0069] When the cutting load is within a stable load range and the fluctuation period is stable, the current carving position is determined to be a stable microstructure. When the cutting load is within a high load range, the current carving position is determined to be a high load microstructure. When the cutting load is within a low load range, the current carving position is determined to be a low load microstructure. When the rate of change of the cutting load exceeds a preset rate of change threshold or the fluctuation period changes, the current carving position is determined to be a microstructure change region. Specifically: high load microstructures may include knots, high-density areas, or resin-rich areas; low load microstructures may include loose areas or void areas; microstructure change regions may include areas with reverse grain or areas where the grain direction changes. After determining the wood microstructure characteristics at the current carving position, the control unit establishes a positional correspondence between the wood microstructure characteristics and the carving position.

[0070] In this embodiment, the carving position is represented by the wood rotation angle θ and the axial position Z.

[0071] For example, high-load tissues: Areas of organizational change: Low-load tissue: .

[0072] The control unit stores the above records in the wood structure feature map to form a positional correspondence between the wood structure features and the carving position.

[0073] The wood structure feature map can also be associated with and stored as carving parameter indexes and equilibrium state indexes corresponding to various wood structure features, so that the corresponding carving transition state can be quickly called up in the subsequent carving preparation period.

[0074] To improve recognition accuracy, the control unit determines the wood structure characteristics at the corresponding carving location only when at least two consecutive sampling results are consistent, and records them in the wood structure characteristic map.

[0075] Through the above methods, those skilled in the art can identify the wood structure characteristics based on the cutting load information and establish the positional correspondence between the wood structure characteristics and the carving position, thereby providing a basis for determining the subsequent carving preparation area, generating the carving transition state, and updating the positional correspondence.

[0076] Example 3

[0077] like Figures 1 to 4 As shown, this embodiment, based on embodiment 2, explains the establishment, recording, solidification, retrieval, and updating methods of the positional correspondence between wood structure characteristics and carving positions.

[0078] During the wood carving process, knots, high-density areas, loose areas, hollow areas, and areas where the wood grain direction changes all have relatively fixed spatial positions. Therefore, after the main shaft 106 passes through a certain carving position for the first time and determines the wood structure characteristics at that location, the wood structure characteristics can be associated with that carving position and recorded. When the main shaft 106 passes through the carving position again subsequently, this associated record can be called to provide a basis for determining the carving preparation area and generating the carving transition state.

[0079] In this embodiment, the control unit performs the task of establishing the positional correspondence between the wood structure characteristics and the carving position.

[0080] Specifically, after determining the wood structure characteristics at the current carving position, the control unit associates and stores these characteristics with the current carving position to establish a positional correspondence. The carving position can be represented by the wood's rotation angle, axial position, radial position, or a combination thereof. As a preferred embodiment, the carving position is represented by the wood's rotation angle and axial position.

[0081] This embodiment supports carving positions including the rotation angle and axial position of the wood.

[0082] The rotation angle is used to determine the position of the wood in the circumferential direction, and the axial position is used to determine the position of the wood in the length direction. Together, they determine a carving position unit on the surface of the wood. The rotation angle can be obtained by the angle encoder of the first rotary table 102, the angle encoder of the second rotary table 103, the angle feedback from the servo drive, or the rotation indexing signal; the axial position can be obtained by the position feedback from the axial drive of the two-axis moving table 105, the linear grating ruler, the lead screw encoder, or the position command output by the motion control system.

[0083] The control unit binds the rotation angle, axial position, and wood structure characteristics within the same sampling window to form a position correspondence record. For example, when the carving position within a certain sampling window is a rotation angle... and axial position Furthermore, when the current wood microstructure is determined to be a high-load microstructure, the control unit establishes a rotation angle. Axial position And the corresponding records of the locations of high-load tissues. When the engraving position in another sampling window is the rotation angle and axial position Furthermore, when the current wood structure characteristics are identified as a region of structural change, the control unit establishes a rotation angle. Axial position Record the location of the areas of organizational change.

[0084] In this embodiment, the control unit can also record the position correspondence using a wood structure feature map, which includes the carving position and the wood structure features corresponding to the carving position.

[0085] Wood structure feature maps can be recorded using mapping tables, two-dimensional arrays, database tables, matrices, or key-value pairs. Specifically, the control unit can establish a wood structure feature map using the rotation angle as the first index, the axial position as the second index, and the wood structure feature as the corresponding value. Each record in the wood structure feature map includes at least the carving position and the wood structure feature corresponding to that carving position.

[0086] In one specific implementation, the control unit divides the rotation angle of the wood into multiple angle units according to preset angle intervals, divides the axial length of the wood into multiple axial units according to preset axial intervals, and determines a combination of an angle unit and an axial unit as a carving position unit. Each carving position unit corresponds to a recorded position in the wood structure feature map.

[0087] For example, the rotation angle can be divided into angle units of one degree, two degrees, or five degrees; the axial position can be divided into axial units of one millimeter, two millimeters, or five millimeters. The specific division accuracy can be determined based on the wood diameter, carving accuracy, tool diameter, and positioning accuracy of the two-axis moving table 105.

[0088] When the spindle 106 passes through a certain engraving position unit, the control unit determines the wood structure characteristics corresponding to the engraving position unit according to the method in Embodiment 2, and writes the wood structure characteristics into the wood structure characteristic diagram. If there is no record for the engraving position unit, the control unit adds the record; if there is already a record for the engraving position unit, the control unit compares the record with the currently determined wood structure characteristics and processes it according to the solidification or update method described later.

[0089] To avoid misjudgment caused by fluctuations in a single cutting load, this embodiment further supports the following method: When the same carving location is identified as having the same wood structure feature at least twice consecutively, the control unit records the wood structure feature in the wood structure feature map.

[0090] In this embodiment, "at least twice consecutively" means that the control unit obtains the same wood structure feature when the spindle 106 passes through the same carving position unit twice consecutively, or when it identifies the same carving position unit within two consecutive sampling windows. The control unit can set a temporary recording state and a fixed recording state for each carving position unit. When a carving position unit is first identified as having a certain wood structure feature, the control unit records that wood structure feature as a temporary record; when the carving position unit is subsequently identified as having the same wood structure feature again, the control unit converts that wood structure feature from a temporary record to a fixed record. The fixed record is used to subsequently determine the carving preparation interval and generate the carving transition state.

[0091] For example, if a certain engraving position unit is initially identified as a high-load structure, the control unit temporarily records it as such. When the spindle 106 subsequently passes through the same engraving position unit again, if the control unit still identifies it as a high-load structure, the record corresponding to that engraving position unit is permanently saved as a high-load structure. If the subsequent identification result differs from the temporary record, the control unit can retain the temporary record, overwrite the temporary record, or mark the engraving position unit as pending confirmation.

[0092] This embodiment also supports updating erroneous or changed records. Specifically, the control unit can perform the following: When the wood structure characteristics determined by the current cutting load information are inconsistent with the wood structure characteristics recorded in the wood structure characteristic map at least twice consecutively, the control unit deletes the record of the corresponding carving position and re-establishes the position correspondence of the carving position.

[0093] Specifically, when a certain carving position unit has been recorded as the first wood structure feature in the wood structure feature diagram, and the spindle 106 passes through the carving position unit at least twice in a row, the control unit determines that it is the second wood structure feature based on the current cutting load information. Then, the control unit judges that the original record is inconsistent with the current actual cutting state, deletes the original record corresponding to the carving position unit, and then re-establishes the positional correspondence between the carving position unit and the second wood structure feature based on the current cutting load information.

[0094] If the identification result of the carving position unit changes alternately, for example, it is identified as the first wood structure feature once, the second wood structure feature the next time, and the first wood structure feature again the time after that, the control unit can maintain the original record unchanged and continue to collect subsequent cutting load information, or mark the carving position unit as pending confirmation, so as to reduce the risk of false updates caused by occasional cutting disturbances.

[0095] In one optional implementation, each record in the wood structure feature map may further include at least one of the following: record status, record count, update time, confidence level, corresponding carving parameter index, or equilibrium state index. The record status may include temporary records, fixed records, and records awaiting confirmation; the record count indicates the number of times the same carving location unit is identified as the same wood structure feature; the confidence level can be determined based on the number of consecutive consistent identifications; the corresponding carving parameter index and equilibrium state index are used to recall the carving transition state corresponding to the wood structure feature in subsequent processing.

[0096] During subsequent carving, when the spindle 106 passes through a carving position unit with an established positional correspondence, the control unit queries the wood structure feature map based on the current rotation angle and axial position. If a record corresponding to the current carving position unit exists in the wood structure feature map, the control unit reads the wood structure features from that record and uses these features to determine the carving preparation interval and generate the carving transition state. If no corresponding record exists in the wood structure feature map, the control unit re-determines the wood structure features based on the current cutting load information, as described in Example 2, and establishes a new positional correspondence.

[0097] In this way, the wood structure features are no longer used only as a single real-time detection result, but rather form a reusable positional correspondence with the carving location. Because the spatial position of the wood structure on the wood is stable, this positional correspondence can be used for pre-processing in subsequent encircling carving processes, thus providing a foundation for improving the stability of wood carving.

[0098] Example 4

[0099] like Figures 1 to 4 As shown, this embodiment, based on embodiment 3, explains the method for determining the carving preparation area and the method for generating the carving transition state.

[0100] During the wood carving process, when the spindle 106 passes through the carving position where the positional correspondence has been established, the control unit can pre-adjust the carving parameters and the balance state of the gate frame 104 before the spindle 106 reaches the carving position, thereby reducing the sudden change in cutting load caused by the change in wood structure characteristics when the spindle 106 enters the carving position.

[0101] In this embodiment, when the spindle 106 passes through the engraving position with established positional correspondence again, the control unit determines the preset distance range or preset rotation angle range before the engraving position as the engraving preparation range according to the positional correspondence.

[0102] Specifically, when the control unit determines that the spindle 106 will pass through the carving position with an established positional correspondence based on the current rotation angle and axial position, the control unit reads the wood structure characteristics corresponding to the carving position and determines the carving preparation interval before the carving position.

[0103] In one embodiment, the carving preparation interval is a preset distance interval located before the carving position. The preset distance interval is set along the feed direction of the two-axis moving stage 105. The length of the preset distance interval can be set according to the feed speed of the spindle 106, the tool diameter, the wood diameter, and the control response time. The control response time refers to the time required for the first rotary table 102, the two-axis moving stage 105, the spindle 106, and the balancing assembly to reach the target state after the control unit issues a state switching command. As an example, when the feed speed of the spindle 106 is V and the control response time is T, the length of the preset distance interval can be determined by multiplying V by T, or a safety margin can be added to V multiplied by T.

[0104] In another embodiment, the carving preparation interval is a preset rotation angle interval located before the carving position. The preset rotation angle interval is set along the circumference of the wood. The preset rotation angle interval can be set according to the rotation speed of the first rotary table 102, the rotation state of the second rotary table 103, the tool diameter, and the control response time. As an example, when the rotation angular velocity of the first rotary table 102 is ω and the control response time is T, the preset rotation angle interval can be determined by multiplying ω by T, or a safety margin can be added to ω multiplied by T.

[0105] This embodiment supports preset distance intervals determined based on the feed speed of the spindle 106, or preset rotation angle intervals determined based on the rotation speed of the first rotary table 102. In practical applications, the control unit can use a preset distance interval alone, a preset rotation angle interval alone, or both preset distance intervals and preset rotation angle intervals simultaneously to meet the control requirements of different engraving paths.

[0106] When the spindle 106 enters the carving preparation area, the control unit executes the process of generating a carving transition state corresponding to the carving position based on the wood structure characteristics recorded according to the position correspondence.

[0107] Specifically, the control unit first queries the wood structure feature map based on the current position and reads the corresponding wood structure features; then, based on the pre-established parameter mapping relationship between the wood structure features and carving parameters and balance state, it calls the corresponding carving parameters and balance state, and combines them to form the carving transition state for the corresponding carving position. The carving transition state is used to put the system into a processing state adapted to the wood structure features before the spindle 106 reaches the carving position.

[0108] In this embodiment, the control unit executes the carving transition state, including the carving parameters corresponding to the carving position and the balance state of the gate frame 104.

[0109] The engraving parameters may include the rotational speed of the first rotary table 102, the feed speed of the two-axis moving table 105, the depth of cut of the spindle 106, the rotational speed of the spindle 106, or a combination thereof. The balance state of the portal frame 104 may include the static counterweight state provided by the balancing assembly, the adsorption force state formed between the electromagnet 202 and the magnetic plate 206, the compensation force level of the balancing assembly, or a combination thereof.

[0110] In this embodiment, the control unit can pre-store a parameter table relating wood structure characteristics to the carving transition state. The parameter table includes at least the correspondence between wood structure characteristics, carving parameters, and equilibrium states. The parameter table can be established based on trial cutting results, empirical parameters, manual calibration results, or historical processing data.

[0111] In one specific implementation, the parameter table may include feed rate ratios, depth of cut ratios, spindle speed ratios, and compensation force levels corresponding to stable microstructure, high-load microstructure, low-load microstructure, and microstructure variation regions. The ratios can be based on parameters under normal carving conditions. For example, the feed rate under normal carving conditions is recorded as the reference feed rate, the depth of cut under normal carving conditions as the reference depth of cut, and the compensation force state under normal carving conditions as the reference compensation force state. The control unit calls the corresponding ratios based on the wood microstructure characteristics and generates the carving transition states.

[0112] In one example, when the wood structure is characterized by a high-load structure, the carving transition state generated by the control unit may include a lower feed rate for the two-axis traverse stage 105 than in the normal carving state, a lower depth of cut for the spindle 106 than in the normal carving state, and a balancing component compensation force state that is higher than or equal to that in the normal carving state. The high-load structure may include knots, high-density areas, or resin-rich areas. By reducing the feed rate and depth of cut, the instantaneous cutting resistance when the tool enters the high-load structure can be reduced; by adjusting the compensation force state of the balancing component, the yaw tendency of the portal frame 104 caused by changes in cutting load can be reduced.

[0113] In another example, when the wood structure is characterized by a low-load structure, the carving transition state generated by the control unit may include maintaining or reducing the feed rate of the two-axis moving table 105, maintaining or reducing the depth of cut of the spindle 106, and maintaining, reducing, or increasing the compensation force state of the balancing components according to the cutting load variation trend corresponding to the low-load structure. The low-load structure may include loose or void areas. Since this type of structure may cause a sudden drop in cutting load, the control unit adjusts the balance state according to the cutting load variation trend to reduce abrupt changes in the stress state of the portal frame 104.

[0114] In another example, when the wood texture is in a region of change, the carving transition state generated by the control unit may include reducing the depth of cut of the spindle 106, reducing the feed rate of the two-axis moving table 105, and bringing the balancing assembly into a preset balance state within the carving preparation interval. Regions of change in texture may include areas with reverse grain or areas where the grain direction changes. These regions may cause increased fluctuations in cutting load; therefore, by reducing the depth of cut and feed rate within the carving preparation interval and establishing a balance state, the cutting impact and vibration when the spindle 106 enters this region can be reduced.

[0115] This embodiment supports at least one of the following engraving transition states: a feed rate of the two-axis moving stage 105 lower than that of the normal engraving state, a cutting depth of the spindle component 106 lower than that of the normal engraving state, and a preset balance state formed by the balancing component before the spindle component 106 enters the engraving position.

[0116] The "normal carving state" refers to the processing state adopted by the spindle 106 when carving in the stable tissue region. A feed speed of the two-axis moving table 105 lower than the normal carving state means that the feed speed in the carving transition state is less than the feed speed corresponding to the stable tissue region. A depth of cut of the spindle 106 lower than the normal carving state means that the depth of cut in the carving transition state is less than the depth of cut corresponding to the stable tissue region. The "preset balance state" refers to the compensation state formed by the balancing component based on the wood tissue characteristics corresponding to the carving position before the spindle 106 enters the carving position. The preset balance state may include the current flowing through the electromagnet 202, the magnitude of the attraction force, the level of compensation force, the counterweight state, or a combination thereof.

[0117] In this embodiment, the control unit controls the first rotary table 102, the two-axis moving table 105, the main spindle 106 and the balancing assembly to enter the engraving transition state.

[0118] The control unit completes a carving state switch in the following order: reading the wood structure characteristics, calling the corresponding carving transition state, outputting control commands, and collecting processing feedback information.

[0119] Specifically, the control unit sends a rotation speed adjustment command to the first rotary table 102, a feed speed or target position adjustment command to the two-axis moving table 105, a spindle speed or depth of cut adjustment command to the spindle component 106, and a balance state adjustment command to the balancing assembly. The balancing assembly can adjust the static counterweight state formed by the counterweight blocks, or change the attraction force between the electromagnet 202 and the magnetic plate 206 by adjusting the energizing current of the electromagnet 202, thereby forming a balanced state of the portal frame 104 corresponding to the engraving transition state.

[0120] To avoid abrupt changes in the carving transition state, the control unit can employ a gradual switching method within the carving preparation zone. This gradual switching method can include linear changes, graded changes, or preset curve changes. For example, the control unit can gradually reduce the feed rate from the normal carving state to the carving transition state, gradually reduce the depth of cut from the normal carving state to the carving transition state, and gradually adjust the compensation force state of the balancing component to a preset balance state within the carving preparation zone. This gradual adjustment can be completed over multiple control cycles, or at preset distance intervals or preset rotation angle intervals.

[0121] After the spindle 106 passes the engraving position, the control unit can determine whether the engraving transition state meets the processing requirements based on the cutting load information at that position. If the change in cutting load at the engraving position is still greater than a preset range, the control unit can adjust the wood structure characteristics corresponding to that engraving position or adjust the engraving transition state corresponding to that wood structure characteristics when updating the position correspondence later. If the change in cutting load at the engraving position is within a preset range, the control unit can maintain the position correspondence and engraving transition state corresponding to that engraving position.

[0122] In this way, the control unit can generate a carving transition state by utilizing the wood structure characteristics corresponding to the established position before the spindle 106 reaches the carving position corresponding to the established position relationship, and control the first rotating stage 102, the two-axis moving stage 105, the spindle 106 and the balancing component to enter the corresponding state, thereby reducing the impact of changes in wood structure characteristics on the stability of the surrounding wood carving.

[0123] Example 5

[0124] like Figures 1 to 4 As shown, this embodiment describes the method of updating the position correspondence based on embodiments 3 and 4.

[0125] During the wood carving process, the wood can be processed layer by layer. As the surface material of the wood is gradually removed, new wood structure characteristics may be exposed, causing changes in the cutting load information obtained by the spindle 106 when passing through the same carving position at different processing depths. For example, a carving position initially recorded as having a high-load structure may exhibit a stable structure after subsequent carving removes some material; a carving position initially recorded as having a stable structure may also expose knots, high-density areas, or loose areas as carving continues to deepen. Therefore, this embodiment updates the position correspondence to allow the wood structure feature map to be updated as the processing progresses.

[0126] In this embodiment, after the spindle 106 passes the engraving position, the control unit updates the position correspondence based on the cutting load information when it passes the engraving position.

[0127] Specifically, after the spindle 106 passes the engraving position with an established positional correspondence, the control unit collects the cutting load information corresponding to that engraving position and extracts the load characteristic parameters according to the method in Example 2. Subsequently, the control unit redetermines the wood structure characteristics at the engraving position based on the load characteristic parameters and compares the redetermined wood structure characteristics with the original records in the wood structure characteristic diagram.

[0128] The position correspondence can be updated after the spindle 106 passes through the carving position each time, or it can be performed uniformly after completing a full circle of carving, or it can be performed after completing the carving at a preset depth. The specific update timing can be set according to the type of wood, carving depth, processing accuracy requirements, and the data processing capability of the control unit.

[0129] When the re-determined wood structure characteristics match the original record, the control unit can either increase the number of confirmations for the record corresponding to that carving position or keep the record unchanged. When the re-determined wood structure characteristics do not match the original record, the control unit can mark the record corresponding to that position as pending confirmation and continue to collect cutting load information for confirmation when passing through that carving position again.

[0130] This embodiment further supports the control unit to record the wood structure feature in the wood structure feature map when the same carving position is identified as the same wood structure feature at least twice in a row.

[0131] Specifically, for temporary records that have not yet been solidified, if the control unit determines that the wood structure features are the same at the same engraving position when the spindle 106 passes through the same engraving position at least twice consecutively, then the wood structure features are updated from temporary records to solidified records. Solidified records are used to subsequently determine the engraving preparation range and generate the engraving transition state.

[0132] For example, when a certain carving position is passed for the first time, it is identified as a high-load structure, and the control unit records it as a temporary record; when the spindle 106 passes through the carving position again, if the control unit still identifies it as a high-load structure, the control unit records the positional correspondence between the carving position and the high-load structure in the wood structure feature map.

[0133] This embodiment also supports the control unit deleting the record of the corresponding carving position and re-establishing the positional correspondence of the carving position when the wood structure characteristics determined by the current cutting load information are inconsistent with the wood structure characteristics recorded in the wood structure characteristic map at least twice consecutively.

[0134] Specifically, for a solidified record, if the spindle 106 passes through the engraving position at least twice consecutively, and the control unit determines that the wood structure features at that location are different from the original record based on the current cutting load information, then the control unit deletes the original record and re-establishes the positional correspondence between the engraving position and the current wood structure features.

[0135] For example, if a certain engraving position was originally recorded as a high-load structure, but when the spindle 106 passes through that position twice in a row, the control unit determines that the position is a stable structure based on the current cutting load information. In this case, the control unit deletes the high-load structure record corresponding to that position and re-establishes the positional correspondence between the engraving position and the stable structure.

[0136] In one alternative implementation, the control unit can set a recording status for each record in the wood structure feature map. The recording status includes at least one of a temporary recording status, a fixed recording status, and a pending confirmation recording status. A temporary recording status indicates that the location correspondence has not been confirmed multiple times; a fixed recording status indicates that the location correspondence has been confirmed at least twice consecutively; and a pending confirmation recording status indicates that the current identification result is inconsistent with the original record but the conditions for deletion or reconstruction have not yet been met.

[0137] In another optional implementation, the control unit can set a confirmation count and a discrepancy count for each location-corresponding record. If the same carving location is consecutively identified as having the same wood structure characteristics, the confirmation count increases; if the currently identified wood structure characteristics differ from the original record, the discrepancy count increases. When the confirmation count reaches the preset confirmation count, the record is fixed; when the discrepancy count reaches the preset discrepancy count, the original record is deleted and the location correspondence is re-established. The preset confirmation count can be two, three, or more times; the preset discrepancy count can also be two, three, or more times, specifically set according to the complexity of wood structure changes, carving accuracy requirements, and cutting load fluctuations.

[0138] In another alternative implementation, before re-establishing the new positional correspondence, the control unit can retain the existing record and mark it as pending confirmation. Once the new wood structure feature has been confirmed a preset number of times, the control unit deletes the existing record and re-establishes the positional correspondence between the carving location and the new wood structure feature. This method avoids frequent erroneous updates to the wood structure feature map due to occasional cutting disturbances.

[0139] In another optional embodiment, the control unit can also adjust the corresponding engraving transition state based on the change in cutting load after passing the engraving position. For example, if the change in cutting load when the spindle 106 passes the engraving position is still greater than a preset range, it indicates that the original engraving transition state is not sufficiently adapted to the position, and the control unit can adjust the engraving parameters or the balance state of the portal frame 104 corresponding to that position. Specifically, the control unit can incrementally adjust the feed rate, depth of cut, or compensation force level corresponding to the engraving position based on the difference between the current cutting load and the target load. When the change in cutting load is within a preset range, the control unit can maintain the original engraving transition state.

[0140] In this embodiment, updating the positional correspondence can include at least one of the following: adding, modifying, fixing, deleting, rebuilding, or marking as pending confirmation. Adding refers to adding a new record corresponding to the wood structure feature in the wood structure feature map; modifying refers to changing the wood structure feature in an existing record; fixing refers to updating a temporary record to a fixed record; deleting refers to removing the original record; rebuilding refers to establishing a new positional correspondence after deleting the original record; marking as pending confirmation means not deleting the original record for the time being, but waiting for confirmation from subsequent identification results.

[0141] In this way, the control unit can update the position correspondence based on the cutting load information after the spindle 106 passes the carving position, so that the wood structure feature map can adapt to the changes in the exposure state of the structure features during the layer-by-layer carving of the wood, thereby improving the accuracy of subsequent carving preparation interval determination and carving transition state generation.

[0142] Example 6

[0143] like Figures 1 to 4 As shown in the figure, this embodiment describes the overall workflow of the surrounding wood carving main shaft system based on the positional correspondence of wood structure characteristics.

[0144] Before the wood carving process, the operator installs the wood to be processed on the second rotating table 103 and sets the initial processing parameters of the first rotating table 102, the two-axis moving table 105 and the main spindle 106 according to the size of the wood, the carving pattern and the processing accuracy requirements.

[0145] After the equipment is started, the first rotating table 102 drives the portal frame 104 to rotate around the central axis of the base 101, and the two-axis moving table 105 drives the main spindle 106 to move along the central axis and in the direction close to or away from the central axis. The main spindle 106 performs circumferential carving on the wood installed on the second rotating table 103.

[0146] When the control unit passes a certain carving position for the first time, it has not yet established the position correspondence of the carving position. Therefore, the control unit performs normal carving according to the preset carving parameters, and the sensing component collects the cutting load information of the spindle 106, the vibration information of the portal frame 104, and the rotation load information of the first rotating table 102 in real time during the carving process.

[0147] After acquiring the cutting load information, the control unit determines the wood structure characteristics at the current carving position based on the cutting load information.

[0148] Specifically, the control unit extracts load characteristic parameters in the manner described in Example 2, and determines the wood structure characteristics corresponding to the current carving position based on the correspondence between the load characteristic parameters and the preset load range.

[0149] Subsequently, the control unit performs the task of establishing the positional correspondence between the wood's structural features and the carving location.

[0150] Specifically, the control unit associates and records the current wood structure characteristics with the current carving position, and creates a wood structure characteristic map in accordance with the method in Example 3.

[0151] During subsequent carving, when the spindle 106 passes through the carving position where the positional correspondence has been established, the control unit queries the wood structure feature map based on the current rotation angle and axial position, and reads the wood structure feature corresponding to the carving position.

[0152] Subsequently, the control unit executes the determination of the preset distance range or preset rotation angle range before the engraving position as the engraving preparation range based on the position correspondence.

[0153] When the spindle 106 enters the carving preparation area, the control unit executes the generation of a carving transition state corresponding to the carving position based on the wood structure characteristics corresponding to the position correspondence.

[0154] The carving transition state includes the carving parameters corresponding to the carving position and the balance state of the gate frame 104.

[0155] Specifically, the control unit determines the corresponding feed rate, depth of cut, spindle speed, and compensation state of the balancing components based on the wood structure feature diagram or preset parameter table, and generates the corresponding carving transition state.

[0156] Subsequently, the control unit controls the first rotary table 102, the two-axis moving table 105, the spindle 106 and the balancing assembly to enter the engraving transition state.

[0157] In one embodiment, the control unit adopts a gradual switching method, gradually adjusting the rotational speed of the first rotary table 102, the feed speed of the two-axis moving table 105, the cutting depth of the spindle component 106, and the compensation state of the balancing component within the engraving preparation interval, so that the system completes the state switching before the spindle component 106 reaches the corresponding engraving position.

[0158] When the spindle 106 enters the corresponding engraving position, the spindle 106 engraves the wood with parameters in the engraving transition state to reduce the cutting impact, sudden change in cutting load and vibration of the portal frame 104 caused by changes in the wood's structural characteristics.

[0159] After the spindle 106 passes the engraving position, the control unit updates the position correspondence based on the cutting load information when passing the engraving position.

[0160] Specifically, the control unit re-acquires the cutting load information corresponding to the carving position and redetermines the current wood structure characteristics in accordance with the method in Example 5.

[0161] If the current wood structure characteristics match the records in the wood structure characteristic diagram, then the correspondence at that position is maintained or solidified. If the current wood structure characteristics do not match the records in the wood structure characteristic diagram, the control unit marks the correspondence of that position as pending confirmation and continues to confirm it when passing through that carving position again in the future. When the current wood structure characteristics are inconsistent with the original record at least twice consecutively, the control unit deletes the original record and re-establishes the positional correspondence of the carving location.

[0162] Meanwhile, the control unit can also correct the carving transition state corresponding to the carving position based on the changes in cutting load when passing through the carving position, so as to improve the adaptability when passing through the carving position in the future.

[0163] Throughout the carving process, the control unit executes the following steps in a loop: acquiring cutting load information, identifying wood structure characteristics, establishing position correspondence, determining the carving preparation area, generating carving transition states, switching states, and updating position correspondence, until the entire wood is carved around it.

[0164] Through the above workflow, the system can utilize the spatial stability of wood structure characteristics on the wood to pre-process the possible changes in cutting load when passing through the same carving position, thereby reducing the impact of changes in wood structure characteristics on the stability of the wood carving and improving the smoothness and processing quality of the wood carving process.

[0165] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A system for carving a main axis around a piece of wood based on the positional correspondence of wood tissue characteristics, comprising a base (101), characterized in that, include: The first rotating platform (102) is in the shape of a ring and is installed inside the base (101) around the central axis of the base (101); The second rotating platform (103) is installed inside the base (101) and coaxially arranged inside the first rotating platform (102); A portal frame (104) is fixedly connected to the first rotating platform (102); A two-axis moving stage (105) is mounted on the portal frame (104), and the slide of the two-axis moving stage (105) can move along the central axis and in directions close to or away from the central axis. The main spindle (106) is mounted on the slide of the two-axis moving table (105) and is used to carve the wood mounted on the second rotating table (103); A balancing component is disposed on the portal frame; The sensing component is used to collect in real time the cutting load information of the spindle (106) during the engraving process, the vibration information of the portal frame (104), and the rotational load information of the first rotary table (102). The control unit is connected to the first rotating stage (102), the two-axis moving stage (105), the main shaft (106), the balancing assembly, and the sensing assembly; The control unit is configured to: The load feature parameters are extracted based on the cutting load information, and the wood structure characteristics at the current carving position are determined according to the preset structure determination rules. Establish the positional correspondence between the wood's structural characteristics and the carving location; When the spindle (106) passes through the engraving position with the established position correspondence again, the preset distance range or preset rotation angle range before the engraving position is determined as the engraving preparation range according to the position correspondence. When the spindle (106) enters the carving preparation area, according to the wood structure characteristics in the position correspondence, the carving parameters and balance state in the preset parameter mapping relationship are called and combined to form a carving transition state corresponding to the carving position. The carving transition state includes the carving parameters corresponding to the carving position and the balance state of the gate frame (104); Control the first rotary table (102), the two-axis moving table (105), the main spindle (106) and the balancing assembly to enter the engraving transition state; After the spindle (106) passes the engraving position, the control unit updates the position correspondence based on the cutting load information when passing the engraving position.

2. The surrounding wood carving main shaft system based on the positional correspondence of wood tissue characteristics according to claim 1, characterized in that, The balancing component includes: A counterweight box (201) is fixedly connected to the upper surface of the portal frame (104). Several counterweight blocks are inserted into slots that are equidistantly opened on the surface of the counterweight box (201). An electromagnet (202) is installed on the surface of the counterweight box (201). A first ring (203) is rotatably connected to the surface of the base (101) through a first bearing. Columns (204) are symmetrically fixedly connected to the surface of the first ring (203). A magnetic plate (206) is provided below the electromagnet (202). The magnetic plate (206) is fixedly connected to the two columns (204). The surface of each column (204) is fixedly connected with a horizontal plate (205). The horizontal plate (205) contacts and cooperates with the corresponding side wall of the portal frame (104) so ​​that when the portal frame (104) rotates, the horizontal plate (205) drives the column (204) and the magnetic plate (206) to rotate synchronously.

3. The surrounding wood carving main shaft system based on the positional correspondence of wood tissue characteristics according to claim 1, characterized in that, The preset organization determination rules include the correspondence between load characteristic parameters and preset load ranges.

4. The surrounding wood carving main shaft system based on the positional correspondence of wood tissue characteristics according to claim 3, characterized in that, The load characteristic parameters include at least one of the following: peak cutting load, rate of change of cutting load, and period of fluctuation of cutting load.

5. The surrounding wood carving main shaft system based on the positional correspondence of wood tissue characteristics according to claim 1, characterized in that, The positional correspondence is recorded using a wood structure feature map, which includes the carving position and the wood structure features corresponding to the carving position.

6. The surrounding wood carving main shaft system based on the positional correspondence of wood tissue characteristics according to claim 5, characterized in that, The carving position includes the rotation angle and axial position of the wood.

7. The surrounding wood carving main shaft system based on the positional correspondence of wood tissue characteristics according to claim 5, characterized in that, When the same carving location is identified as having the same wood structure feature at least twice consecutively, the control unit records the wood structure feature in the wood structure feature map.

8. The surrounding wood carving main shaft system based on the positional correspondence of wood tissue characteristics according to claim 5, characterized in that, When the wood structure characteristics determined by the current cutting load information are inconsistent with the wood structure characteristics recorded in the wood structure characteristic map at least twice consecutively, the control unit deletes the record of the corresponding carving position and re-establishes the position correspondence of the carving position.

9. The surrounding wood carving main shaft system based on the positional correspondence of wood tissue characteristics according to claim 1, characterized in that, The preset distance range is determined based on the feed speed of the spindle (106), or the preset rotation angle range is determined based on the rotation speed of the first rotating table (102).

10. The surrounding wood carving main shaft system based on the positional correspondence of wood tissue characteristics according to claim 1, characterized in that, The engraving transition state includes at least one of the following: a feed rate of the two-axis moving stage (105) lower than that of the normal engraving state; a cutting depth of the spindle (106) lower than that of the normal engraving state; and a preset balance state formed by the balancing assembly before the spindle (106) enters the engraving position.

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