Mirror milling and measurement control method and system

Abstract

A mirror milling and measurement control manufacturing system is provided, which is characterized by including a process for machining a thin-walled part, a process for measuring and controlling the thickness of the thin-walled part, and a process for detecting the machining contour of the thin-walled part. [Solution] In the migration process of the machining path program of a thin-walled part, based on the actual positioning holes of the point cloud data obtained from the scanning of the thin-walled part and the theoretical positioning holes on the theoretical triangular mesh surface generated based on the design surface, the actual triangular mesh surface and the theoretical triangular mesh surface are matched, and for multiple tool position points in the tool file, geodesic information between each tool position point and the theoretical positioning hole is calculated, and the geodesic information is used to migrate the tool position points to the actual triangular mesh surface to form the transplanted machining path.

Description

[Technical field]

[0001] The present invention relates to the field of mirror milling technology, and in particular to a mirror milling processing and measurement control method and system thereof. [Background technology]

[0002] Mirror milling is a processing method for large, thin-walled aircraft body sheets, and the difference from traditional milling is that a support and measuring device is applied to the back of the sheet during the processing process, and the milling tool and the support and measuring device aim at the sheet from both sides and process synchronously, which can achieve better product consistency than the processing of body sheets using traditional chemical etching processes.

[0003] In the existing technology, technical solutions already exist for milling thin-walled parts such as aircraft body sheets.

[0004] For example, Chinese patent CN201410532797.X discloses a mirror milling method and apparatus for aircraft body sheets, the characteristics of which are that the apparatus mainly includes a floor main frame, a milling device, a vertical conversion device, an earring clamping device, a flexible suction device, a jack device, a measuring device, a thickness measuring device, etc. In the present invention, the vertical conversion device is used to clamp the body sheet in a vertical position, so that the clamping efficiency of the body sheet can be improved. In addition, the position accuracy of the body sheet can be further improved by combining a vacuum suction device, and deformation caused by gravity can be avoided. Through on-board measurement based on a laser position sensor, the actual curved surface of the body part can be detected before processing, and the body processing tool trajectory can be adjusted according to the actual clamping state. Thus, a self-adaptive numerical control processing can be realized. The jack device can support the body part from the back during the milling processing process of the body sheet. Thus, vibration during processing can be avoided and the processing stability can be improved. In addition, the thickness can be monitored in real time during the processing process, and processing thickness compensation can be provided. An integrated control system ensures that the individual units of the milling bed work together and do not interfere with each other.

[0005] In addition, Chinese patent CN201910811713.9 discloses a detection device for milling defects of body sheet, which is related to the field of body sheet processing and aims to detect and locate the milling defects of body sheet in real time. The device is used in the milling bed, and includes a PC end, an infrared camera, a TOF depth camera, and a magnetic field motion module. The magnetic field motion module and the milling tool are connected to the main shaft of the milling bed through the milling head, and can transmit the torque of the milling bed. In the milling process of the body sheet, the main shaft of the milling bed rotates the milling tool and the magnetic field motion module, and the body sheet cuts the magnetic force of the magnetic field motion module, thereby generating an induced inductance current inside. The infrared camera is used to detect the surface temperature distribution of the body sheet. The TOF depth camera is used to reconstruct the three-dimensional shape of the body sheet. The PC end is used to obtain and analyze the three-dimensional temperature distribution map based on the temperature distribution and the three-dimensional shape, and detect the internal defects of the body sheet.

[0006] However, in the actual implementation process, the inventors found that due to the constraints of the physical properties of the thin-walled part itself, it is easy for a certain deformation to occur during the processing process, such as the central area being raised or lowered. As a result, during the milling process of the thin-walled part, the actual curved surface of the thin-walled part may not be completely consistent with the designed curved surface and tool path, which will further affect the processing accuracy. Summary of the Invention

[0007] To solve the above problems in the existing technology, a mirror milling and measurement control method is currently provided, and a machining system for implementing the machining method is also provided.

[0008] The specific technical solutions are as follows:

[0009] The mirror milling and measurement control method includes a thin-walled part clamping and transporting process, a thin-walled part measurement and point cloud acquisition process, a thin-walled part machining path program transfer process, a thin-walled part machining path post-processing process, a thin-walled part machining and thickness measurement control process, and a thin-walled part machining contour detection process.

[0010] The process of transferring the machining path program of thin-walled parts involves: According to the actual positioning holes in the point cloud data obtained by scanning the thin-walled part and the theoretical positioning holes on the theoretical triangular mesh surface generated based on the design surface, the actual triangular mesh surface corresponding to the point cloud data is matched with the theoretical triangular mesh surface; For a plurality of tool position points in the tool file, calculate geodesic information between each tool position point and a theoretical positioning hole; It includes transplanting the tool position points onto the actual triangular mesh surface based on the geodesic information, and forming a transplant processing path.

[0011] In addition, in the clamping and conveying process of the thin-walled parts, a clamping process device is used to clamp the thin-walled parts, and the clamping process device has a mouth-shaped process device frame, in which a number of moving columns are distributed; The process equipment frame and the moving support are fitted with clamps that clamp and secure the thin walled components. Distributed within the process equipment frame are a plurality of jacking devices which move from the rear to the front of the thin wall components to support the thin wall components.

[0012] In addition, the clamping and conveying process for thin-walled parts requires Suspending the thin walled part onto a process equipment frame and projecting a laser projection onto the frame; The thin-walled part is positioned within the range of the laser projection; Adjust the jacking device and clamping device according to the laser projection and the process device program, and adjust the thin-walled parts to the planned processing state; The thin-walled parts are clamped in order and scanned to obtain point cloud data.

[0013] Furthermore, in the thin-walled part measurement and point cloud acquisition process, a line laser is driven by the machine tool to scan the thin-walled part and construct point cloud data.

[0014] In addition, the process of extracting the tool position points to calculate the tool file includes: Extract the center coordinates of the theoretical positioning holes on the theoretical triangular mesh surface, and extract the information of each tool position point from the tool file; The tool position point information includes coordinates of the tool position point, For each tool position point, project each tool position point onto a theoretical grid surface of the theoretical triangular mesh surface to generate a first projection point and a projection length between the first projection point and the tool position point; The process includes a process of calculating the area coordinates of the first projection points relative to the projection point grid in which the first projection points are located, and calculating geodesic lengths for the area coordinates for each of the center coordinates of the theoretical positioning holes, to obtain the geodesic information.

[0015] In addition, the process of forming a transplant processing path includes: Extracting center coordinates of the actual positioning hole from the point cloud data, and projecting the tool position point onto an actual grid plane corresponding to the point cloud data to obtain a second projection point; For the second projection point, calculate a predicted projected geodesic length relative to the center coordinate of the above-mentioned actual positioning hole, and then calculate a geodesic deviation value based on the geodesic information and the predicted projected geodesic length; According to the above geodesic deviation value and the pre-set geodesic deviation range, the second projection point is iteratively processed, and continues to be processed until it satisfies the geodesic deviation range, and then it is used as the actual transplantation point; A process of generating a transplant processing path based on the actual transplant points is included.

[0016] In addition, the post-processing process of the machining path of the thin-walled parts includes the process of creating a new transplant tool position file according to the above transplant machining path and performing a simulation inspection; In the above thin-walled part machining and thickness measurement control process, the above imported tool position file is used to machine the above thin-walled part.

[0017] Additionally, the thin wall part machining and thickness measurement control process uses a jacking device to support the subsided area of ​​the thin wall part.

[0018] In addition, in the processing and thickness measurement control process of the thin-walled parts, an ultrasonic detection head is used to measure the thickness of the above-mentioned thin-walled parts in real time, and the real-time thickness is used for the mirror milling process.

[0019] In addition, the ultrasonic detection head is provided with a number of eddy current sensors distributed around it, which generate eddy currents during the measurement process of the ultrasonic detection head, allowing the ultrasonic detection head to measure the eddy current intervals for the thin-walled parts; In the mirror milling process, the ultrasonic sensing head controls the distance to the thin wall part based on the eddy current spacing described above.

[0020] In addition, in the measurement process of the ultrasonic detection head, the ultrasonic detection head is controlled to face the back normal of the thin-walled part through the eddy current normal holding process; The above eddy current normal holding process includes: Multiple eddy current sensors obtain the distance from the back surface of the thin-walled part, A machine tool coordinate system is constructed based on the eddy current distribution generated by the eddy current sensor, and the back surface distance is transferred to the machine tool coordinate system; The center of the above eddy current distribution coincides with the origin of the coordinate system, Calculate the eddy current normal vector based on the back surface distance in the coordinate system; The process includes adjusting the orientation of the ultrasonic detection head based on the eddy current normal vector so that the eddy current normal vector coincides with the back surface normal vector of the thin-walled component.

[0021] In addition, the ultrasonic detection head is a water-immersion ultrasonic detection head, and a spray nozzle is installed on the outside of the coupling part of the ultrasonic detection head, and the nozzle discharges a water flow that fills the area between the coupling part and the thin-walled part during the measurement process of the detection head; There is a water pressure sensor in front of the nozzle to measure the real-time water pressure value, and in the mirror milling process, the real-time water pressure value is compared with the water pressure reference value to adjust the water flow pressure and support the thin-walled parts through water pressure.

[0022] In addition, in the detection process of the machining contour of the thin-walled part, the thin-walled part after machining is scanned to obtain the after-machining point cloud data, and then the after-machining scanned curved surface is generated according to the after-machining point cloud data; Recognizing a characteristic area of ​​the design surface and obtaining a boundary of the characteristic area; The boundary is projected onto the processed scan surface, and a geodesic line is verified between a first feature point on the boundary of the feature area and a second feature point on the processed scan surface.

[0023] A processing system for carrying out the above mirror milling and measurement control method.

[0024] The processing system also includes a clamping process device, which clamps the thin-walled part and The clamping process device is equipped with a jack device, which moves simultaneously with the milling tool during the milling process to support the thin-walled parts; The top of the above jack device is equipped with an ultrasonic detection head to measure the thickness of the thin-walled parts from the back side in the mirror milling process; Eddy current sensors are installed around the ultrasonic detection head, and the processing system determines whether the ultrasonic detection head maintains a certain normal and distance to the thin-walled part based on the sensors; A spray nozzle is provided on the outside of the coupling part of the ultrasonic detection head, and the nozzle discharges a water flow that fills the area between the coupling part and the thin-walled part during the measurement process of the ultrasonic detection head; There is a water pressure sensor in front of the above nozzle, which measures the real-time water pressure value, and in the mirror milling process, the real-time water pressure value is compared with the water pressure reference value to adjust the water flow pressure.

[0025] The above technical solutions have the following advantages or beneficial effects:

[0026] In the existing technology, the body processing method has a problem that the deformation of the body itself during the actual processing process affects the processing accuracy. In this method, after clamping the thin-walled part, laser scanning measurement is performed to obtain point cloud data. In addition, positioning holes are added to the pre-processing and design process of the thin-walled part. On this basis, the tool position points can be projected onto the design surface to obtain the geodesic information between the tool position points and the theoretical positioning holes on the design surface. Then, based on the geodesic information, the corresponding tool position points can be accurately mapped onto the actual processing surface of the point cloud data to form a transplant processing path. This can reduce the impact of body deformation on the tool path and improve the processing accuracy. [Brief description of the drawings]

[0027] The embodiments of the present invention will be more fully described with reference to the accompanying drawings, which are used for illustrative purposes only and do not constitute limitations on the scope of the present invention.

[0028] [Figure 1] 1 is an overall schematic diagram of an embodiment of the present invention; [Diagram 2] FIG. 2 is a process diagram of a thin-walled part machining path program transfer according to an embodiment of the present invention; [Diagram 3] 1 is a schematic diagram of a mirror milling system according to an embodiment of the present invention; [Figure 4] FIG. 2 is a diagram of a clamping process apparatus according to an embodiment of the present invention. [Diagram 5] FIG. 2 is a diagram of a point cloud acquisition process of an embodiment of the present invention. [Figure 6] FIG. 13 is a diagram of a tool position point extraction process according to an embodiment of the present invention. [Figure 7] FIG. 2 is a diagram of a geodesic calculation process of an embodiment of the present invention. [Figure 8] FIG. 1 is a diagram of a path migration process in accordance with an embodiment of the present invention. [Figure 9] FIG. 1 is a diagram of an eddy current normal preservation process of an embodiment of the present invention. [Figure 10] FIG. 2 is a diagram of a spray nozzle according to an embodiment of the present invention. [Figure 11] FIG. 1 is a diagram of a water supply system according to an embodiment of the present invention. [Figure 12] FIG. 2 is a diagram of a process for detecting a thin-walled part machining contour in accordance with an embodiment of the present invention. [Figure 13] FIG. 1 is a diagram of a processing system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] In the following, the technical solutions of the embodiments of the present invention are clearly and completely described in combination with the figures of the embodiments of the present invention. Obviously, the embodiments described herein are only a part of the present invention, but not all of it. Based on the embodiments of the present invention, ordinary skilled persons in this field should recognize that all other embodiments obtained without creative efforts also belong to the protection scope of the present invention.

[0030] It should be noted that, unless there are conflicts, the embodiments and features of the embodiments of the present invention may be combined with each other.

[0031] The present invention will be described in more detail below in combination with figures and specific examples, which are not to be construed as limitations of the present invention.

[0032] The present invention relates to As shown in FIG. 1, the mirror milling and measurement control method includes a thin-walled part clamping and conveying process, a thin-walled part measurement and point cloud acquisition process, a thin-walled part machining path program transfer process, a thin-walled part machining path post-processing process, a thin-walled part machining and thickness measurement control process, and a thin-walled part machining contour detection process, As shown in Figure 2, the transfer process of the machining path program of the thin-walled part is as follows: Based on the actual positioning holes in the point cloud data obtained from the scan of the thin-walled part and the theoretical positioning holes on the theoretical triangular mesh surface generated based on the design surface, matching the actual triangular mesh surface with the theoretical triangular mesh surface; For a plurality of tool position points in the tool file, calculate geodesic information between each tool position point and the theoretical positioning hole; and using said geodesic information to graft said tool location points onto said actual triangular mesh surface to form a grafted machining path.

[0033] Specifically, in response to the problem that the deformation of the thin-walled part itself during the actual machining process affects the machining accuracy in the mirror milling method in the existing technology, the present embodiment improves the transplantation process of the cutting tool of the thin-walled part. Here, the thin-walled part is provided with a number of positioning holes in advance through punching or an equivalent process, and there are corresponding positioning holes on the design surface in the design process of the thin-walled part. For the purpose of distinction, the positioning holes on the design surface are called theoretical positioning holes, and the actual positioning holes on the thin-walled part are called actual positioning holes. They correspond one-to-one. Usually, positioning holes are provided at the four corners around the main body of the thin-walled part, and the number is four, but the number and positions may change depending on the different thin-walled part types.

[0034] Before the tool path is transferred, a number of tool position points are obtained for the tool file obtained after the design of the tool path, and the tool position points correspond to the tool positions for milling the thin-walled parts to match the design surface in the machining process. In order to realize a more accurate tool position transfer process, each tool position point calculates geodesic information for its positioning hole by referring to the positioning hole on the design surface in advance. Then, based on the geodesic information, the tool position points can be mapped on the measured point cloud data by referring to the actual positioning hole position. This realizes a more accurate transfer process.

[0035] Here, the point cloud data is the data obtained by scanning the thin-walled part after clamping. Because the thin-walled part is flexible, it needs to be pre-clamped and jacked up to the planned processing state. Then, a suitable scanning device such as a line laser scanner is used to scan the entire curved surface of the thin-walled part, and the point cloud of the reflected laser is obtained and used. This point cloud data contains the position information of each point on the thin-walled part in 3D space, and through further analysis, the holes in the thin-walled part, such as the actual positioning holes, can be easily obtained.

[0036] According to the above-mentioned transplantation process, the position points of the tool in the tool file are transplanted to the actual curved surface of the thin-walled part in order, and the tool information, such as the tool normal, sequence, number of rows, etc., are combined and processed to generate the corresponding transplanted machining path. According to the transplanted machining path, in the subsequent milling process, the milling tool machining and the operation of the jack device and the measuring device are controlled by the appropriate milling process to achieve a better machining effect.

[0037] In the actual implementation process, the above processing method is mainly realized by relying on a specific milling system, which includes a jacking device and a measuring device, etc., which can be matched with the corresponding multi-axis machining center and milling tool and can operate synchronously. Figure 3 shows a typical milling system, which includes a main shaft part A001 for milling thin-walled parts, a scanning device A002 for acquiring the curved surface of the thin-walled parts, a jacking device A003, a measuring device A004, and a computer device A005. Here, the computer device A005 is a control system of a milling bed or an equivalent device, and is set with a specific computer program to realize a specific function, especially the program related to the above processing method.

[0038] In order to achieve better measurement effect, the measuring device can be installed at the end of the jacking device and work simultaneously with the jacking device. For example, if the measuring device is an ultrasonic detection head, it is located at the end of the jacking device, and when the jacking device jacks up the thin-walled part, it measures the real-time thickness of the thin-walled part from the back side, which can cooperate with the milling tool on the front side to accurately judge how much the current thin-walled part has been cut and whether the thickness is in line with the actual processing requirements.

[0039] Before the actual measurement begins, a suitable pre-treatment process should be carried out, especially on thin-walled parts, which may include heat treatment of the material, cold rolling, stretching, rough cutting or a similar machining process, so that the thin-walled parts can be formed by milling.

[0040] In addition, before the actual processing begins, the corresponding design work should also be done for the thin-walled parts, which includes using 3D design software to design the desired thin-walled part surface, such as the skin surface, to obtain the design surface, which is actually represented as a computer program model file, which can be read and displayed by a specific 3D industrial design software, and further output the corresponding processing drawings, etc., as necessary.

[0041] The tool file is a feasible machining solution designed based on the machining parameters of the milling system after determining the raw material parameters and design surface of the thin-walled part before machining. It includes the tool position points that need to be machined to match the thin-walled part with the design surface, the trajectory composed of the tool position points, and the tool information, such as the tool normal, the number of rows, and the spindle rotation speed. The tool file is a file of a certain format, such as a CLS / APT file, which can be read and executed by the CNC device to machine the workpiece. However, in the scenario targeted by the present invention, the directly generated tool file usually has a certain offset in three-dimensional space between the actual tool position points of machining and the designed expected tool position points due to factors such as the clamping accuracy of the thin-walled part and material deformation. Therefore, the present invention involves the process of remapping the tool position points to the actual machining surface. After this process is completed, a modified tool file can be generated and the tool file can be used to perform a more accurate milling process.

[0042] It should be noted that the transfer process of the tool location points should be done after the thin-walled part is clamped and scanned for the first time, and the thin-walled part should be milled immediately after the transfer is completed, which can avoid introducing new offsets during the repeated clamping of the thin-walled part.

[0043] In one embodiment, the clamping process uses a clamping process apparatus as shown in FIG. 4 to clamp the thin-walled parts. The clamping process apparatus has a square-shaped process apparatus frame 101, in which a number of moving columns 102 are distributed. The process equipment frame 101 and the moving support 102 are fitted with clamps 103 for clamping and fixing thin-walled components. Distributed on the process equipment frame 101 are a plurality of jack devices 104 which move from the rear to the front of the thin wall components to support the thin wall components.

[0044] Specifically, in order to achieve a better fixing effect, the present embodiment uses the above-mentioned clamping process device to fix the thin-walled part before scanning the thin-walled part. Here, the clamping process device has a square-shaped process device frame 101, which is a hollow frame structure and has a front and a back. When it is necessary to clamp the thin-walled part, the process device frame 101 is placed with the front side up, and the moving support 102 and the jack device 104 are set at a position close to the back side of the frame 101. The process device frame 101 has a plurality of clamps 103 distributed in the circumferential direction, which clamp and fix the circumferential direction of the thin-walled part.

[0045] Meanwhile, since the thin-walled part itself has an irregular structure and may have an edge raised in three-dimensional space, an additional clamp 103 is set on the process equipment frame 101 via a movable support 102. The process equipment frame 101 has a plurality of guide rails arranged on the rear side, and the movable support 102 is set movably on the process equipment frame 101 via the guide rails, and its position can be adjusted as necessary, allowing the clamp 103 to effectively clamp the edge of the curved part.

[0046] In addition, to maintain the shape of the thin-walled part, multiple jack devices 104 are arranged within the process equipment frame 101, which support the back of the thin-walled part according to a set jack program, so that the thin-walled part maintains a specific curved state for subsequent operations such as scanning, measuring, milling, etc.

[0047] In addition, in order to maintain the shape of the thin-walled parts, the frame 101 is equipped with a number of jacking devices 104 distributed inside, which jack up the back of the thin-walled parts based on a set jacking program, maintain a certain bending state, and facilitate subsequent scanning, measuring, milling, and other operations.

[0048] In order to achieve a good jacking effect, a plurality of jacking devices 104 can be arranged in a rectangular shape inside the rectangular process equipment frame 101, and the height of each jack can be controlled individually to support and maintain the shape of the thin wall parts.

[0049] Similarly, the number of the above clamps 103 and moving columns 102 can be correspondingly disassembled, installed, adjusted in position and adjusted in angle based on the shape, size and other parameters of the thin-walled parts to be actually processed.

[0050] In one embodiment, as shown in FIG. 5, the clamping and conveying process for thin walled parts includes: The thin-walled part is hoisted onto the process equipment frame, and laser projection is performed onto the process equipment frame. The thin-walled part is positioned within the range of the laser projection; Adjust the jacking device and clamps to adjust the thin-walled part to the intended processing state according to the laser projection and the process device program; The steps include clamping the thin-walled parts in sequence and then scanning them to obtain point cloud data.

[0051] Specifically, the clamping process can be used to clamp and scan the object, centering on the clamping process device, to obtain more accurate point cloud data.

[0052] Specifically, before the thin-walled part is hoisted and worked on, a corresponding jack program is preliminarily woven according to the design surface, and the jack parameters required to bring the thin-walled part into the planned processing state are adopted, and then the number of jack devices actually equipped on the process equipment frame is combined to perform matrix processing to generate matrix point pixels, and then the corresponding process equipment program for controlling the jack devices is generated.

[0053] Laser projection assistance is also introduced into the clamping process of thin-walled parts to achieve a better clamping indication process. The laser projection assistance is realized by a laser projector, which projects a laser pattern onto the object surface to indicate each position in the clamping process, including where the edge of the thin-walled parts should be located and where the clamp will clamp the thin-walled parts.

[0054] To realize this process, a laser projection programming process needs to be done in advance, which includes the specific tasks of planning the front of the process equipment frame and determining the positioning markers that the laser projection depends on for the projection process, such as the positioning markers of the process equipment frame, the effective positioning hole positions of the thin-walled parts, etc. After determining the relative references, further planning is carried out to obtain the corresponding clamping lines. Then, the laser projection programming is done using the Projector, and the corresponding laser projection programming file is converted for subsequent calling.

[0055] After the preparation process is completed, the thin-walled part can be hoisted by crane. Specifically, the process equipment frame is placed horizontally, and then the thin-walled part is hoisted by crane onto the process equipment frame and dropped. In this process, the process equipment program is used to adjust the height of the jacking device in advance, and after the thin-walled part is dropped, the laser projector is controlled based on the laser projection programming file to perform projection. Specifically, the center mark of the laser projection is first matched with the target point on the thin-walled part surface or the process equipment frame surface, and then projected onto the effective positioning hole of the thin-walled part, and based on the projection position, the direction of the thin-walled part and the height of the jacking device are fine-tuned until the actual positioning hole is matched with the projected positioning hole mark. This indicates that the thin-walled part has reached the planned processing state and can be clamped. In the clamping process, the clamps should be tightened in sequence according to the corresponding engineering standards to avoid adding extra stress to the thin-walled part.

[0056] Finally, after the thin-walled part is clamped, the process proceeds to the measurement and point cloud acquisition of the thin-walled part, and scanning is performed to obtain point cloud data. In one embodiment, a line laser is adopted as the scanning means. Specifically, a line laser scanning program is constructed that can completely scan the design surface in advance under the same coordinate system as the design surface, centered on the design surface. Then, the line laser is driven through the milling bed to scan the front curved surface of the entire surface of the thin-walled part, and the reflected signal is collected as the scan data. Based on these scan data, the kinematic algorithm of the milling bed is combined and reconstructed, and the point cloud data of the space of the curved surface corresponding to the surface of the thin-walled part can be easily processed and output as point cloud data.

[0057] In one embodiment, in the machining and thickness measurement control process of thin wall parts, a jacking device is used to support the subsidence area of ​​the thin wall parts.

[0058] Specifically, after selecting the above clamping process device to perform clamping, in order to achieve better milling accuracy, the scanning process device frame is directly turned over after scanning and moved to the processing position for the subsequent milling process. At this time, the jack device is connected to the mirror milling system, controlled during the processing process, and moved simultaneously with the front milling to support the sinking area of ​​the thin-walled part during the processing process and achieve a better processing effect.

[0059] In one embodiment, as shown in FIG. 6, the process of extracting the calculated tool position points of the tool file includes: Extract the center coordinates of the theoretical positioning holes on the theoretical triangular mesh surface, and extract the information of each tool position point from the tool position file; The sword position point information includes coordinates of the sword position point, Projecting each of the tool position points onto a theoretical grid surface of the theoretical triangular mesh surface to generate a first projection point and a projection distance between the first projection point and the tool position point; The process includes calculating the area coordinates of one projection point relative to the projection point grid in which the first projection point is located, and calculating the geodesic length relative to the area coordinates for each of the center coordinates of the theoretical positioning hole to obtain geodesic information.

[0060] Specifically, after obtaining the design surface and tool file, the above process can obtain the geodesic information for each tool position point relative to the theoretical positioning hole coordinates, which is used as the reference for the subsequent transplantation of the tool position points.

[0061] Here, the design surface is subjected to a discretization process with equal intervals in advance to form a design surface point cloud, and then a point cloud data similar to the point cloud data is constructed. In it, the interval setting can be selected based on the scanning interval of the line laser. The discretization process includes obtaining the parameter range of the design surface, parameterizing the surface, changing the UV value according to the interval on the UV surface, and obtaining a number of points to add to the design surface point cloud. Then, the positions of the theoretical positioning holes planned in the design surface can be combined to easily extract the center coordinates of the theoretical positioning holes on the design surface, and the design surface point cloud can be combined to extract the theoretical positioning hole center coordinates after point cloudization. Through this process, the theoretical positioning hole center coordinates are adjusted to coordinates consistent with the point cloud data, which is convenient for subsequent alignment with the actual positioning holes in the point cloud data.

[0062] In addition, the tool file is also read in a loop to obtain many tool position points, and the information of the tool position point mainly includes the tool position point coordinate, normal, and the line number where the tool position point is located. The transplantation process mainly focuses on the deformation of the thin-walled parts that affects the position change of the projected tool position point in space, that is, the movement of the tool position point coordinate.

[0063] In order to achieve better processing efficiency, in this embodiment, the design surface point cloud of the design surface and the point cloud data in the point cloud data obtained by scanning are respectively meshed. In one embodiment, a Delaunay triangular meshing algorithm is used to mesh the design surface and the point cloud data, and the meshed surface of the design surface after meshing is called a theoretical grid surface, and the meshed surface of the point cloud data after meshing is called an actual grid surface.

[0064] Next, for the theoretical grid surface, the tool position point is projected onto the theoretical grid surface along the surface normal, which must fall within the triangular grid on the theoretical grid surface. At this time, the projection length between the projection point and the tool position point, and the triangular grid in which the projection point exists are recorded as the projection point grid. In the projection point grid, connect from the projection point to the vertices of the projection grid, and obtain many grid subunits in the projection point grid. In the triangular grid, the number of grid subunits is three, and the area coordinates of the grid subunits are calculated, and the geodesic length of the projection point to each theoretical positioning hole can be obtained by interpolating from the positioning hole coordinates to the three vertices and the area coordinates. Finally, the projection point sums up the geodesic length of each theoretical positioning hole to obtain the complete geodesic information, which is used for the transplantation of the tool position point later.

[0065] Specifically, referring to Figure 7, in a triangular grid with three vertices A, B, and C, three grid subunits are set, the central position of which is the projection point p, and the area coordinates of the grid subunits are S1, S2, and S3, respectively, where S1+S2+S3=1. Then, the geodesic length d between the external theoretical positioning hole pos and the projection point is d=d1*S1+d2*S2+d3*S3.

[0066] In one embodiment, as shown in FIG. 8, the path implantation process of the implantation machining path includes: Extract the center coordinates of the actual positioning hole from the point cloud data, and project the tool position point onto the actual grid plane corresponding to the point cloud data to obtain a second projection point; For the second projection point, calculate a predicted projected geodesic length with respect to the center coordinate of the actual positioning hole, and then calculate a geodesic deviation value based on the geodesic information and the predicted projected geodesic length; Iteratively process the second projection point according to the geodesic deviation value and the pre-set geodesic deviation range, and continue repeating until it satisfies the geodesic deviation range, and then use it as the actual transplantation point; A process is included for generating a transplant processing path based on the actual transplant point.

[0067] Specifically, after the above geodesic line information is determined, the tool position point can be moved to the point cloud data based on the geodesic line information.

[0068] Here, the point cloud data has been scanned by a line laser to extract point cloud data related to the actual positioning hole, and then a boundary recognition algorithm is used to recognize the point cloud, obtain the edge portion in the point cloud data, and recognize the hole portion in the edge based on the curvature recognition, and fitting is performed based on the point cloud data of the portion to obtain the center coordinate of the actual positioning hole.

[0069] Similarly, the actual grid surface is obtained in advance through the above-mentioned mesh processing process. The tool position point is projected onto the actual grid surface in the normal direction of the surface, and it must fall within the triangular grid of the actual grid surface.

[0070] At this point, the projection length between the predicted projection point and the tool position point is recorded, and the triangular grid in which the predicted projection point exists is recorded as the projection grid. Within the projection grid, connections are made from the predicted projection point to each vertex to form multiple subunits within the grid. In the triangular projection grid, the number of grid subunits is three, and the area coordinates of each grid subunit are calculated. This makes it possible to interpolate and obtain the geodesic length to the predicted projection point using the geodesic length from the tool position point to the three vertices and the area coordinates. Then, the predicted projection geodesic length is calculated by combining the position information of the predicted projection point grid and the relative positional relationship with the actual positioning hole.

[0071] Based on this predicted projected geodesic length, compare the previously collected geodesic information to determine whether the current predicted projection point matches the expected projection position for the actual positioning hole, i.e., determine whether the difference between the predicted projected geodesic length and the geodesic information is within an acceptable range, and if not, use an optimization algorithm to adjust the position of the predicted projection point until it falls within the geodesic deviation range, and then use it as the actual projection point.

[0072] Then, based on the normal directions of the surrounding grid points related to the actual projected point on the actual grid surface, an interpolation fitting method is used to calculate the normal direction of the actual projected point. The actual projected point is offset along its normal direction by the projection length to obtain the actual projected position. Processing is performed using the actual projected point and the adjusted normal to obtain the projected machining trajectory used in the mirror milling process.

[0073] In one embodiment, in the machining and thickness measurement control process of a thin-walled part, an ultrasonic detection head is used to measure the thickness of said thin-walled part in real time, and the real-time thickness is used in the mirror milling process. Specifically, in order to realize a more accurate milling process, in this embodiment, the ultrasonic detection head is used to measure the thickness of the thin-walled part in real time while milling, and obtain the real-time thickness of the thin-walled part. This is used to provide feedback control for the milling system. Specifically, in order to realize a good processing effect, the milling system installs a jack device on the back of the thin-walled part during the processing process, so as to realize the support and shape maintenance of the thin-walled part, and during the movement process of the milling knife, the jack device moves synchronously with the milling knife. In this system, there is an option to install the ultrasonic detection head at the tip of the jack device, which can realize a more accurate thickness measurement process for the cutting part of the milling knife. During the measurement process, the coupling agent can be adjusted according to the requirements of the measurement. In one embodiment, the coupling agent is a water stream injected between the ultrasonic detection head and the thin-walled part through a spray nozzle.

[0074] In one embodiment, the ultrasonic detection head has a plurality of eddy current sensors distributed around the circumference, which generate eddy currents during the measurement process of the ultrasonic detection head, and the ultrasonic detection head measures the eddy current intervals for the thin-walled component; In the mirror milling process, an ultrasonic sensing head controls the distance to the thin wall part based on the eddy current spacing.

[0075] In this embodiment, the ultrasonic detection head is improved to set up multiple eddy current sensors in the circumferential direction, which can generate eddy currents corresponding to the direction of the ultrasonic detection head and receive echo signals. Based on the intensity of the echo signal, the ultrasonic detection head can easily calculate the eddy current interval for the thin-walled part by combining the reflection intensity-distance correspondence function, which can be used as a mechanical control parameter of the mirror milling system to realize the feedback control of the cutting process of the milling cutter.

[0076] As an optional implementation, there are four eddy current sensors, evenly distributed at the 12 o'clock, 3 o'clock, 6 o'clock, and 9 o'clock positions on the watch face of the ultrasonic detection head.

[0077] In order to realize the above-mentioned interval control process, it is necessary to locate the relationship between the intensity of the eddy current and the interval before processing. The location process is as follows: A metal locating block is introduced in advance, and the normal of the eddy current sensor is aligned with the surface of the metal locating block, and a certain interval is maintained. This interval is the zero point interval. At this time, the value of the eddy current is read and stored in association with the zero point position. On this basis, the eddy current sensor is moved in the normal direction based on a specific step to increase the interval, and the value of the eddy current is recorded and stored. A linear fit can be performed using each distance and eddy current value collected above to obtain a reflection intensity-distance correspondence function.

[0078] In one embodiment, the measurement process of the ultrasonic detection head includes controlling the ultrasonic detection head to face the back surface normal of the thin-walled component through an eddy current normal holding process; As shown in Figure 9, the eddy current normal holding process involves: Multiple eddy current sensors obtain the distance from the back surface of the thin-walled part, A machine tool coordinate system is constructed based on the eddy current distribution generated by the eddy current sensor, and the back distance is transferred to the coordinate system; The center of the eddy current distribution coincides with the origin of the coordinate system, Calculate the eddy current normal vector based on the back surface distance in the coordinate system; The process includes adjusting the orientation of the ultrasonic detection head based on the eddy current normal vector so that the eddy current normal vector coincides with the back surface normal vector of the thin-walled component.

[0079] Specifically, in order to achieve a better measurement effect, the ultrasonic detection head can be maintained to be aligned with the normal direction of the back surface of the thin-walled part through the feedback signal from the eddy current sensor in this embodiment. In this embodiment, the ultrasonic detection head and the eddy current sensor are mounted on a ball joint, and the direction can be freely changed.

[0080] Here, after measuring the real-time thickness through eddy current, the multiple eddy current sensors can obtain the relative distance to the back surface of the thin-walled part according to the process. Then, select three of them and build a machine coordinate system based on the distribution surface of the eddy currents they generate. The machine coordinate system takes the distribution center of the three eddy currents as the coordinate origin, and maps the measurement distances of the three eddy current sensors into the machine coordinate system.

[0081] Next, the eddy current normal vector between the three eddy currents is calculated, and its value is n = n1 × n2.

[0082] In this formula, n1 represents the vector of the first and second eddy currents and is the direction from the second eddy current to the first eddy current. n2 represents the vector of the first and third eddy currents and is the direction from the third eddy current to the first eddy current. n represents the eddy current normal vector of the first eddy current and is the direction of the cross product of vectors n1 and n2, that is, it is calculated according to the right-hand rule.

[0083] Based on the above process, the eddy current normal vector can be obtained. The back of the thin-walled part has a theoretical normal vector (0,0,1) scheduled in the machine coordinate system, and for these two vectors, the vector angle between them can be easily calculated, which corresponds to the deflection angle of the ultrasonic detection head. Then, the rotation of the spherical joint is controlled based on the deflection angle to make these two vectors coincident, and the normal control process of the ultrasonic detection head is completed.

[0084] In one embodiment, the ultrasonic detection head is a water immersion ultrasonic detection head, and a spray nozzle is installed on the outside of the coupling part of the ultrasonic detection head, which discharges a water flow that fills the area between the coupling part and the thin-walled part during the measurement process of the detection head; There is a water pressure sensor in front of the nozzle to measure the real-time water pressure value, and in the mirror milling process, the real-time water pressure value is compared with the water pressure reference value to adjust the water flow pressure and support the thin-walled parts through water pressure.

[0085] Specifically, in order to achieve a better measurement effect, in this embodiment, the ultrasonic detection head is selected as a water-immersion type ultrasonic detection head. A spray nozzle is installed around the ultrasonic detection head, which is used to discharge the water flow to fill the area between the coupling part and the thin-walled part during the measurement process by the ultrasonic detection head. As shown in FIG. 10, the spray nozzle 201 has a generally U-shaped structure, and a water-immersion type ultrasonic detection head 202 is installed at the center lower part. There is a water port around the water-immersion type ultrasonic detection head 202, and the coupling agent flows out from the water port and fills the U-shaped structure. An eddy current sensor 203 for distance measurement is installed on the outer periphery of the spray nozzle 201, and the spray nozzle 201 is installed at a certain interval with respect to the thin-walled part 204.

[0086] Additionally, the water pressure generated by the spray nozzle 201 is also used to support thin walled parts.

[0087] As shown in FIG. 11, the upstream stage of the spray nozzle includes a water supply system including a tank 301 as a water source, a pump 302 for supplying a water flow, a defoamer 303 for removing bubbles from the water flow from the pump 302, and a fluid valve 304 for supplying a water flow to the spray nozzle 201.

[0088] During the thickness measurement process, the pump 302 operates to draw out the coupling agent from the tank 301, and the output of the pump 302 is passed to the defoamer 303 to remove bubbles generated in the coupling agent due to the pressure disturbance of the pump 302, after which the fluid valve 201 opens and the coupling agent is sprayed out of the spray nozzle. Due to the semi-closed structure of the spray nozzle 302 itself, after the water flow contacts the back surface of the thin-walled part, a certain amount of back pressure is formed toward the spray nozzle 201, which is directly proportional to the thickness measurement water pressure.

[0089] During the measurement, the water pressure for thickness measurement must be kept constant in order to maintain the consistency of the measurement process. For this purpose, in this embodiment, a water pressure sensor 305 is introduced between the fluid valve 304 and the degassing device 303 to measure the drain back pressure and output the real-time water pressure value. For the spray nozzle 201, the standard water pressure value is obtained in advance through experiments, and the real-time water pressure value is made to coincide with the standard water pressure value to achieve a good thickness measurement effect.

[0090] In the process of controlling the real-time water pressure value, the difference between the real-time water pressure value and the standard water pressure value is processed based on the PID algorithm, and this process can be realized by controlling the rotation speed of the pump 302. It can also be realized by a bypass water discharge mode. Specifically, a three-way connector is installed in front of the fluid valve 304, which is connected to the water inlet of the tank 301 via the electric valve 306, forming a reflow path of the pump 302-electric valve 306-tank 301. The opening degree of the electric valve 306 varies according to the difference between the real-time water pressure value and the standard water pressure value. For example, when the water pressure difference is a positive value, it indicates that the real-time water pressure value exceeds the standard water pressure value, so the opening degree of the electric valve 306 increases to reduce the real-time water pressure value; when the water pressure difference is a negative value, it indicates that the real-time water pressure value is lower than the standard water pressure value, so the opening degree of the electric valve 306 decreases to increase the real-time water pressure value.

[0091] In one embodiment, as shown in FIG. 12 , in the process of detecting the machining contour of the thin-walled part, the after-machining thin-walled part is scanned to obtain after-machining point cloud data, and an after-machining scanned curved surface is generated according to the after-machining point cloud data; Recognizing a characteristic area of ​​the design surface and obtaining the boundary of the characteristic area; The boundary is projected onto the processed scan surface, and a geodesic line is verified between a first feature point on the boundary of the feature area and a second feature point on the processed scan surface.

[0092] Specifically, after the processing and thickness measurement control process of the thin-walled part is completed, the processing contour of the thin-walled part is inspected to determine whether the processed thin-walled part is consistent with the design surface. Specifically, the design surface has markings indicating the feature area and the feature points within the feature area, which can be used for pre-comparison. After the processing is completed, the same line laser is used to scan the processed thin-walled part to obtain the post-processing point cloud data, and then the scan surface is reconstructed. Accordingly, the feature boundary recognition algorithm is adopted for the design surface to extract the boundary of the pre-marked feature area. Since the design surface and the thin-walled part are pre-aligned, the boundary of the feature area can be projected onto the processed scan surface at this time. Then, the geodesic information is calculated for the feature points corresponding to the feature area on the processed scan surface, and the geodesic information is compared with the geodesic information of the feature points pre-marked on the design surface. This can determine whether the processing contour is as expected.

[0093] A processing system for carrying out the above processing method.

[0094] As shown in FIG. 13, the processing system includes a clamping process apparatus B020 that is used to clamp thin-walled parts.

[0095] The clamping process device B020 incorporates a jack device B021, which moves simultaneously with the milling knife in the milling process and is used to support thin-walled parts.

[0096] In order to realize the above processing method, a corresponding processing system is also provided in this embodiment. The processing system must include at least a milling system B010, a clamping process device B020, a curved surface scanning device B030, a processing process measuring device B040, and a control device B050. In it, the clamping process device B020 includes a jack device B021, which moves simultaneously with the milling knife in the milling process and is used to support the thin-walled parts. The processing process measuring device B040 provides real-time data to the control device B050 in the milling process to realize feedback control. The control device B050 controls each of the above modules according to a pre-set computer program.

[0097] The above are merely preferred embodiments of the present invention, and do not limit the implementation method and scope of protection of the present invention. Any equivalent replacement and obvious changes made by a person skilled in the art using the contents of the description and drawings of the present invention should be included within the scope of protection of the present invention. The invention as originally claimed in the present application is set forth below. [1] A mirror milling and measurement control method, comprising: a thin-walled part clamping and conveying process; a thin-walled part measuring and point cloud acquiring process; a thin-walled part machining path program transfer process; a thin-walled part machining path post-processing process; a thin-walled part machining and thickness measurement control process; and a thin-walled part machining contour detection process; In the above process of transferring the machining path program of the thin-walled part, Based on the actual positioning holes in the point cloud data obtained from the scan of the thin-walled part and the theoretical positioning holes on the theoretical triangular mesh surface generated based on the design surface, matching the actual triangular mesh surface with the theoretical triangular mesh surface; For a plurality of tool position points in the tool file, calculate geodesic information between each tool position point and the theoretical positioning hole; and using the geodesic information to migrate the tool position points onto the actual triangular mesh surface to form a migration processing path. Construction method. [2] In the mirror milling and measurement control method described in [1], the clamping and transporting process of the thin-walled parts is as follows: using a clamping process device to secure the thin-walled component, the clamping process device being comprised of a square-shaped process device frame having a plurality of moving posts distributed therein; Clamps are attached to the process equipment frame and the moving column to clamp and secure the thin walled components; A plurality of jack devices are distributed within the process equipment frame to move from the rear surface of the thin wall component to the front surface thereof to support the thin wall component. Construction method. [3] In the mirror milling and measurement control method described in [2], the clamping and transporting process of the thin-walled parts includes: suspending the thin walled component on the process equipment frame and providing laser projection onto the process equipment frame; the thin-walled part is positioned within the range of the laser projection; Adjust the jack device and the clamp according to the laser projection and the process device program to adjust the thin-walled part to a predetermined processing state; The steps include clamping the thin-walled parts in sequence and then scanning them to obtain point cloud data. Construction method. [4] In the mirror milling and measurement control method described in [1], the measurement and point cloud acquisition process of the above thin-walled parts involves driving a line laser by a machine tool to scan the thin-walled parts and construct point cloud data. Construction method. [5] In the mirror milling and measurement control method described in [1], the process of extracting the tool position points based on the calculation of the above tool file includes: Extracting the center coordinates of the theoretical positioning holes on the theoretical triangular mesh surface, and extracting information of each of the tool position points from the tool position file; The above-mentioned sword position point information includes coordinates of the sword position point, Projecting each of the tool position points onto a theoretical grid surface of the theoretical triangular mesh surface to generate a first projection point and a projection distance between the first projection point and the tool position point; The method includes a process of calculating area coordinates of the first projection points with respect to a projection point grid on which the first projection points are located, and calculating geodesic lengths with respect to the area coordinates for each of the center coordinates of the theoretical positioning holes, to obtain the geodesic information. Construction method. [6] In the mirror milling and measurement control method described in [1], the formation process of the above transplant machining path includes: Extract the center coordinates of the actual positioning hole from the point cloud data, and project the tool position point onto an actual grid plane corresponding to the point cloud data to obtain a second projection point; For the second projection point, calculate a predicted projected geodesic length with respect to the center coordinate of the actual positioning hole, and then calculate a geodesic deviation value based on the geodesic information and the predicted projected geodesic length; According to the above geodesic deviation value and the pre-set geodesic deviation range, the second projection point is iteratively processed, and continues to be processed until it satisfies the geodesic deviation range, and then used as the actual transplantation point; A process for generating a transplant processing path based on the actual transplant point is included. Construction method. [7] In the mirror milling and measurement control method described in [1], the post-processing process of the machining path of the thin-walled parts includes the process of creating a new transplant tool position file based on the transplant machining path and carrying out a simulation inspection; In the thin-walled part processing and thickness measurement control process, the transferred tool position file is used to process the thin-walled part. Construction method. [8] In the mirror milling and measurement control method described in [2], a jack device is used to support the sinking area of ​​the thin-walled part in the machining and thickness measurement control process of the thin-walled part. Construction method. [9] In the mirror milling and measurement control method described in [1], in the machining and thickness measurement control process of the thin-walled part, an ultrasonic detection head is used to measure the thickness of the thin-walled part in real time, and the real-time thickness is used in the mirror milling process. Construction method.

[10] In the mirror milling and measurement control method described in [9], the ultrasonic detection head is provided with a number of eddy current sensors distributed around it, which generate eddy currents during the measurement process of the ultrasonic detection head, and the ultrasonic detection head measures the eddy current intervals for the thin-walled parts; In the mirror milling process, the ultrasonic detection head controls the distance to the thin-walled part based on the eddy current distance. Construction method.

[11] In the mirror milling and measurement control method described in

[10] , in the measurement process of the ultrasonic detection head, the ultrasonic detection head is controlled to face the back normal of the thin-walled part through an eddy current normal holding process; The eddy current normal holding process includes: Multiple eddy current sensors obtain the distance from the back surface of the thin-walled part, A machine tool coordinate system is constructed based on the eddy current distribution generated by the eddy current sensor, and the back surface distance is transferred to the coordinate system; the center of the eddy current distribution coincides with the origin of the coordinate system, Calculate an eddy current normal vector based on the back surface distance in the coordinate system; and adjusting the orientation of the ultrasonic detection head based on the eddy current normal vector so that the eddy current normal vector coincides with the back surface normal vector of the thin-walled component. Construction method.

[12] In the mirror milling and measurement control method described in [9], the ultrasonic detection head is a water-immersion ultrasonic detection head, and a spray nozzle is installed on the outside of the coupling part of the ultrasonic detection head, which discharges a water flow that fills the area between the coupling part and the thin-walled part during the measurement process of the detection head; There is a water pressure sensor in front of the nozzle to measure the real-time water pressure value, and in the mirror milling process, the real-time water pressure value is compared with the water pressure reference value to adjust the water flow pressure and support the thin-walled parts through water pressure. Construction method.

[13] In the mirror milling and measurement control method described in [1], in the detection process of the machining contour of the above-mentioned thin-walled part, the thin-walled part after machining is scanned to obtain post-machining point cloud data, and a post-machining scan curved surface is generated according to the post-machining point cloud data; Recognizing a characteristic area of ​​the design surface and obtaining a boundary of the characteristic area; The boundary is projected onto the processed scan surface, and a geodesic line is verified between the first feature point of the boundary of the feature area and the second feature point of the processed scan surface. Construction method.

[14] A processing system for carrying out the mirror milling and measurement control method described in [1].

[15]

[14] A processing system as described in the above, the processing system includes a clamping process device, the clamping process device clamps the thin-walled part, The clamping process device is provided with a jack device, which moves simultaneously with the milling tool to support the thin-walled parts during the milling process. system.

[16] In the processing system described in

[15] , an ultrasonic detection head is installed on the top of the jack device to measure the thickness from the back side of the thin-walled parts in the mirror milling process. system.

[17]

[14] A processing system as described in the present invention, comprising an ultrasonic detection head for measuring the thickness of a thin-walled part in a mirror milling process. system.

[18] In the processing system described in

[17] , eddy current sensors are installed around the ultrasonic detection head, and the processing system controls the ultrasonic detection head to maintain a constant normal and distance to the thin-walled part based on the sensors. system.

[19] In the processing system described in

[17] , a spray nozzle is installed outside the coupling part of the ultrasonic detection head, and the nozzle discharges a water flow that fills the area between the coupling part and the thin-walled part during the measurement process of the ultrasonic detection head; There is a water pressure sensor in front of the nozzle to measure the real-time water pressure value, and in the mirror milling process, the real-time water pressure value is compared with the water pressure reference value to adjust the water flow pressure. system.

Claims

1. A milling and measurement control method, comprising: a thin-walled part clamping and conveying process; a thin-walled part measuring and point cloud acquiring process; a thin-walled part machining path program transfer process; a thin-walled part machining path post-processing process; a thin-walled part machining and thickness measurement control process; and a thin-walled part machining contour detection process; In the above process of transferring the machining path program of the thin-walled part, According to the actual positioning holes of the point cloud data obtained from the scanning of the thin-walled part and the theoretical positioning holes on the theoretical triangular mesh surface generated based on the design surface, matching the actual triangular mesh surface corresponding to the point cloud data with the theoretical triangular mesh surface; For a plurality of tool position points in the tool file, calculate geodesic information between each tool position point and the theoretical positioning hole; and using the geodesic information to migrate the tool position points onto the actual triangular mesh surface to form a migration processing path. Construction method.

2. 2. The milling and measurement control method according to claim 1, wherein the clamping and conveying process of the thin-walled part comprises: using a clamping process device to secure the thin-walled component, the clamping process device being comprised of a square-shaped process device frame having a plurality of moving posts distributed therein; Clamps are attached to the process equipment frame and the moving column to clamp and secure the thin walled components; A plurality of jack devices are distributed within the process equipment frame to move from the rear surface of the thin wall component to the front surface thereof to support the thin wall component. Construction method.

3. 3. The method for milling and measuring and controlling as claimed in claim 2, wherein the clamping and conveying process of the thin-walled part includes: suspending the thin walled component on the process equipment frame and providing laser projection onto the process equipment frame; the thin-walled part is positioned within the range of the laser projection; Adjust the jack device and the clamp according to the laser projection and the process device program to adjust the thin-walled part to a predetermined processing state; The steps include clamping the thin-walled parts in sequence and then scanning them to obtain point cloud data. Construction method.

4. In the milling and measurement control method as claimed in claim 1, the process of measuring the thin-walled part and acquiring the point cloud comprises driving a line laser by a machine tool to scan the thin-walled part and constructing point cloud data. Construction method.

5. In the milling and measurement control method as described in claim 1, the process of extracting the tool position points based on the calculation of the tool file includes: Extract the center coordinates of the theoretical positioning holes on the theoretical triangular mesh surface, and extract the information of each of the tool position points from the tool file; The information on the sword position point includes coordinates of the sword position point, Projecting each of the tool position points onto a theoretical grid surface of the theoretical triangular mesh surface to generate a first projection point and a projection distance between the first projection point and the tool position point; The method includes a process of calculating area coordinates of the first projection point relative to a projection point grid on which the first projection point is located, and calculating geodesic lengths for the area coordinates for each of the center coordinates of the theoretical positioning holes to obtain the geodesic information. Construction method.

6. In the milling and measurement control method according to claim 1, the process of forming the transplant machining path includes: Extract the center coordinates of the actual positioning hole from the point cloud data, and project the tool position point onto an actual grid surface corresponding to the point cloud data to obtain a second projection point; For the second projection point, calculate a predicted projected geodesic length with respect to the center coordinate of the actual positioning hole, and then calculate a geodesic deviation value based on the geodesic information and the predicted projected geodesic length; According to the above geodesic deviation value and the pre-set geodesic deviation range, the second projection point is iteratively processed, and continues to be processed until it satisfies the geodesic deviation range, and then used as the actual transplantation point; A process for generating a transplant processing path based on the actual transplant point is included. Construction method.

7. In the milling and measurement control method as described in claim 1, the post-processing process of the machining path of the thin-walled part includes the process of creating a new implantation tool position file according to the implantation machining path and performing a simulation inspection; In the thin-walled part processing and thickness measurement control process, the thin-walled part is processed using the transferred tool position file. Construction method.

8. In the milling and measurement control method as described in claim 2, the machining and thickness measurement control process of the thin-walled parts uses a jack device to support the subsidence area of ​​the thin-walled parts. Construction method.

9. In the milling and measuring control method as claimed in claim 1, the milling and thickness measuring control process of the thin-walled part uses an ultrasonic detection head to measure the thickness of the thin-walled part in real time, and the real-time thickness is used in the milling and thickness measuring control process of the thin-walled part. Construction method.

10. The milling and measuring control method according to claim 9, further comprising: a plurality of eddy current sensors distributed around the ultrasonic detection head, which generate eddy currents during the measuring process of the ultrasonic detection head, and the ultrasonic detection head measures the eddy current intervals for the thin-walled parts; In the thin-walled part processing and thickness measurement control process, the ultrasonic detection head controls the distance to the thin-walled part based on the eddy current distance. Construction method.

11. The milling and measuring control method as claimed in claim 10, wherein the measuring process of the ultrasonic detection head is controlled to face the back normal of the thin-walled part through an eddy current normal holding process; The eddy current normal holding process includes: Multiple eddy current sensors obtain the distance from the back surface of the thin-walled part, A machine tool coordinate system is constructed based on the eddy current distribution generated by the eddy current sensor, and the back surface distance is transferred to the coordinate system; the center of the eddy current distribution coincides with the origin of the coordinate system, Calculate an eddy current normal vector based on the back surface distance in the coordinate system; and adjusting the orientation of the ultrasonic detection head based on the eddy current normal vector so that the eddy current normal vector coincides with the back surface normal vector of the thin-walled component. Construction method.

12. The milling and measuring control method according to claim 9, wherein the ultrasonic detection head is a water-immersion ultrasonic detection head, and a spray nozzle is installed on the outside of the coupling part of the ultrasonic detection head, and the nozzle discharges a water flow that fills the area between the coupling part and the thin-walled part during the measuring process of the ultrasonic detection head; There is a water pressure sensor in front of the nozzle to measure the real-time water pressure value. During the processing and thickness measurement control process of the thin-walled parts, the real-time water pressure value is compared with the water pressure reference value to adjust the water flow pressure and support the thin-walled parts through water pressure. Construction method.

13. In the milling and measurement control method as described in claim 1, in the process of detecting the machining contour of the thin-walled part, the thin-walled part after machining is scanned to obtain post-machining point cloud data, and a post-machining scan curved surface is generated according to the post-machining point cloud data; Recognizing a characteristic area of ​​the design surface and obtaining a boundary of the characteristic area; The boundary is projected onto the processed scan surface, and a geodesic line is verified between a first feature point on the boundary of the feature area and a second feature point on the processed scan surface. Construction method.

14. 2. A machining system for implementing the milling and measurement control method of claim 1.

15. 15. The processing system of claim 14, further comprising a clamping process device for clamping the thin walled component; The clamping process device is provided with a jack device, which moves simultaneously with the milling tool to support the thin-walled parts during the machining and thickness measurement control process of the thin-walled parts. system.

16. In the processing system according to claim 15, an ultrasonic detection head is installed on the top of the jack device to measure the thickness of the thin-walled part from the back surface in the processing and thickness measurement control process of the thin-walled part. system.

17. 15. The processing system of claim 14, wherein said processing system includes an ultrasonic detection head for measuring the thickness of the thin walled part in a processing and thickness measurement control process of the thin walled part. system.

18. 18. The processing system according to claim 17, further comprising eddy current sensors disposed around the ultrasonic detection head, the processing system being adapted to control the ultrasonic detection head to maintain a constant normal and spacing relative to the thin-walled part based on the eddy current sensors. system.

19. 18. The processing system according to claim 17, further comprising a spray nozzle installed on the outside of the coupling part of the ultrasonic detection head, the nozzle discharging a water flow to fill the area between the coupling part and the thin-walled part during the measurement process of the ultrasonic detection head; There is a water pressure sensor in front of the nozzle to measure the real-time water pressure value, and in the thin-walled parts processing and thickness measurement control process, the real-time water pressure value is compared with the water pressure reference value to adjust the water flow pressure. system.

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