阅读说明：本技术 一种钟摆零件弧面闭角铣削加工用铣床及其控制方法 (Milling machine for closed-angle milling machining of cambered surface of pendulum part and control method thereof ) 是由 周峰 于 2021-07-26 设计创作，主要内容包括：一种钟摆零件弧面闭角铣削加工用铣床及其控制方法,包括铣床机架、操作平台、龙门立柱、龙门横梁、铣削机构、工作台、定位机构、视觉检测机构；所述操作平台安装在铣床机架上表面,所述操作平台上表面横向安装有X轴部件和纵向安装有Y轴部件,所述X轴部件和Y轴部件组成的十字滑台结构并且上方固定安装有工作台,所述工作台上表面固定设置有定位机构。本发明所述的钟摆零件弧面闭角铣削加工用铣床及其控制方法,结构设计合理,通过定位机构对弧面闭角结构的钟摆零件进行定位固定,使得钟摆零件在铣削加工时不会出现松动,提高了铣削加工的精度,采用非接触的视觉检测机构,实现工作台、铣削机构精准移动,智能化程度高,应用前景广泛。(A milling machine for milling and machining a closed angle of a cambered surface of a pendulum part and a control method thereof comprise a milling machine frame, an operation platform, a gantry upright post, a gantry cross beam, a milling mechanism, a workbench, a positioning mechanism and a visual detection mechanism; operation platform installs at milling machine frame upper surface, operation platform upper surface transversely installs X axle component and vertically installs the Y axle component, the cross slip table structure and the top fixed mounting that X axle component and Y axle component are constituteed have the workstation, fixed surface is provided with positioning mechanism on the workstation. The milling machine for milling the closed angle of the cambered surface of the pendulum part and the control method thereof have the advantages that the structural design is reasonable, the pendulum part with the closed angle of the cambered surface structure is positioned and fixed through the positioning mechanism, the pendulum part cannot be loosened during milling, the milling precision is improved, the precise movement of the workbench and the milling mechanism is realized by adopting the non-contact visual detection mechanism, the intelligent degree is high, and the application prospect is wide.)

1. A milling machine for milling and machining a closed angle of a cambered surface of a pendulum part is characterized by comprising a milling machine frame (1), an operation platform (2), a gantry upright post (3), a gantry beam (4), a milling mechanism (5), a workbench (6), a positioning mechanism (7) and a visual detection mechanism (8); the milling machine is characterized in that the operating platform (2) is installed on the upper surface of the milling machine frame (1), an X-axis component (21) and a Y-axis component (22) are transversely installed on the upper surface of the operating platform (2), a workbench (6) is fixedly installed above a cross sliding table structure consisting of the X-axis component (21) and the Y-axis component (22), and a positioning mechanism (7) is fixedly arranged on the upper surface of the workbench (6); the number of the gantry columns (3) is 2, the 2 gantry columns (3) are respectively and fixedly installed at the left end and the right side of the upper surface of the operating platform (2) vertically and are located at the rear side of the X-axis component (21), the gantry beam (4) is horizontally arranged above the operating platform (2), and the left end and the right end of the gantry beam are respectively fixed at the upper ends of the gantry columns (3); a Z-axis part (41) is mounted on the gantry beam (4), a Z-axis sliding table (42) is mounted on the Z-axis part (41), and the milling mechanism (5) is mounted on the Z-axis sliding table (42) through a mounting support (43) and faces the workbench (6); and 2, visual detection mechanisms (8) are arranged on the front side surfaces of the gantry columns (3).

2. The milling machine for milling the closed angle of the arc surface of the pendulum part according to claim 1, wherein the X-axis part (21) and the Y-axis part (22) drive corresponding screw-nut mechanisms of the X-axis part (21) and the Y-axis part (22) through an X-axis servo motor (23) and a Y-axis servo motor (24) respectively to realize the movement of the worktable (6) in the X direction and the Y direction; the Z-axis part (41) drives a screw nut mechanism of the Z-axis part (41) through a Z-axis servo motor (44) to realize the Z-direction movement of the Z-axis sliding table (44).

3. The milling machine for milling the closed angle of the arc surface of the pendulum part as claimed in claim 1, wherein the positioning mechanism (7) comprises a base (71), a supporting block (72), a suction fixing column (73) and a chuck (74); the base (71) is arranged on the upper surface of the workbench (6), the base (71) is of a rectangular structure, a plurality of through grooves (711) are formed in the upper surface of the base (71), the supporting block (72) is fixed on the through grooves (711) through limiting screws (721) and limiting nuts (722), and the upper surface of the supporting block (72) is an arc surface; the number of the adsorption fixing columns (73) is four, and the adsorption fixing columns (73) are arranged in the middle area of the upper surface of the base (71); the adsorption and fixing column (73) comprises a fixing column (731) and an adsorption disc (732), the fixing column (731) is hinged to the adsorption disc (732), a screwing nut (733) is arranged at the hinged joint between the fixing column (731) and the adsorption disc (732), an air suction hole (734) is formed in the center of the adsorption disc (732), an air suction column (735) is arranged at the lower end of the fixing column (731), the air suction hole (734) is connected with the air suction column (735) through an air pipe, the fixing column (731) is fixedly connected with the upper surface of the base (71), and a chuck (74) is arranged on one axial side of the base (71).

4. The milling machine for closed angle milling of cambered surfaces of pendulum parts according to claim 3, characterized in that the plurality of through grooves (711) comprise a transverse through groove (7111) and a longitudinal through groove (7112); the limiting screw (721) is welded with the lower end face of the supporting block (72), and the limiting nut (722) comprises an upper limiting nut and a lower limiting nut which are respectively fixed at the upper end and the lower end of the through groove (711); the upper end of the adsorption disc (732) is provided with a rubber coating (7321), and a gas release valve (736) is arranged above the gas extraction column (735).

5. The milling machine for closed-angle milling of the arc surface of a pendulum part according to claim 1, wherein the milling mechanism (5) comprises a motor (51), an electric spindle (52) and a milling cutter (53); the motor (51), the electric spindle (52) and the milling cutter (53) are sequentially connected from top to bottom; the motor (51) is positioned above the electric spindle (52) and fixedly connected with the mounting support (43), the electric spindle (52) is positioned inside the mounting support (43), and the milling cutter (53) is positioned below the mounting support (43).

6. The milling machine for milling the closed angle of the arc surface of the pendulum part as claimed in claim 2, wherein the visual detection mechanism (8) comprises a CCD camera (81), an image acquisition card (82) and a fixed bracket (83); the fixed support (84) is arranged on the front side face of the gantry upright post (3), the CCD camera (81) is arranged on the fixed support (84) and faces the workbench (6), one side, facing the workbench (6), of the CCD camera (81) is provided with a lens (811), the CCD camera (81) adopts a high-resolution industrial digital CCD camera, and the lens (811) adopts a double-telecentric machine vision lens; the CCD camera (81) shoots and transmits the collected images to the computer (9) through the image collecting card (82) for image processing, and the computer (9) respectively drives and controls the X-axis servo motor (23), the Y-axis servo motor (24) and the Z-axis servo motor (44) through the driving controller (10).

7. The milling machine for milling the closed angle of the arc surface of the pendulum part as claimed in claim 6, wherein an LED light source is arranged right above the operating platform (2).

8. The control method of the milling machine for closed angle milling of the arc surface of the pendulum part as claimed in any one of claims 1 to 7, wherein the control method comprises the following steps in sequence:

(1) before processing, a pendulum part is fixed on a workbench (6) through a positioning mechanism (7), and a computer (9) sends a command to enable a CCD camera (81) of a visual detection mechanism (8) to shoot the field environment of the workbench (6);

(2) the CCD camera (81) takes a picture and transmits the collected image to the computer (9) through the image collecting card (82) for image processing;

(3) the computer (9) processes the acquired images, milling parameters pre-stored in a database of the computer (9) or milling parameter settings input by an operator are used for planning a milling path, and a driving controller (10) is used for respectively driving and controlling an X-axis servo motor (23) of the X-axis part (21), a Y-axis servo motor (24) of the Y-axis part (22) and a Z-axis servo motor (44) of the Z-axis part (41), so that the milling mechanism (5) and the workbench (6) move in the three-dimensional direction;

(4) when the milling mechanism (5) and the workbench (6) reach the designated milling point, the computer (9) controls a motor (51) of the milling mechanism (5) to perform milling according to the input milling parameter setting.

9. The method for controlling the milling machine for closed angle milling of the arc surface of the pendulum part as set forth in claim 8, wherein the image processing comprises the steps of:

(1) histogram equalization: the computer (9) counts the histogram of the collected image, calculates a new gray level, then corrects the new histogram into a reasonable gray level, calculates a new histogram of the collected image, and generates a new image;

(2) denoising an image: carrying out mean value filtering processing on the image, carrying out weighted average calculation on the field points of the pixel points to be processed of the image by using weight coefficients, and endowing the obtained calculation result to the points until each pixel point in the image is processed;

(3) threshold segmentation: performing threshold segmentation on the image by adopting a bimodal method;

(4) image edge extraction: and (3) carrying out image edge extraction detection on the image by adopting a canny operator, and then, adopting comprehensive operation of expansion and corrosion to make the edge information of the image clearer.

Technical Field

The invention relates to the technical field of milling machines, in particular to a milling machine for closed-angle milling of a cambered surface of a pendulum part and a control method thereof.

Background

Pendulums are made according to the simple pendulum principle and are commonly used for adjusting clocks or other mechanical moving parts. The milling machine is one of the necessary devices in the processing process of the pendulum parts. The milling machine mainly refers to a machine tool for processing various surfaces of a workpiece by using a milling cutter. Generally, a milling cutter of a milling machine is moved mainly by a rotational motion, and the movement of a workpiece and the milling cutter is a feed motion. The milling machine can be used for processing planes (horizontal planes and vertical planes), grooves (key grooves, T-shaped grooves, dovetail grooves and the like), tooth dividing parts (gears, spline shafts and chain wheels), spiral surfaces (threads and spiral grooves) and various curved surfaces. In addition, the milling machine can also be used for processing the surface and the inner hole of the revolving body, cutting off the revolving body and the like, has higher efficiency than a planer, and is widely applied to mechanical manufacturing and repairing departments. When the milling machine works, a workpiece is arranged on a workbench or accessories such as an indexing head, the milling cutter rotates to move mainly, and the workpiece can obtain a required processing surface by the aid of the feeding motion of the workbench or the milling head. Since the multi-edge intermittent cutting is performed, the productivity of the milling machine is high.

Because the pendulum parts often have a cambered surface closed angle structure, the situation that the pendulum parts are difficult to level is often encountered in the milling process of the pendulum parts, and particularly when the pendulum parts are cambered surfaces, a workpiece is difficult to position on a milling machine workbench. On one hand, the curved surface is difficult to support and is easy to slide, and on the other hand, when the pendulum parts are slightly uneven, the support tool often does not have a fine adjustment function, so that the pendulum parts need to be disassembled, and time and labor are wasted. Therefore, it is necessary to develop a milling machine for milling the closed angle of the arc surface of the pendulum part and a control method thereof.

Chinese patent application No. CN202022667647.3 discloses an adjustable milling machine, the purpose is to utilize first milling cutter to process the machined part, promote the motor case and remove to second milling cutter one side direction when actuating mechanism, action wheel on the motor output end meshes with the drive gear on the actuating lever that is connected with the second milling cutter mutually to drive the rotation of second milling cutter, can utilize second milling cutter to process the machined part, do not solve the problem that milling machine is difficult to fixed cambered surface closed angle structure pendulum part and carries out milling process.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects, the invention aims to provide the milling machine for milling the closed-angle cambered surface of the pendulum part and the control method thereof, the milling machine is reasonable in structural design and simple in control method, the pendulum part with the closed-angle cambered surface structure is positioned and fixed through the positioning mechanism, so that the pendulum part cannot be loosened during milling, the milling precision is improved, the accurate movement of the workbench and the milling mechanism is realized by adopting a non-contact visual detection mechanism, the intelligent degree is high, and the application prospect is wide.

The technical scheme is as follows: a milling machine for milling and machining a closed angle of a cambered surface of a pendulum part comprises a milling machine frame, an operation platform, a gantry upright post, a gantry beam, a milling mechanism, a workbench, a positioning mechanism and a visual detection mechanism; the operation platform is installed on the upper surface of a milling machine frame, an X-axis component is transversely installed on the upper surface of the operation platform, a Y-axis component is longitudinally installed on the upper surface of the operation platform, a workbench is fixedly installed above a cross sliding table structure consisting of the X-axis component and the Y-axis component, and a positioning mechanism is fixedly arranged on the upper surface of the workbench; the number of the gantry columns is 2, the 2 gantry columns are respectively and fixedly arranged at the left end and the right side of the upper surface of the operating platform vertically and are positioned at the rear side of the X-axis component, the gantry beam is horizontally arranged above the operating platform, and the left end and the right end of the gantry beam are respectively fixed at the upper ends of the gantry columns; the gantry beam is provided with a Z-axis part, the Z-axis part is provided with a Z-axis sliding table, and the milling mechanism is arranged on the Z-axis sliding table through an installation support and faces the workbench; and 2, visual detection mechanisms are arranged on the front side surfaces of the gantry columns.

The milling machine for milling the closed angle of the cambered surface of the pendulum part is reasonable in structural design, adopts a gantry structure as a whole, is more compact in structure, improves the space utilization rate, is good in stability, positions and fixes the pendulum part of the closed angle structure of the cambered surface through the positioning mechanism, adopts the non-contact visual detection mechanism, determines the position in real time in the milling process, reasonably plans the milling path, realizes accurate movement of the workbench and the milling mechanism, and is high in intelligent degree and wide in application prospect.

Further, according to the milling machine for milling the closed angle of the cambered surface of the pendulum part, the X-axis component and the Y-axis component drive the corresponding screw and nut mechanisms of the X-axis component and the Y-axis component respectively through the X-axis servo motor and the Y-axis servo motor, so that the movement of the workbench in the X direction and the Y direction is realized; the Z-axis part drives a Z-axis part screw nut mechanism through a Z-axis servo motor to realize the Z-direction movement of the Z-axis sliding table.

The X-axis part, the Y-axis part and the Z-axis part can move along X, Y, Z three linear motion coordinates, the X-axis part, the Y-axis part and the Z-axis part are all common structures in the prior art, and the X-axis part, the Y-axis part and the Z-axis part are all composed of a guide rail, a guide rail slider, a coupler, a lead screw nut seat, a bearing plate and the like, so that the description is omitted, and the implementation of the technical scheme of the invention is not influenced.

Further, the milling machine for milling the closed angle of the cambered surface of the pendulum part comprises a positioning mechanism, a positioning mechanism and a clamping mechanism, wherein the positioning mechanism comprises a base, a supporting block, an adsorption fixing column and a chuck; the base is arranged on the upper surface of the workbench and is of a rectangular structure, a plurality of through grooves are formed in the upper surface of the base, the supporting block is fixed on the through grooves through limiting screws and limiting nuts, and the upper surface of the supporting block is an arc surface; the number of the adsorption fixing columns is four, and the adsorption fixing columns are arranged in the middle area of the upper surface of the base; the adsorption fixing column comprises a fixing column and an adsorption plate, the fixing column is hinged to the adsorption plate, a screwing nut is arranged at the hinged joint between the fixing column and the adsorption plate, an air suction hole is formed in the center of the adsorption plate, an air suction column is arranged at the lower end of the fixing column, the air suction hole is connected with the air suction column through an air pipe, the fixing column is fixedly connected with the upper surface of the base, and a chuck is arranged on one axial side of the base.

Further, the milling machine for milling the closed angle of the cambered surface of the pendulum part comprises a plurality of through grooves, wherein the plurality of through grooves comprise a transverse through groove and a longitudinal through groove; the limiting screw is welded with the lower end face of the supporting block, and the limiting nut comprises an upper limiting nut and a lower limiting nut which are respectively fixed at the upper end and the lower end of the through groove; the upper end of the adsorption disc is provided with a rubber coating, and a release valve is arranged above the air extraction column.

The positioning mechanism is reasonable in structural design, the surface to be processed of the pendulum part with the cambered surface closed angle structure faces upwards, the pendulum part is placed on an adsorption disc of the adsorption fixed column, an air suction column connected with the lower end of the fixed column through an air suction pump is opened, an air release valve is opened, air is sucked into the adsorption disc, the pendulum part is firmly adsorbed on a rubber coating of the adsorption disc, the air release valve is closed, the connection between the air suction pump and the air suction column is disconnected, then the angle between the adsorption disc and the pendulum part is adjusted, a nut is screwed to fix the pendulum part, then, a supporting block is installed in a through groove, the position of a limiting nut is adjusted, the supporting block reaches a proper supporting position to abut against the lower end face of the pendulum part, and finally, the base is fixed on a workbench through a chuck for milling.

The pendulum part is supported by the supporting blocks, the number of the supporting blocks can be freely selected, the positions of the supporting blocks can be freely arranged on the transverse and longitudinal through grooves, the supporting height of the supporting blocks can be adjusted through the limiting screw rods and the limiting nuts, the pendulum parts with different sizes and shapes can be met, the use flexibility is improved, the pendulum part is fixed by the adsorption fixing columns, and the pendulum part is firmly fixed by utilizing the principle of low-pressure adsorption, so that the pendulum part cannot be loosened during milling, the milling precision is further influenced, and the pendulum part milling device is safe and reliable.

Further, the milling machine for milling the closed angle of the arc surface of the pendulum part comprises a motor, an electric spindle and a milling cutter; the motor, the electric spindle and the milling cutter are sequentially connected from top to bottom; the motor is located electric main shaft top and with erection support fixed connection, electric main shaft is located inside the erection support, milling cutter is located the erection support below.

The electric spindle structure integrates the motor, the electric spindle and the milling cutter into a whole, the motor is responsible for providing power for the high-speed rotation of the milling cutter, and the electric spindle transmits the power to the milling cutter to finish the output of the cutting power of the milling cutter.

Further, the milling machine for milling the closed angle of the cambered surface of the pendulum part comprises a vision detection mechanism, a camera and a fixed support, wherein the vision detection mechanism comprises a CCD camera, an image acquisition card and a fixed support; the fixed support is arranged on the front side face of the gantry upright column, the CCD camera is arranged on the fixed support and faces the workbench, a lens is arranged on one side of the CCD camera facing the workbench, the CCD camera adopts a high-resolution industrial digital CCD camera, and the lens adopts a double telecentric machine vision lens; the CCD camera shoots and transmits the collected image to the computer through the image collecting card, and the computer respectively drives and controls the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor through the driving controller.

The invention uses the high-resolution industrial digital CCD camera in cooperation with the vision lens of the double telecentric machine, and the shot and displayed picture has excellent resolution, thereby being beneficial to determining the milling condition and position in real time and reasonably planning the milling path in the milling process of the computer.

Further, according to the milling machine for milling the closed angle of the arc surface of the pendulum part, an LED light source is arranged right above the operating platform.

The invention also relates to a control method of the milling machine for milling the closed angle of the cambered surface of the pendulum part, which is characterized by sequentially comprising the following steps of:

(1) before processing, fixing a pendulum part on a workbench through a positioning mechanism, and sending an instruction through a computer to enable a CCD camera of a visual detection mechanism to shoot the field environment of the workbench;

(2) the CCD camera takes a picture and transmits the acquired image to a computer for image processing through an image acquisition card;

(3) the computer processes the acquired image, a milling processing path is planned through milling processing parameters prestored in a computer database or milling processing parameter setting input by an operator, and a driving controller respectively drives and controls an X-axis servo motor of an X-axis part, a Y-axis servo motor of a Y-axis part and a Z-axis servo motor of a Z-axis part, so that the milling mechanism and the workbench move in the three-dimensional direction;

(4) when the milling mechanism and the workbench reach the designated milling point, the computer controls the motor of the milling mechanism to perform milling according to the input milling parameter setting.

The invention has the beneficial effects that:

(1) the milling machine for milling the closed angle of the cambered surface of the pendulum part has reasonable structural design, adopts a gantry type structure as a whole, has more compact structure, improves the space utilization rate and has good stability;

(2) according to the milling machine for milling the closed angle of the cambered surface of the pendulum part, the pendulum part with the closed angle structure of the cambered surface is positioned and fixed through the positioning mechanism, the pendulum parts with different sizes and shapes can be met, the use flexibility is improved, the pendulum part is fixed by the adsorption fixing column, and the pendulum part is firmly fixed by utilizing the principle of low-pressure adsorption, so that the pendulum part cannot be loosened during milling, the milling precision is further influenced, and the milling machine is safe and reliable;

(3) the control method of the milling machine for closed angle milling of the cambered surface of the pendulum part adopts the non-contact visual detection mechanism, determines the milling condition and position in real time in the milling process, reasonably plans the milling path, realizes accurate movement of the workbench and the milling mechanism, and has high intelligent degree and wide application prospect.

Drawings

FIG. 1 is a schematic structural diagram of a milling machine for closed-angle milling of a cambered surface of a pendulum part according to the present invention;

FIG. 2 is a schematic structural diagram of a positioning mechanism of a milling machine for milling the closed angle of the cambered surface of a pendulum part according to the present invention;

FIG. 3 is a schematic structural diagram of an adsorption fixing column of the milling machine for milling the closed angle of the cambered surface of the pendulum part;

FIG. 4 is a schematic structural diagram of a support block of the milling machine for closed-angle milling of the arc surface of the pendulum part according to the present invention;

FIG. 5 is an overall frame diagram of a support block of the milling machine for closed-angle milling of the arc surface of the pendulum part according to the present invention;

in the figure: the device comprises a milling machine frame 1, an operation platform 2, an X-axis part 21, a Y-axis part 22, an X-axis servo motor 23, a Y-axis servo motor 24, a gantry upright 3, a gantry beam 4, a Z-axis part 41, a Z-axis sliding table 42, a mounting support 43, a Z-axis servo motor 44, a milling mechanism 5, a motor 51, an electric spindle 52, a milling cutter 53, a workbench 6, a positioning mechanism 7, a base 71, a through groove 711, a transverse through groove 7111, a longitudinal through groove 7112, a supporting block 72, a limit screw 721, a limit nut 722, an adsorption fixed column 73, a fixed column 731, an adsorption disc 732, a rubber coating 7321, a screwing nut 733, an air suction hole 734, an air suction column 735, an air release valve 736, a chuck 74, a visual detection mechanism 8, a CCD camera 81, a lens 811, an image acquisition card 82, a fixed support 83, a computer 9 and a drive controller 10.

Detailed Description

The invention will be further elucidated with reference to the accompanying figures 1-5 and specific examples.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

The milling machine for milling the closed-angle cambered surface of the pendulum part with the structure shown in the figures 1-5 comprises a milling machine frame 1, an operating platform 2, a gantry upright post 3, a gantry beam 4, a milling mechanism 5, a workbench 6, a positioning mechanism 7 and a visual detection mechanism 8; the operation platform 2 is installed on the upper surface of the milling machine frame 1, an X-axis component 21 and a Y-axis component 22 are transversely installed on the upper surface of the operation platform 2, a workbench 6 is fixedly installed above a cross sliding table structure formed by the X-axis component 21 and the Y-axis component 22, and a positioning mechanism 7 is fixedly arranged on the upper surface of the workbench 6; the number of the gantry columns 3 is 2, the 2 gantry columns 3 are respectively and fixedly arranged at the left end and the right side of the upper surface of the operating platform 2 vertically and are positioned at the rear side of the X-axis component 21, the gantry beam 4 is horizontally arranged above the operating platform 2, and the left end and the right end of the gantry beam are respectively fixed at the upper end of the gantry column 3; the gantry beam 4 is provided with a Z-axis part 41, the Z-axis part 41 is provided with a Z-axis sliding table 42, and the milling mechanism 5 is arranged on the Z-axis sliding table 42 through an installation support 43 and faces the workbench 6; and 2, visual detection mechanisms 8 are arranged on the front side surfaces of the gantry columns 3.

In addition, the X-axis component 21 and the Y-axis component 22 drive corresponding lead screw nut mechanisms of the X-axis component 21 and the Y-axis component 22 through an X-axis servo motor 23 and a Y-axis servo motor 24 respectively, so as to realize the movement of the workbench 6 in the X direction and the Y direction; the Z-axis component 41 drives the Z-axis component 41 screw nut mechanism through the Z-axis servo motor 44, so as to realize the movement of the Z-axis sliding table 44 in the Z direction.

Further, the positioning mechanism 7 includes a base 71, a supporting block 72, a suction fixing column 73, and a chuck 74; the base 71 is arranged on the upper surface of the workbench 6, the base 71 is of a rectangular structure, the upper surface of the base 71 is provided with a plurality of through grooves 711, the supporting block 72 is fixed on the through grooves 711 through a limiting screw 721 and a limiting nut 722, and the upper surface of the supporting block 72 is an arc surface; the number of the adsorption fixing columns 73 is four, and the adsorption fixing columns 73 are arranged in the middle area of the upper surface of the base 71; the suction fixing column 73 comprises a fixing column 731 and a suction disc 732, the fixing column 731 is hinged to the suction disc 732, a screwing nut 733 is arranged at the hinged joint between the fixing column 731 and the suction disc 732, an air suction hole 734 is arranged at the center of the suction disc 732, an air suction column 735 is arranged at the lower end of the fixing column 731, the air suction hole 734 is connected with the air suction column 735 through an air pipe, the fixing column 731 is fixedly connected with the upper surface of the base 71, and a chuck 74 is arranged at one axial side of the base 71.

In addition, the plurality of through grooves 711 includes a transverse through groove 7111 and a longitudinal through groove 7112; the limit screw 721 is welded to the lower end surface of the support block 72, and the limit nut 722 includes an upper limit nut and a lower limit nut, which are fixed to the upper and lower ends of the through groove 711, respectively; a rubber coating 7321 is disposed on the upper end of the adsorption plate 732, and a release valve 736 is disposed above the air extraction column 735.

Further, the milling mechanism 5 comprises a motor 51, an electric spindle 52 and a milling cutter 53; the motor 51, the electric spindle 52 and the milling cutter 53 are sequentially connected from top to bottom; the motor 51 is located above the electric spindle 52 and fixedly connected with the mounting support 43, the electric spindle 52 is located inside the mounting support 43, and the milling cutter 53 is located below the mounting support 43.

Further, the visual detection mechanism 8 comprises a CCD camera 81, an image acquisition card 82, and a fixing bracket 83; the fixed support 84 is arranged on the front side surface of the gantry upright post 3, the CCD camera 81 is arranged on the fixed support 84 and is arranged towards the workbench 6, one side of the CCD camera 81, which faces the workbench 6, is provided with a lens 811, the CCD camera 81 adopts a high-resolution industrial digital CCD camera, and the lens 811 adopts a double telecentric machine vision lens; the CCD camera 81 takes a picture and transmits the acquired image to the computer 9 through the image acquisition card 82, and the computer 9 drives and controls the X-axis servo motor 23, the Y-axis servo motor 24, and the Z-axis servo motor 44 through the drive controller 10, respectively.

In addition, an LED light source is arranged right above the operating platform 2.

Examples

Based on the above structural basis, as shown in fig. 1-5.

The milling machine for milling the closed-angle cambered surface of the pendulum part is reasonable in structural design, adopts a gantry structure as a whole, is more compact in structure, improves the space utilization rate, is good in stability, positions and fixes the pendulum part of the closed-angle cambered surface structure through the positioning mechanism 7, adopts the non-contact visual detection mechanism 8, determines the position in real time and reasonably plans a milling path in the milling process, realizes accurate movement of the workbench 6 and the milling mechanism 5, and is high in intelligent degree and wide in application prospect.

The X-axis component 21, the Y-axis component 22 and the Z-axis component 41 can move along X, Y, Z three linear motion coordinates, the X-axis component 21, the Y-axis component 22 and the Z-axis component 41 are all common structures in the prior art, and the X-axis component 21, the Y-axis component 22 and the Z-axis component 41 are all composed of components such as a guide rail, a guide rail slider, a coupler, a lead screw nut seat, a bearing seat and a bearing plate.

Further, the positioning mechanism 7 has a reasonable structural design, the face to be processed of the pendulum part with the arc-surface closed-angle structure is placed on the adsorption disc 732 of the adsorption fixed column 73, the air extraction column 735 connected to the lower end of the fixed column 731 by the air extraction pump is opened, the air release valve 736 is opened, air is extracted from the adsorption disc 732, so that the pendulum part is firmly adsorbed on the rubber coating 7321 of the adsorption disc 732, the air release valve 736 is closed, the connection between the air extraction pump and the air extraction column 735 is disconnected, then the angle between the adsorption disc 732 and the pendulum part is adjusted, the pendulum part is fixed by screwing the nut 733, then the supporting block 72 is installed in the through groove 711, the position of the limiting nut 722 is adjusted, the supporting block 72 reaches a proper supporting position to abut against the lower end face of the pendulum part, and finally, the base 71 is fixed on the workbench 6 through the chuck 74, and then milling can be performed.

According to the invention, the pendulum parts are supported by the supporting blocks 72, the number of the supporting blocks 72 can be freely selected, the positions of the supporting blocks 72 can be freely arranged on the transverse through grooves 7111 and the longitudinal through grooves 7112, the supporting height of the supporting blocks 72 can be adjusted by the limiting screw 721 and the limiting nut 622, the pendulum parts with different sizes and shapes can be met, the use flexibility is improved, the pendulum parts are fixed by the adsorption fixing columns 63, and the pendulum parts are firmly fixed by utilizing the principle of low-pressure adsorption, so that the pendulum parts cannot be loosened during milling, the milling precision is further influenced, and the milling precision is safe and reliable.

Further, the electric spindle structure that the motor 51, the electric spindle 52 and the milling cutter 53 are integrated is adopted, the motor 51 is responsible for providing power for the high-speed rotation of the milling cutter 53, and the electric spindle 52 transmits the power to the milling cutter 53 to finish the output of the cutting power of the milling cutter 53. .

The high-resolution industrial digital CCD camera 81 is matched with the double-telecentric machine vision lens 811 for use, and the shot and displayed picture has excellent resolution, so that the milling condition and position can be determined in real time by the computer 9 in the milling process, and the milling path can be reasonably planned.

The control method of the milling machine for milling the closed angle of the cambered surface of the pendulum part sequentially comprises the following steps of:

(1) before processing, fixing a pendulum part on a workbench 6 through a positioning mechanism 7, and sending an instruction through a computer 9 to enable a CCD camera 81 of a visual detection mechanism 8 to shoot the field environment of the workbench 6;

(2) the CCD camera 81 takes a picture and transmits the collected image to the computer 9 for image processing through the image collecting card 82;

(3) the computer 9 processes the acquired image, plans a milling path through milling parameters prestored in a database of the computer 9 or milling parameters input by an operator, and drives and controls the X-axis servo motor 23 of the X-axis part 21, the Y-axis servo motor 24 of the Y-axis part 22 and the Z-axis servo motor 44 of the Z-axis part 41 through the drive controller 10, so that the milling mechanism 5 and the workbench 6 move in the three-dimensional direction;

(4) when the milling mechanism 5 and the workbench 6 reach the designated milling point, the computer 9 controls the motor 51 of the milling mechanism 5 to perform milling according to the input milling parameter setting.

Further, the image processing includes the following steps:

(1) histogram equalization: the computer 9 counts the histogram of the collected image, calculates a new gray level, then corrects the new histogram to a reasonable gray level, calculates a new histogram of the collected image, and generates a new image;

(2) denoising an image: carrying out mean value filtering processing on the image, carrying out weighted average calculation on the field points of the pixel points to be processed of the image by using weight coefficients, and endowing the obtained calculation result to the points until each pixel point in the image is processed;

(3) threshold segmentation: performing threshold segmentation on the image by adopting a bimodal method;

(4) image edge extraction: and (3) carrying out image edge extraction detection on the image by adopting a canny operator, and then, adopting comprehensive operation of expansion and corrosion to make the edge information of the image clearer.

In the process of image acquisition, the phenomena of poor illumination, irregular operation and the like inevitably occur, which can cause the deviation of the obtained image from the ideal, such as noise, the need of correcting the position of the image and the like, and the problems can cause great interference on the accuracy of image analysis. Therefore, after the computer 9 obtains the acquired image, in order to enable the computer 9 to better identify the feature information to be detected, a series of image processing needs to be performed on the image, so as to solve the above problem.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.

In addition, any combination between the embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the idea of the present invention.