阅读说明：本技术 一种全自动玻璃钢管道相贯线铣削装置及智能加工方法 (Full-automatic glass fiber reinforced plastic pipeline intersecting line milling device and intelligent processing method ) 是由 高伟 岳永海 倪庆婷 崔昊远 刘文叶 张�杰 汤嘉立 刘伟 徐海洋 于 2021-09-18 设计创作，主要内容包括：本发明公开了一种全自动玻璃钢管道相贯线铣削装置及智能加工方法,包括：管件工装基座、斜削驱动机构、铣削机头和管件驱动机构以及安装于铣削机头输出端的相贯面铣刀,管件工装基座包括第一侧板和第二侧板以及固定安装于第一侧板和第二侧板之间的导轨横梁,导轨横梁的顶面设有运动导轨,运动导轨的表面滑动安装有电驱动滑块。本发明中,通过设置多自动化运动组件结构,分别利用斜削驱动机构、电驱动滑块和偏转齿套进行铣削角度控制、相对位置调整以及管件相贯切口面的调节,完成正对不同相贯面、不同相贯角度以及不同切口位置的自动化控制,实现设备的一体化成型控制,无需人工调控,运动轨迹精确,保障相贯切口的精度。(The invention discloses a full-automatic glass steel pipeline intersecting line milling device and an intelligent processing method, wherein the full-automatic glass steel pipeline intersecting line milling device comprises the following steps: the pipe fitting tool comprises a pipe fitting tool base, a bevel driving mechanism, a milling machine head, a pipe fitting driving mechanism and a through face milling cutter installed at the output end of the milling machine head, wherein the pipe fitting tool base comprises a first side plate, a second side plate and a guide rail cross beam fixedly installed between the first side plate and the second side plate, the top surface of the guide rail cross beam is provided with a moving guide rail, and the surface of the moving guide rail is provided with an electric drive sliding block in a sliding mode. According to the invention, by arranging a multi-automatic movement assembly structure, milling angle control, relative position adjustment and adjustment of pipe fitting intersecting notch surfaces are respectively carried out by utilizing the bevel driving mechanism, the electric driving slide block and the deflection gear sleeve, so that automatic control over different intersecting surfaces, different intersecting angles and different notch positions is completed, integrated forming control of equipment is realized, manual regulation and control are not needed, the movement track is accurate, and the accuracy of intersecting notches is guaranteed.)

1. The utility model provides a full-automatic FRP pipe says looks transversal milling unit which characterized in that includes: the pipe fitting tool comprises a pipe fitting tool base (100), a beveling driving mechanism (200), a milling machine head (300), a pipe fitting driving mechanism (500) and a intersected surface milling cutter (400) installed at the output end of the milling machine head (300), wherein the pipe fitting tool base (100) comprises a first side plate (110), a second side plate (120) and a guide rail cross beam (130) fixedly installed between the first side plate (110) and the second side plate (120), a moving guide rail (131) is arranged on the top surface of the guide rail cross beam (130), an electric driving sliding block (140) is installed on the surface of the moving guide rail (131) in a sliding mode, and the milling machine head (300) is fixed to the top surface of the electric driving sliding block (140) through the beveling driving mechanism (200);

the pipe fitting deflection motor comprises a first side plate (110), a second side plate (120), a deflection toothed sleeve (160), a pipe fitting deflection motor (150) in transmission engagement with the deflection toothed sleeve (160), a first side plate (110) and a second side plate (120), wherein deflection bar holes (111) are formed in the surfaces of the first side plate and the second side plate, the deflection toothed sleeve (160) is movably mounted on one side of the second side plate (120), the centers of circles of the deflection toothed sleeve (160) and the deflection bar holes (111) are located on the same horizontal line;

the bevel driving mechanism (200) comprises a horizontal fixed plate (210), a deflection base (220) and a deflection steering engine (230), one side of the horizontal fixed plate (210) and one side of the deflection base (220) are respectively and fixedly connected with the surface of the deflection steering engine (230) and the output end of the deflection steering engine (230), and through grooves used for penetrating through the intersecting surface milling cutter (400) are formed in the surfaces of the horizontal fixed plate (210) and the deflection base (220);

the pipe fitting driving mechanism (500) comprises a screw rod motor (510), a threaded screw rod (520) and a pipe fitting sleeve block (530), wherein a threaded hole matched with the threaded screw rod (520) is formed in the surface of the pipe fitting sleeve block (530) and movably sleeved on the surface of the threaded screw rod (520), and a sleeve hole used for fixedly sleeving a pipe fitting to be milled is formed in the surface of the threaded screw rod (520).

2. The full-automatic FRP pipe intersecting line milling device of claim 1, characterized in that, the motion guide rail (131) and the electric drive slider (140) are one of electromagnetic slide rail slider or pneumatic slide rail slider assembly, and the guide rail beam (130) is arranged in horizontal direction and is horizontally parallel to the pipe fitting installation direction.

3. The full-automatic FRP pipe intersecting line milling device according to claim 1, wherein the surfaces of the deflection toothed sleeve (160), the first side plate (110) and the second side plate (120) are provided with through holes for penetrating through the pipe fittings, the inner side of the through hole of the deflection toothed sleeve (160) is provided with a friction rubber ring and fixedly sleeved on the outer side of the pipe fitting through the rubber ring, and the sleeve holes of the deflection toothed sleeve (160) and the pipe fitting sleeve block (530) are positioned on the same horizontal line.

4. The full-automatic FRP pipe intersecting line milling device of claim 1, wherein the milling head (300) comprises a driving motor (310) and a lifting driving rod (320), the lifting driving rod (320) is fixedly installed at two sides of the driving motor (310), the bottom end of the output end of the lifting driving rod (320) is fixedly connected with the top surface of the deflection base (220), and the lifting driving rod (320) is of an electric hydraulic rod structure.

5. The full-automatic FRP pipe intersecting line milling device according to claim 1, characterized in that one side of the screw rod motor (510) is slidably mounted inside a deflection bar hole (111) on the surface of the first side plate (110), the threaded screw rod (520) penetrates through the surfaces of the first side plate (110) and the second side plate (120) through the deflection bar hole (111), and one end of the threaded screw rod is fixedly connected with the output end of the screw rod motor (510).

6. The full-automatic FRP pipe intersecting line milling device of claim 1, wherein the intersecting surface milling cutter (400) comprises a drill rod (410) and a ball end milling cutter (420) which are integrally formed, a plurality of milling edges (421) are fixedly installed on the surface of the ball end milling cutter (420), the surface of the ball end milling cutter (420) is of a spherical structure, and the number of the milling edges (421) is a plurality and is uniformly distributed on the surface of the ball end milling cutter (420) in the circumferential direction.

7. The full-automatic FRP pipe intersecting line milling device of claim 6, wherein, the drilling rod (410) and the ball end mill (420) are ball-milling cast iron components, the milling edge (421) is an alloy steel component, and the surface of the milling edge (421) is hardened.

8. An intelligent processing method of a full-automatic glass steel pipeline intersecting line milling device, which uses the milling device in claims 1-6, and is characterized by comprising the following steps,

s1: inputting the diameter and thickness information of the pipeline into a control end of a milling machine tool, calculating a curve equation of the milling track of the inner wall of the pipeline and the outer wall of the pipeline corresponding to the inner wall of the pipeline through the control end, deducing a groove model of a milling thickness and a glass fiber reinforced plastic intersecting line, determining the suitable length of a milling deep person according to the milling thickness corresponding to each point on the intersecting line track, planning the track of a robot joint space, performing off-line control on a milling device, and automatically controlling the operation track of a milling workstation;

s2: the method comprises the steps that a pipe penetrates through the inside of a copper sleeved pipe sleeve block (530) from the side face of a pipe fitting tool base (100), the initial position of pipe fitting milling is calibrated, the pipe fitting tool base starts to work, a lifting driving rod (320) is used for driving a intersecting surface milling cutter (400) to move and feed and cut respectively according to a calculated running track through an intelligent control end, a moving guide rail (131) and an electric driving slider (140) finely adjust the relative position of a work station on the pipe fitting, a pipe fitting driving mechanism (500) transversely pulls and moves the pipe fitting to greatly adjust the relative position of the work station on the pipe fitting, pipe fitting deflection motors (150) and deflection gear sleeves (160) are used for driving two sides of the pipe fitting to deflect, oblique cutting of a milling groove is carried out through an oblique cutting driving mechanism (200), series track control is completed under intelligent control, and intersection opening milling is intelligently and automatically carried out.

Technical Field

The invention relates to the technical field of milling, in particular to a full-automatic glass steel pipeline intersecting line milling device and an intelligent processing method.

Background

The composite material formed by epoxy resin and glass fiber is commonly called glass fiber reinforced plastic, which is well appreciated and advocated by people due to the advantages of light weight, good corrosion resistance, high strength, long service life, convenient construction, low price and the like. In the manufacturing process of the glass fiber reinforced plastic intersecting pipe, the milling quality of the intersecting line greatly determines the production quality of the glass fiber reinforced plastic intersecting pipe in the manufacturing process of the glass fiber reinforced plastic intersecting pipe.

Because the FRP pipe looks transversal, the last groove is complicated changeable, and difficult measurement, the gesture of milling cutter is very difficult to confirm to the manual work, every point on the FRP pipe looks transversal orbit mills the thickness unknown, can't confirm the suitable length of the deep people of milling cutter body, lead to milling process, the phenomenon that the pipeline did not cut through or cut excessively very easily appears, cause secondary operation, the consequence such as cutter collision pipe fitting and damage cutter and pipe fitting, and then seriously influence production efficiency, the milling work of FRP pipe looks transversal has all been brought very big challenge to above-mentioned problem.

Disclosure of Invention

The present invention is directed to solving one of the technical problems of the prior art or the related art.

Therefore, the technical scheme adopted by the invention is as follows: a full-automatic FRP pipe says intersecting line milling unit includes: the pipe fitting tool comprises a pipe fitting tool base, a bevel driving mechanism, a milling machine head, a pipe fitting driving mechanism and a through surface milling cutter arranged at the output end of the milling machine head, wherein the pipe fitting tool base comprises a first side plate, a second side plate and a guide rail cross beam fixedly arranged between the first side plate and the second side plate, the top surface of the guide rail cross beam is provided with a moving guide rail, the surface of the moving guide rail is provided with an electric driving sliding block in a sliding manner, and the milling machine head is fixed on the top surface of the electric driving sliding block through the bevel driving mechanism; the surface of the first side plate and the surface of the second side plate are both provided with deflection strip holes, one side of the second side plate is movably provided with a deflection gear sleeve, the surface of the second side plate is provided with a pipe fitting deflection motor in transmission engagement with the deflection gear sleeve, and the centers of the deflection gear sleeve and the deflection strip holes are positioned on the same horizontal line; the bevel driving mechanism comprises a horizontal fixed plate, a deflection base and a deflection steering engine, wherein one side of the horizontal fixed plate and one side of the deflection base are respectively and fixedly connected with the surface of the deflection steering engine and the output end of the deflection steering engine, and through grooves for penetrating through intersecting surface milling cutters are formed in the surfaces of the horizontal fixed plate and the deflection base; the pipe fitting driving mechanism comprises a screw rod motor, a threaded screw rod and a pipe fitting sleeve block, a threaded hole matched with the threaded screw rod is formed in the surface of the pipe fitting sleeve block and movably sleeved on the surface of the threaded screw rod, and a sleeve hole used for fixedly sleeving a pipe fitting to be milled is formed in the surface of the threaded screw rod.

The present invention in a preferred example may be further configured to: the motion guide rail and the electric drive slider are electromagnetic slide rail sliders or pneumatic slide rail slider assemblies, and the guide rail beam is arranged in the horizontal direction and is horizontally parallel to the pipe fitting installation direction.

Through adopting above-mentioned technical scheme, the pneumatic bevel drive mechanism of motion guide rail and electric drive slider slip carries out translational motion fine setting workstation in the relative position of pipe fitting with milling the aircraft nose, guarantees the accuracy of incision position.

The present invention in a preferred example may be further configured to: the surface of the deflection gear sleeve, the surface of the first side plate and the surface of the second side plate are provided with through holes used for penetrating through the pipe fittings, the inner sides of the through holes of the deflection gear sleeve are provided with friction rubber rings and are fixedly connected to the outer sides of the pipe fittings through rubber ring fixing sleeves, and the deflection gear sleeve and the sleeve holes of the pipe fitting sleeve blocks are located on the same horizontal line.

Through adopting above-mentioned technical scheme, the surface of deflection tooth cover, first curb plate and second curb plate is offered and is used for running through the through-hole of pipe fitting and carry out the fixed frock of inserting of pipe fitting, thereby deflection tooth cover friction cup joints and drives pipe fitting deflection adjustment through deflection tooth cover and pass through the cutting face mutually.

The present invention in a preferred example may be further configured to: the milling machine head comprises a driving motor and a lifting driving rod, the lifting driving rod is fixedly installed on two sides of the driving motor, the bottom end of the output end of the lifting driving rod is fixedly connected with the top surface of the deflection base, the lifting driving rod is of an electric hydraulic rod structure, and feeding control of cutting feed amount is carried out through the lifting driving rod.

The present invention in a preferred example may be further configured to: one side of the screw rod motor is slidably mounted on the inner side of the deflection strip hole in the surface of the first side plate, and the threaded screw rod penetrates through the surfaces of the first side plate and the second side plate through the deflection strip hole, and one end of the threaded screw rod is fixedly connected with the output end of the screw rod motor.

By adopting the technical scheme, when the pipe fitting deflection motor and the deflection gear sleeve deflect to adjust the intersecting tangent plane of the pipe fitting, the pipe fitting driving mechanism can be integrally deflected along with the pipe fitting, so that the interference on the movement of the pipe fitting is avoided.

In this embodiment, the intersecting surface milling cutter includes a drill rod and a ball end milling cutter which are integrally formed, a plurality of milling edges are fixedly mounted on the surface of the ball end milling cutter, the surface of the ball end milling cutter is of a spherical structure, and the number of the milling edges is a plurality and is uniformly distributed on the surface of the ball end milling cutter in the circumferential direction.

Through adopting above-mentioned technical scheme, utilize the bulb in the natural laminating of circular arc pipe fitting face, can set up the curved intersection incision of arc, compare in traditional milling cutter and change control incision rounding off, and mill work efficiency and promote greatly.

In this embodiment, the drill rod and the ball end mill are ball-milled cast iron members, the milling blade is an alloy steel member, and the surface of the milling blade is hardened.

By adopting the technical scheme, the rigidity hardness of the drill rod and the ball head milling cutter is improved, the sharp edge structure of the alloy steel is used for milling, the smoothness of the intersecting notch is guaranteed, and the intersecting connection is more reliable.

An intelligent processing method of a full-automatic glass steel pipeline intersecting line milling device comprises the following steps,

s1: inputting the diameter and thickness information of the pipeline into a control end of a milling machine tool, calculating a curve equation of the milling track of the inner wall of the pipeline and the outer wall of the pipeline corresponding to the inner wall of the pipeline through the control end, deducing a groove model of a milling thickness and a glass fiber reinforced plastic intersecting line, determining the suitable length of a milling deep person according to the milling thickness corresponding to each point on the intersecting line track, planning the track of a robot joint space, performing off-line control on a milling device, and automatically controlling the operation track of a milling workstation;

s2: the method comprises the steps that a pipe fitting penetrates through the inside of a copper sleeve pipe fitting sleeve block from the side face of a pipe fitting tool base, the initial position of pipe fitting milling is calibrated, the pipe fitting tool base starts to work, an intelligent control end drives a intersecting face milling cutter to move and feed and cut according to a calculated running track through a lifting driving rod, a moving guide rail and an electric driving slider finely adjust the relative position of a work station on the pipe fitting, a pipe fitting driving mechanism transversely pulls and moves the pipe fitting to greatly adjust the relative position of the work station on the pipe fitting, pipe fitting deflection motors and deflection gear sleeves drive the two sides of the pipe fitting to deflect, and an oblique cutting mechanism is used for obliquely cutting a milling groove, a series of track control is completed under intelligent control, and an intersecting opening is intelligently and automatically milled.

The beneficial effects obtained by the invention are as follows:

1. according to the invention, by arranging a multi-automatic movement assembly structure, milling angle control, relative position adjustment and adjustment of pipe fitting intersecting notch surfaces are respectively carried out by utilizing the bevel driving mechanism, the electric driving slide block and the deflection gear sleeve, so that automatic control over different intersecting surfaces, different intersecting angles and different notch positions is completed, integrated forming control of equipment is realized, manual regulation and control are not needed, the movement track is accurate, and the accuracy of intersecting notches is guaranteed.

2. According to the milling cutter, the novel ball-shaped milling drill cutter structure is arranged, and the arc-shaped curved intersecting notch can be formed by naturally attaching the ball head to the surface of the arc pipe fitting, so that the smooth transition of the notch is controlled more easily compared with a traditional milling cutter, and the milling working efficiency is greatly improved.

3. According to the invention, by means of an intelligent processing method, a groove model of a milling thickness and a glass fiber reinforced plastic intersecting line is deduced automatically by a milling machine tool control end according to the pipe fitting specification and an intersecting angle, the pose of a terminal milling cutter of a workstation is determined according to the groove model, the track of a robot joint space is planned aiming at the problems of over-cutting, collision and incomplete cutting of the milling cutter, and the automation degree and the working efficiency of equipment are automatically controlled and improved.

Drawings

FIG. 1 is a schematic overall structure diagram of one embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a pipe fitting tooling base according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a bevel drive mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic side view of a bevel drive mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic view of a first side panel surface structure according to one embodiment of the present invention;

FIG. 6 is a schematic view of a second side plate surface structure according to an embodiment of the present invention;

fig. 7 is a schematic structural view of a face milling cutter according to an embodiment of the present invention.

Reference numerals:

100. a pipe fitting tooling base; 110. a first side plate; 120. a second side plate; 130. a guide rail cross member; 140. electrically driving the slide block; 150. a pipe deflection motor; 160. a deflection gear sleeve; 111. a deflection bar hole; 131. a moving guide rail;

200. a bevel drive mechanism; 210. horizontally fixing a plate; 220. a deflection base; 230. a deflection steering engine;

300. milling a machine head; 310. a drive motor; 320. a lifting drive rod;

400. a through surface milling cutter; 410. a drill stem; 420. a ball end mill; 421. milling a blade;

500. a tubular drive mechanism; 510. a screw motor; 520. a threaded lead screw; 530. pipe fitting sleeve block.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

It is to be understood that this description is made only by way of example and not as a limitation on the scope of the invention.

The following describes a full-automatic glass fiber reinforced plastic pipeline intersecting line milling device and an intelligent processing method provided by some embodiments of the invention with reference to the accompanying drawings.

Referring to fig. 1 to 7, the present invention provides a full-automatic apparatus for milling intersecting line of glass fiber reinforced plastic pipeline, comprising: the pipe fitting tool comprises a pipe fitting tool base 100, a beveling driving mechanism 200, a milling machine head 300, a pipe fitting driving mechanism 500 and a intersecting surface milling cutter 400 arranged at the output end of the milling machine head 300, wherein the pipe fitting tool base 100 comprises a first side plate 110, a second side plate 120 and a guide rail cross beam 130 fixedly arranged between the first side plate 110 and the second side plate 120, the top surface of the guide rail cross beam 130 is provided with a moving guide rail 131, the surface of the moving guide rail 131 is slidably provided with an electric driving slider 140, and the milling machine head 300 is fixed on the top surface of the electric driving slider 140 through the beveling driving mechanism 200; the surfaces of the first side plate 110 and the second side plate 120 are both provided with a deflection strip hole 111, one side of the second side plate 120 is movably provided with a deflection gear sleeve 160, the surface of the second side plate 120 is provided with a pipe fitting deflection motor 150 in transmission engagement with the deflection gear sleeve 160, and the circle centers of the deflection gear sleeve 160 and the deflection strip hole 111 are positioned on the same horizontal line; the beveling driving mechanism 200 comprises a horizontal fixed plate 210, a deflection base 220 and a deflection steering engine 230, wherein one side of the horizontal fixed plate 210 and one side of the deflection base 220 are respectively fixedly connected with the surface of the deflection steering engine 230 and the output end of the deflection steering engine 230, and through grooves for penetrating through the intersecting surface milling cutter 400 are formed in the surfaces of the horizontal fixed plate 210 and the deflection base 220; the pipe fitting driving mechanism 500 comprises a screw rod motor 510, a threaded screw rod 520 and a pipe fitting sleeve block 530, a threaded hole matched with the threaded screw rod 520 is formed in the surface of the pipe fitting sleeve block 530, the pipe fitting sleeve block is movably sleeved on the surface of the threaded screw rod 520, and a sleeve hole used for fixedly sleeving a pipe fitting to be milled is formed in the surface of the threaded screw rod 520.

In this embodiment, the moving guide rail 131 and the electrically driven slider 140 are one of an electromagnetic slider or a pneumatic slider assembly, and the guide rail beam 130 is arranged in a horizontal direction and horizontally parallel to the pipe fitting installation direction.

Specifically, the moving guide rail 131 and the electric driving slider 140 slide the pneumatic chamfering driving mechanism 200 and the milling head 300 to perform translational movement to finely adjust the relative position of the work station on the pipe, so as to ensure the accuracy of the cut position.

In this embodiment, the surfaces of the deflecting tooth sleeve 160, the first side plate 110 and the second side plate 120 are provided with through holes for penetrating through the pipe, the inner side of the through hole of the deflecting tooth sleeve 160 is provided with a friction rubber ring and fixedly sleeved on the outer side of the pipe through the rubber ring, the deflecting tooth sleeve 160 and the sleeve hole of the pipe sleeve block 530 are located on the same horizontal line, and the pipe driving mechanism 500 laterally pulls and moves the pipe to substantially adjust the relative position of the workstation on the pipe.

Specifically, the surfaces of the deflection toothed sleeve 160, the first side plate 110 and the second side plate 120 are provided with through holes for penetrating through the pipe fittings to insert and fix the pipe fittings, and the deflection toothed sleeve 160 is frictionally sleeved so as to deflect through the deflection toothed sleeve 160 to drive the pipe fittings to deflect and adjust intersecting cutting surfaces.

In this embodiment, the milling machine head 300 includes a driving motor 310 and a lift driving rod 320, the lift driving rod 320 is fixedly installed at two sides of the driving motor 310, the bottom end of the output end of the lift driving rod 320 is fixedly connected with the top surface of the deflection base 220, the lift driving rod 320 is of an electric hydraulic rod structure, and the feed control of the cutting feed amount is performed through the lift driving rod 320.

In this embodiment, one side of the lead screw motor 510 is slidably mounted inside the bar deflection hole 111 on the surface of the first side plate 110, and the threaded lead screw 520 penetrates through the surfaces of the first side plate 110 and the second side plate 120 through the bar deflection hole 111 and has one end fixedly connected to the output end of the lead screw motor 510.

Specifically, when the pipe deflection motor 150 and the deflection gear sleeve 160 deflect to adjust the intersecting tangent plane of the pipe, the pipe driving mechanism 500 can deflect integrally along with the pipe, so as to avoid interference on the movement of the pipe.

In this embodiment, the intersecting surface milling cutter 400 includes a drill rod 410 and a ball end mill 420 which are integrally formed, a plurality of milling edges 421 are fixedly mounted on the surface of the ball end mill 420, the surface of the ball end mill 420 is in a spherical structure, and the number of the milling edges 421 is a plurality and is uniformly distributed on the surface of the ball end mill 420 in a circumferential direction.

Specifically, utilize the bulb in the natural laminating of circular arc pipe fitting face, can set up the curved looks of arc and pass through the incision mutually, compare in traditional milling cutter and change control incision rounding off, and mill work efficiency and promote greatly.

In this embodiment, the drill rod 410 and the ball end mill 420 are ball-milled cast iron members, the milling edge 421 is an alloy steel member, and the surface of the milling edge 421 is hardened, so that the rigidity of the drill rod 410 and the ball end mill 420 is improved, and the milling is performed through the sharp edge structure of the alloy steel, so that the smoothness of the intersecting cuts is ensured, and the intersecting connection is more reliable.

An intelligent processing method of a full-automatic glass steel pipeline intersecting line milling device comprises the following steps,

s1: inputting the diameter and thickness information of the pipeline into a control end of a milling machine tool, calculating a curve equation of the milling track of the inner wall of the pipeline and the outer wall of the pipeline corresponding to the inner wall of the pipeline through the control end, deducing a groove model of a milling thickness and a glass fiber reinforced plastic intersecting line, determining the suitable length of a milling deep person according to the milling thickness corresponding to each point on the intersecting line track, planning the track of a robot joint space, performing off-line control on a milling device, and automatically controlling the operation track of a milling workstation;

s2: the pipe fitting penetrates through the inside of a copper sleeved pipe fitting sleeve block 530 from the side face of a pipe fitting tool base 100, the initial position of pipe fitting milling is calibrated, the pipe fitting tool base starts to work, an intelligent control end drives a cross face milling cutter 400 to move and feed and cut according to a calculated running track through an intelligent control end, a moving guide rail 131 and an electric drive slider 140 finely adjust the relative position of a work station on the pipe fitting, a pipe fitting driving mechanism 500 transversely pulls and moves the pipe fitting to greatly adjust the relative position of the work station on the pipe fitting, pipe fitting deflection motors 150 and deflection gear sleeves 160 drive two sides of the pipe fitting to deflect, and an oblique cutting mechanism 200 carries out oblique cutting of a milling groove, series track control is completed under intelligent control, an intersection is intelligently and automatically milled, a groove model of a milling thickness and a glass steel intersection line is deduced, and the pose of a milling cutter at the tail end of the work station is determined according to the groove model, aiming at the problems of over-cutting, collision and incomplete cutting of the milling cutter, the track of the joint space of the robot is planned.

In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. The terms "mounted," "connected," "fixed," and the like are used broadly and encompass, for example, a fixed connection, a removable connection, or an integral connection, and a connection may be a direct connection or an indirect connection via intermediate media. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

It will be understood that when an element is referred to as being "mounted to," "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

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