CN104476321B - Eyelid covering real-time adaptive mirror image method for milling based on multisensor and detection device - Google Patents

Abstract

A multi-sensor-based real-time self-adaptive mirror milling method and detection device for skin, characterized in that it uses a laser distance sensor to measure the distance in real time to obtain the actual size of the skin part, and combines the measurement of the pressure sensor to accurately obtain the actual curved surface and the theoretical curved surface of the skin The dimensional error can realize the real-time adaptive adjustment of the tool path according to the actual curved surface of the part during processing. The device uses dual laser distance sensors, which are respectively installed on the skin mirror milling push head and the support head. The pressure sensor is located inside the support head. The laser distance sensor device includes a base, a sensor holding device, a sensor and the like. The invention can adjust the tool track according to the actual size of the part in real time, so as to ensure the processing quality of the skin, improve the processing efficiency and save the cost.

Description

Real-time self-adaptive mirror milling method and detection device for skin based on multi-sensor

technical field

The present invention relates to a machining method and device, in particular to a real-time self-adaptive milling method and device for an aircraft skin mirror image CNC milling system, in particular to a multi-sensor based real-time self-adaptive mirror milling of the skin Methods and devices.

Background technique

Aircraft skin mirror milling technology is a new processing method for skin parts. It integrates edge trimming, notch milling, hole making and thickness processing. The support device follows the mirror movement of the milling cutter, ultrasonic thickness measurement, and real-time control. Cutting thickness and other characteristics. Skin mirror milling avoids the problems of high tooling cost, easy cutting vibration, low surface quality and low processing efficiency of traditional skin processing.

However, the current real-time thickness measurement method and device for skin mirror milling have large thickness measurement errors and shutdown phenomena, which is not conducive to the improvement of skin processing efficiency. The difficulty of NC programming is increased, and its device will cause scratches on the surface of the skin, so the surface quality of the skin cannot be guaranteed.

Therefore, the present invention proposes a multi-sensor-based real-time self-adaptive mirror milling method and device for skin, which is mainly used in the mirror milling system of skin. The actual size of the skin part is obtained by real-time distance measurement using a laser distance sensor, and combined with pressure sensor measurement. Accurately obtain the dimensional error between the actual curved surface of the skin and the theoretical curved surface, and realize the real-time adaptive adjustment of the tool path according to the actual curved surface of the part during processing. , the pressure sensor is located inside the top support head, wherein the laser distance sensor device includes a base, a sensor clamping device, a sensor, and the like. The sensor is a high-precision laser distance sensor. The method can adjust the tool path according to the actual size of the part in real time, so as to ensure the processing quality of the skin, improve the processing efficiency and save the cost.

Contents of the invention

The purpose of the present invention is to solve the problem of inaccurate real-time measurement of part size in the current skin mirror milling system, which affects the improvement of machining accuracy, and to invent a non-contact real-time self-adaptive mirror milling method for skin based on multi-sensors, and at the same time provide A corresponding non-contact detection device. :

One of technical solutions of the present invention is:

A kind of skin real-time adaptive mirror milling method based on multisensor, it is characterized in that it comprises the following steps:

First, install two sets of laser distance sensors on the front push head and back support of the skin mirror milling system, distributed on both sides of the part, and the pressure sensor is installed inside the back support. During processing, the front push head presses the part, and the tool moves from The center of the front push head protrudes for milling processing, and the back supports against the back of the part processing part, and keeps the mirror image to follow;

Secondly, for the laser sensor installed on the back support, by adjusting the position of the sensor, it can measure the position of the part around the contact part between the support and the part in real time during processing, and by calculating the position of the measurement point set, we can get According to the actual curved surface of the part within the set range around the current processing position, the tool path of the next processing position is adjusted according to the actual surface, so as to ensure that the processing track of the next processing position is processed according to the actual curved surface;

Third, the pressure sensor is installed inside the back support, and its pressure value comes from the force of the part on the back support. In actual processing, the processing track can be initially adjusted according to the actual curved surface through the back laser ranging, but it is still not possible. Precise adjustment, through the measurement of the pressure sensor, the deviation between the actual position and the theoretical position of the current processing position can be accurately obtained, so as to accurately fine-tune the processing track and realize accurate adaptive milling processing according to the actual surface of the skin part;

Fourth, the laser distance sensor installed on the front push head can adjust the relative position between the milling spindle and the back support by measuring the skin position of the processed area and comparing it with its theoretical position, so as to eliminate the dimensional error in the mechanical system The impact on skin processing, to ensure the relative position between the milling spindle and the back support head during processing;

Finally, through the above steps, when there is an error between the actual size of the aircraft skin and the theoretical size, the tool path can be adjusted in real time according to the actual size, so as to realize the real-time adaptive milling of the skin parts and ensure the processing quality of the parts.

The method of adjusting the processing track through the measured value of the back support laser distance sensor is to determine the direction of the laser beam, that is, the measurement direction, by adjusting the position of the laser distance sensor at the back support end, so that it is aligned with the contact position between the support and the part In the actual processing, the coordinates of the measuring points are calculated by measuring the distance, measuring direction and the position of the laser sensor. Under the set sampling frequency, the data of a series of measuring points at the back support end are obtained. According to these intensive The actual surface of the measurement area is fitted by the measurement points, and the actual surface is compared with the theoretical surface to calculate the tool path deviation of the next processing position and adjust the tool path.

The method of accurately adjusting the processing trajectory through the measured value of the pressure sensor inside the back support is that in actual processing, the tool track is adjusted according to the laser distance measurement of the back support, and the accuracy of the fitting surface causes the tool track to be adjusted. It cannot be very accurate. At this time, anyway, the top support has moved according to the adjustment result of the laser distance measurement. Anyway, the value of the pressure sensor inside the top support can accurately reflect the distance between the current processing position and the preliminary adjusted top support position. The deviation is calculated by the change of the pressure value and compensated in real time to ensure that the tool track at the machining position is milled according to the actual part position.

The verification of the processed area by the front push head laser distance sensor and the adjustment of the positional relationship between the milling spindle and the jacking spindle refer to the fact that the mirror milling system passes between the milling spindle and the jacking head of the machine tool during the processing process. The structure is related, but the accumulation of errors of the structures at all levels can make the distance between the milling spindle and the jacking head inconsistent with the theoretically set distance. At this time, the actual processed position is calculated by the laser distance measurement value at the push head end and the theoretical The deviation between the processed positions reflects the direct deviation between the milling spindle and the supporting head, and then adjusts the distance between the milling spindle and the supporting head to ensure the processing quality of the skin parts.

The second technical scheme of the present invention is:

A multi-sensor-based skin real-time self-adaptive mirror milling detection device is characterized in that it includes:

A laser distance sensor device A, used to measure the distance to obtain the actual size of the skin part, the device is respectively installed on the front push head Q and the back support W of the skin mirror milling, and is positioned by a positioning pin and locked by a threaded connection;

A pressure sensor device B is used to accurately reflect the actual size of the skin processing position through the measured value, and the device is fixedly installed inside the back support W through a threaded connection.

The laser distance sensor device A includes a base 1, a sensor clamping device 2 and a sensor 3, wherein the base 1 is positioned with the corresponding front push head Q or the back support W through a positioning pin, and is locked through a threaded connection The sensor clamping device 2 is installed in the groove on the peripheral surface of the base 1 through screws, and the sensor 3 is a high-precision laser distance sensor, which is positioned and installed by the sensor clamping device 2 .

The sensor clamping device 2 includes a U-shaped clamping seat 2a and a threaded push rod 2b symmetrically installed on both sides thereof, an adjustment handwheel 2c, a handwheel fixing strip 2d, a threaded pushrod lock nut 2e and a handwheel fixing The screw 2f, the U-shaped clamping seat 2a is connected with the base 1 through the bolt 2g at the bottom; the sensor 3 is clamped and positioned between the two threaded ejector rods 2b, and the position of the two threaded ejector rods 2b is stretched by rotating the handwheel 2c Adjust and realize the final positioning through the handwheel fixing strip 2d, the threaded ejector rod lock nut 2e and the handwheel fixing strip screw 2f, so as to realize the position adjustment and quick replacement of the sensor.

When installing the sensor 3, it is necessary to calibrate the positions of the two groups of sensors 3. It is necessary to ensure that the position of each group of sensors 3 is correct, and at the same time, it is necessary to ensure that the measurement direction of each sensor 3 is correct. The position of the sensor 3 can be adjusted by turning the hand wheel 2c Position and realize the clamping function, after the adjustment is completed, use the jack nut 2e to fix each sensor 3.

The sensor 3 is a high-precision laser distance measurement sensor, the sampling frequency is 40Hz-500Hz, the corresponding sampling time is 0.025-0.002 seconds, the measurement distance is 25-400mm, the accuracy is 0.005-0.08mm, and the spot size is 0.1*0.1-1.8 *3.5mm, the wavelength is between 655-680nm, less damage to human eyes, and the signal is stable and the structure is resistant to vibration and shock.

The beneficial effects of the present invention are:

The invention combines the pressure sensor with the laser distance sensor on both sides of the skin part to obtain the precise size information of the skin part, and adjusts the processing track adaptively in real time, which mainly has the following beneficial effects:

1. Adaptively adjust the processing track by measuring the actual size of the skin in real time to ensure the processing quality of the parts;

2. Avoid the special requirements of ultrasonic thickness measurement for CNC machining tool rails in traditional adaptive machining, and improve programming efficiency;

3. Effectively improve the thickness measurement error and shutdown phenomenon caused by traditional thickness measurement, and improve the processing accuracy and processing efficiency of skin mirror milling;

4. Adopt non-contact measurement, no damage to the surface of parts;

5. The equipment structure is simple, easy to install and maintain.

Description of drawings

Fig. 1 is the skin real-time self-adaptive mirror milling method and device schematic diagram based on multi-sensor of the present invention, wherein Q is the front push head installed on the machine tool spindle sleeve, A ₁ is the front push head laser distance measuring device, A ₂ is Reverse support laser ranging device, W is the reverse support, S is the aircraft skin part, L ₁ is the front push head ranging laser beam, L ₂ is the reverse support laser ranging beam, and the positions of Q and W are opposite, Mirrored distribution on both sides of the part;

Fig. 2 is the laser distance sensor device of the present invention, wherein 1 is a base, 2 is a sensor clamping device, and 3 is a laser distance sensor;

Figure 3 is a schematic diagram of the sensor clamping device of the present invention, wherein 2a is a clamping seat, 2b is a threaded ejector rod, 2c is an adjustment handwheel, 2d is a handwheel fixing strip, 2e is a threaded ejector rod lock nut, and 2f is a handwheel Screws for the fixing bar, 2g is the bolt, A is the dismantling of the front side, and B is the dismantling of the reverse side;

Fig. 4 is a schematic diagram of the installation position of the pressure sensor of the present invention, wherein 4 is a pressure sensor, which is located inside the top support, and the pressure value is obtained by the force of the skin part on the top support ball;

5 is a schematic diagram of the laser distance sensor of the present invention, wherein P ₁ , P ₂ , and P ₃ are the length, width and height dimensions of the sensor, 3a is the laser emission position of the sensor, and 3b and 3c are the wireless transmitting device and the line interface on the reverse side of the sensor;

Fig. 6 is the schematic diagram of the working of the laser distance sensor on the reverse side of the present invention, wherein a is the general diagram of its work, b is the schematic diagram of the laser ranging point, DP is the measuring point, F is the feed direction, and c is the distance measurement according to the ranging value. Schematic diagram of tool track adjustment, T ₀ is the support position corresponding to the current tool position, T ₁ is the support position corresponding to the next tool position, S is the theoretical position of the back side of the skin part, and S_Real is the actual position of the back side of the skin part , Dis is the deviation value between the theoretical position and the actual position of T ₁ position processing, TP is the processing tool path generated according to the theoretical model, and TP_Real is the adjusted processing tool path;

Fig. 7 is a working schematic diagram of the internal pressure sensor of the support of the present invention, wherein S is the theoretical model position of the part, S_Real is the actual position of the part, the solid black arrow indicates the adjustment direction of the support, and a corresponds to the situation where the pressure value rises, it needs to be The top support is retracted and adjusted, and b corresponds to the situation where the pressure value decreases, and the top support needs to be extended and adjusted;

Fig. 8 is a working schematic diagram of the laser distance measuring sensor of the push head of the present invention, DP is the laser distance measuring point of the processing track at the processed position, TP_Adjust is the tool track after the distance measurement adjustment of the top support and the pressure sensor adjustment, and TP_Real is the actual processing track , DP' is the position point on TP_Adjust corresponding to the DP point.

detailed description

The following is a further description of the technical solution of the present invention in conjunction with the accompanying drawings and embodiments.

Embodiment one.

As shown in Figure 1-8.

A multi-sensor based real-time adaptive mirror milling method for skin, which comprises the following steps:

First, two sets of laser distance sensors A1 and A2 are installed on the front push head Q and the back support W of the skin mirror milling system, distributed on both sides of the part, as shown in Figure 1, and the pressure sensor 4 is installed inside the back support W ( Figure 4), the front push head presses the part during processing, the tool protrudes from the center of the front push head for milling processing, and the back supports against the back of the part to be processed, and keeps the mirror image to follow;

Secondly, for the laser sensor installed on the back support, by adjusting the position of the sensor, it can measure the part around the contact point between the support ball (the sphere that is against the skin S in Figure 7) and the part in real time during processing. position, and through the calculation of the position of the measurement point set, the actual surface of the part within the set range around the current processing position is obtained, and the tool path of the next processing position is adjusted according to the actual surface to ensure that the processing track of the next processing position follows the The actual curved surface is processed; the method of adjusting the processing track through the measurement value of the back support laser distance sensor is to determine the laser beam direction, that is, the measurement direction, by adjusting the position of the back support end laser distance sensor, so that it is aligned with the support ball and Around the contact position of the parts, in actual processing, the coordinates of the measuring points are calculated by measuring the distance, measuring direction and the position of the laser sensor. Under the set sampling frequency, the data of a series of measuring points on the back support end are obtained. Fit the actual curved surface of the measurement area based on these dense measurement points, compare the actual curved surface with the theoretical curved surface, calculate the tool path deviation of the next processing position, and adjust the tool path.

Third, the pressure sensor is installed inside the back support (Fig. 4), and its pressure value comes from the force exerted by the part on the back support. In actual processing, the processing track can be preliminarily adjusted according to the actual curved surface through the back laser ranging, but Accurate adjustment is still not possible. Through the measurement of the pressure sensor, the deviation between the actual position and the theoretical position of the current processing position can be accurately obtained, so as to accurately fine-tune the processing trajectory and realize accurate adaptive milling according to the actual surface of the skin part. Processing; the method of accurately adjusting the processing trajectory through the measurement value of the pressure sensor inside the back support is to adjust the tool track according to the laser distance measurement of the back support in actual processing. Due to the accuracy of the fitting surface, the adjustment of the tool track is not accurate. It can be very accurate. At this time, anyway, the top support has moved according to the adjustment result of the laser distance measurement. Anyway, the value of the pressure sensor inside the top support can accurately reflect the difference between the current processing position and the preliminary adjusted top support position. Deviation, the deviation value is calculated by the change of the pressure value, and the compensation is performed in real time to ensure that the tool track at the processing position is milled according to the actual part position;

Fourth, the laser distance sensor installed on the front push head can adjust the relative position between the milling spindle and the back support by measuring the skin position of the processed area and comparing it with its theoretical position, so as to eliminate the dimensional error in the mechanical system The impact on skin processing, to ensure the relative position between the milling spindle and the back support head during processing; the front push head laser distance sensor to verify the processed area and adjust the positional relationship between the milling spindle and the support spindle means Since the mirror milling system is connected with the milling spindle of the machine tool and the jacking head through various levels of structure during the machining process, the accumulated errors of the structures at all levels can make the distance between the milling spindle and the jacking head less than the theoretically set distance. At this time, the deviation between the actual processed position and the theoretical processed position is calculated by pushing the laser distance measurement value at the head end, so as to reflect the direct deviation between the milling spindle and the top support head, and then adjust the distance between the milling spindle and the top support head. distance to ensure the processing quality of skin parts.

Finally, through the above steps, when there is an error between the actual size of the aircraft skin and the theoretical size, the tool path can be adjusted in real time according to the actual size, so as to realize the real-time adaptive milling of the skin parts and ensure the processing quality of the parts.

Embodiment two.

As shown in Figure 1-8.

A multi-sensor based real-time self-adaptive mirror milling detection device for skin, which includes a laser distance sensor device A and a pressure sensor device B, wherein the laser distance sensor device A is used to measure the distance to obtain the actual size of the skin part, and the devices are respectively A1 installed on the front push head Q of skin mirror milling and A2 on the back support W, A1 and A2 have the same installation structure, they are all positioned by positioning pins, and screwed to lock, as shown in Figure 1; pressure sensor The device B is used to accurately reflect the actual size of the skin processing position through the measured value, and the device is fixedly installed inside the reverse support W through a threaded connection, as shown in Figure 4. The laser distance sensor device A includes a base 1, a sensor clamping device 2 and a sensor 3, wherein the base 1 is positioned with the corresponding front push head Q or the back support W through a positioning pin, and is locked through a threaded connection, as shown in the figure 2; the sensor clamping device 2 is installed in the groove on the peripheral surface of the base 1 by screws, as shown in Figure 3 (B), the sensor 3 is a high-precision laser distance sensor, and is positioned and installed by the sensor clamping device 2 . The sensor clamping device 2 includes a U-shaped clamping seat 2a and a threaded mandrel 2b symmetrically installed on both sides thereof, an adjustment hand wheel 2c, a hand wheel fixing bar 2d, a threaded mandrel locking nut 2e and a hand wheel fixing bar screw 2f, As shown in Figure 3, the U-shaped clamping seat 2a is connected to the base 1 through the bolt 2g; the sensor 3 is clamped and positioned between the two threaded ejector rods 2b, and the position of the two threaded ejector rods 2b is stretched by rotating the hand wheel 2c Adjust and realize the final positioning through the handwheel fixing strip 2d, the threaded ejector rod lock nut 2e and the handwheel fixing strip screw 2f, so as to realize the position adjustment and quick replacement of the sensor. When installing the sensor 3, it is necessary to calibrate the positions of the two groups of sensors 3. It is necessary to ensure that the position of each group of sensors 3 is correct, and at the same time, it is necessary to ensure that the measurement direction of each sensor 3 is correct. The position of the sensor 3 can be adjusted by turning the hand wheel 2c Position and realize the clamping function, after the adjustment is completed, use the jack nut 2e to fix each sensor 3. Sensor 3 can use a high-precision laser distance measurement sensor, as shown in Figure 5, the sampling frequency is 40Hz-500Hz, the corresponding sampling time is 0.025-0.002 seconds, the measurement distance is 25-400mm, the accuracy is 0.005-0.08mm, and the spot size is 0.1 *0.1-1.8*3.5mm, the wavelength is between 655-680nm, less damage to human eyes, and the signal is stable and the structure is resistant to vibration and shock.

The pressure sensor 4 is located inside the back support, as shown in Figure 4, when the support supports the part, the pressure value can be obtained, and the error between the actual support position and the theoretical position of the support end can be accurately obtained through the change of the pressure value;

When in use, the laser distance sensors A1 and A2 are installed on the front push head Q and the back support W of the skin mirror milling system, distributed on both sides of the part S, the pressure sensor 4 is installed inside the back support W, and the front push The head Q presses the part S, the tool protrudes from the center of the push head for milling processing, and the reverse side supports W against the back of the part processing part, forming a local high rigidity in the processing part and keeping the mirror image follow-up, as shown in Figure 1;

By adjusting the position of the laser distance sensor at the top support end, determine the direction of the laser beam, that is, the measurement direction, so that it is aligned around the contact position between the top support ball and the part, as shown in Figure 6. In actual processing, by measuring the distance and measuring The direction of the laser sensor and the position of the laser sensor are used to calculate the coordinates of the measurement points. Under the selection of a suitable frequency, the data of a series of measurement points at the end of the support can be obtained, as shown in DP in Figure 6. According to these dense measurement points, it can be simulated Combine the actual surface of the measurement area, compare the actual surface S_Real with the theoretical surface S, calculate the tool path deviation Dis of the next machining position, and adjust the tool path TP generated according to the theoretical surface to TP_Real. This step can be regarded as It is the preliminary adjustment of the tool path. Due to the density of measuring points and the limitation of the range, it cannot be fitted into a real actual surface in real time during processing, but this preliminary adjustment can basically complete 90% of the adjustment work.

After the preliminary adjustment, the machining trajectory is precisely adjusted through the measurement value of the pressure sensor inside the back support, as shown in Figure 7. In actual processing, the tool track is adjusted according to the laser distance measurement of the back support due to the accuracy of the fitting surface. The adjustment of the tool track cannot be very accurate. At this time, the top support has moved according to the adjustment result of the laser distance measurement, and the value of the pressure sensor inside the top support can accurately reflect the current processing position and the top support after preliminary adjustment. For the deviation between positions, the deviation value can be accurately calculated through the change of the pressure value, and compensated in real time to ensure that the tool track at the processing position is milled according to the actual part position.

After the adjustment of the tool track is completed, the laser distance sensor is pushed forward to check the processed area and adjust the position between the milling spindle and the supporting spindle, as shown in Figure 8. Since the mirror milling system is a huge motion system, During the machining process, the milling spindle of the machine tool and the jacking head are connected through various levels of structure, but the accumulation of errors in the various levels of structure may make the distance between the milling spindle and the jacking head inconsistent with the set distance. The head-end laser ranging value can calculate the deviation between the actual processed position and the theoretical processed position, so as to reflect the direct deviation between the milling spindle and the top support head, and then adjust the distance between the milling spindle and the top support head to ensure that the skin Processing quality of parts.

Through the above steps, when there is an error between the actual size and the theoretical size of the aircraft skin, the tool path can be adjusted in real time according to the actual size, so as to realize the real-time adaptive milling of the skin parts and ensure the processing quality of the parts.

The parts not involved in the present invention are the same as the prior art or can be realized by adopting the prior art.

Claims (7)

1. an eyelid covering real-time adaptive mirror image method for milling based on multisensor, is characterized in that it comprises the steps of

First, two groups of laser distance sensors are arranged on eyelid covering mirror image milling system front cut somebody's hair and reverse side shore, it is distributed in part both sides, pressure transducer is arranged on reverse side and shores inside, add front in man-hour to cut somebody's hair and push down part, cutter stretches out from the center of cutting somebody's hair, front and carries out Milling Process, and reverse side is shored and withstood the part working position back side, and keeps mirror image servo-actuated；

Secondly, for laser distance sensor on being arranged on reverse side and shoring, by regulating the position of sensor, make its work in-process measure in real time reverse side shore with feature contacts position around part position, and by the calculating measuring point set position, the actual curved surface of part obtained around current Working position in set point, is adjusted the cutter rail of next Working position according to actual curved surface, it is ensured that the machining locus of next Working position is processed according to actual curved surface；

3rd, pressure transducer is arranged on reverse side and shores inside, its force value comes from the active force that reverse side is shored by part, in reality is processed, tentatively can adjust machining locus according to actual curved surface by reverse side laser ranging, but still can not accomplish accurately to adjust, by the measurement of pressure transducer, the physical location of current Working position and the deviation of theoretical position can be accurately obtained, thus machining locus is finely tuned accurately, it is achieved accurately according to the self adaptation Milling Process of the actual curved surface of skin part；

4th, be installed on front cut somebody's hair on laser distance sensor by measure machined region eyelid covering position, and contrast with its theoretical position, adjust milling spindle shore with reverse side between relative position, eliminate the impact that eyelid covering is processed by the scale error in mechanical system, it is ensured that milling spindle work in-process shore with reverse side between relative position；

Finally, by above step can in the case of there is error in aircraft skin actual size and theoretical size, according to actual size real-time carry out cutter rail adjustment, it is achieved the real-time adaptive Milling Process of skin part, it is ensured that the crudy of part.

2. method for milling as claimed in claim 1, it is characterized in that described shore laser distance sensor measured value by reverse side and adjust the method for machining locus be, the position of end laser distance sensor is shored by regulation reverse side, determine beam direction, i.e. measure direction, make its be directed at reverse side shore with feature contacts position around, in reality is processed, by measuring distance, measure direction and the position of laser distance sensor, calculate the coordinate measuring point, under the sample frequency set, obtain reverse side and shore a series of data measuring point of end, the actual curved surface of measured zone is simulated according to the point of measuring that these are intensive, actual curved surface is contrasted with theoretical curved surface, calculate the cutter rail deviation of next Working position, and carry out cutter rail adjustment.

3. method for milling as claimed in claim 1, it is characterized in that described shore the pressure sensor measurements of inside by reverse side and accurately adjust the method for machining locus be, in reality is processed, shore laser ranging according to reverse side and be adjusted cutter rail, owing to the precision of its fitting surface causes the adjustment of its cutter rail can not accomplish the most accurate, now, reverse side is shored and is moved according to the adjustment result of laser ranging, reverse side shores the deviation that pressure transducer numerical value can accurately reflect current Working position and reverse side after first successive step is shored between position of inside, deviated value by the change calculations of force value, and compensate in real time, ensure that the cutter rail of Working position carries out milling according to actual parts position.

4. method for milling as claimed in claim 1, it is characterized in that described front cut somebody's hair laser distance sensor to the verification in machined region and adjust milling spindle shore with reverse side between position relationship refer to due to mirror image milling system lathe milling spindle in the course of processing shore with reverse side between be associated by each level structure, but the error accumulation of each level structure is got up, the distance between milling spindle and reverse side can be made to shore is not inconsistent with the distance arranged in theory, cutting somebody's hair now by front holds laser ranging value to calculate the deviation between actual machined position and the machined position of theory, thus reflect milling spindle and reverse side shore between deviation, and then adjust milling spindle and reverse side shore between distance, ensure the crudy of skin part.

5. eyelid covering real-time adaptive mirror image milling based on a multisensor detection device, is characterized in that it includes:

One laser distance sensor device (A), the actual size of skin part is obtained for measuring distance, this device is respectively arranged in eyelid covering mirror image milling front and cuts somebody's hair (Q) and reverse side is shored on (W), uses alignment pin location, threaded locking；

One pressure sensor apparatus (B), for accurately being reflected the actual size of eyelid covering Working position by measured value, this device is threaded connection and is fixedly installed in reverse side to shore (W) internal；

Described laser distance sensor device includes pedestal (1), sensor holder (2) and sensor (3), wherein pedestal (1) is cut somebody's hair (Q) with corresponding front by alignment pin or reverse side is shored (W) and positioned, and is threaded connection and locks；Sensor holder (2) is installed in the groove on pedestal (1) periphery by screw, and sensor (3) is high-precision laser range sensor, is positioned by sensor holder (2) and is installed.

Detect device the most as claimed in claim 5, it is characterized in that described sensor holder (2) comprises U-shaped grip slipper (2a) and is symmetrically mounted on the threaded mandrel (2b) of its both sides, adjusting handle (2c), handwheel fixed strip (2d), threaded mandrel locking nut (2e) and handwheel fixed strip screw (2f), U-shaped grip slipper (2a) is attached with pedestal (1) by the bolt (2g) of bottom；Sensor (3) clamping and positioning is between two threaded mandrels (2b), the position of two threaded mandrels (2b) carries out telescopic adjustment by adjusting handle (2c) and realizes final location by handwheel fixed strip (2d), threaded mandrel locking nut (2e) and handwheel fixed strip screw (2f), thus realizes the position adjustments of sensor and quickly change.

Detect device the most as claimed in claim 6, it is characterized in that when installing sensor (3), need two sensors (3) position is demarcated, should ensure that the position often organizing sensor (3) is correct, also need to ensure that the measurement of each sensor (3) is in the right direction simultaneously, the position of sensor (3) can be regulated by adjusting handle (2c) and realize clamping function, after regulation terminates, utilize threaded mandrel locking nut (2e), fix each sensor (3).