Control method for automatic feeding and discharging of broach

Abstract

The invention discloses a control method for automatic feeding and discharging of a broach, and relates to the technical field of mortise broaching machines and mortise broaching machines. The control method comprises the steps that machining parameters are obtained, a tool changing instruction is generated, and storage position coordinates of a target broach are analyzed; according to the tool changing instruction, a posture calibration instruction is generated; a coordinate system of the guide rail truss is obtained, and a moving path of the moving frame is obtained; based on the advancing path, an inclination angle of 15-25 degrees is formed between the hook and the broach box hanging column; obtaining plug-in gap data, and generating a plug-in completion signal; the plug-in gap data is scanned, multi-source data fusion processing is carried out, and a quality evaluation report in the tool changing process is generated; and extracting the process parameter deviation value, the path planning time consumption and the metal material strength data in the quality evaluation report to obtain the structure safety coefficient of the broach assembly. The method has the effects of improving the efficiency and the safety during cutter loading and unloading, and improving the real-time performance and the flexibility of monitoring and adjusting the cutter loading and unloading process at the same time.

Description

Technical Field

[0001] The present application relates to the technical field of mortise and tenon broaching machines and mortise and tenon broaching machines, and in particular to a control method for automatically raising and lowering a broach. Background Art

[0002] The tenon and groove of the turbine disk is an important technical problem in the aviation manufacturing industry. The special material of the turbine disk is difficult to process, and the cutting processability is very poor. At the same time, the precision requirements for the wheel disk are very high. The tenon and groove of the turbine disk have an inclination angle, a taper angle, and high surface roughness requirements relative to the axis. The precision requirements for the indexing of the rotary processing of the parts are also very high. These characteristics make the tenon and groove space shape complex and difficult to process. When facing turbine disks of different specifications, different specifications of broaches are required for broaching, so multiple tool changes are required.

[0003] In the prior art, on the one hand, when the broach needs to be changed, it is generally loaded and unloaded manually, but the broach is heavy and large in size, which makes it laborious for workers to carry it, which is inefficient and dangerous. On the other hand, when the broach is working, the current state of the broach cannot be viewed in real time, and the movement path, position adjustment and fault detection of the broach are relatively fixed and mechanical, which is not flexible enough. Summary of the invention

[0004] The object of the present invention is to provide a control method for automatically raising and lowering a broach, so as to solve the problems raised in the above-mentioned background technology.

[0005] The present application provides a method for controlling the automatic upper and lower cutting of a broach, the method comprising: Obtaining processing parameters and generating tool change instructions according to a preset algorithm, obtaining station coding data of the broach magazine, and parsing the storage position coordinates of the target broach according to the station coding data; According to the tool change instruction, the clamping cylinder is controlled to perform an unlocking action, the unlocking action is monitored to obtain real-time monitoring data, and a posture calibration instruction is generated according to the real-time monitoring data; Acquire a coordinate system of the guide rail truss, obtain a coordinate mapping relationship based on the storage position coordinates and the coordinate system, and obtain a travel path of the mobile frame using dynamic path planning according to the coordinate mapping relationship; Based on the travel path, the broach extraction mechanism is driven to perform a three-dimensional composite motion to form an inclination angle of 15-25 degrees between the hook and the broach box hanging column; Acquire plug-in clearance data, trigger the rotating device to perform ±2 degree fine adjustment compensation according to the plug-in clearance data, so that the axis deviation between the insertion hole and the plug-in column is less than 0.1 mm, and generate a plug-in completion signal; Scan the plug-in gap data to obtain abnormal values ​​in the plug-in gap data, perform multi-source data fusion processing according to the posture calibration instruction, the travel route and the abnormal values, and generate a quality assessment report in the tool change process and a tool magazine storage status update instruction; The process parameter deviation value, path planning time and metal material strength data in the quality assessment report are extracted, and the structural safety factor of the broach assembly is obtained based on the process parameter deviation value, the path planning time and the metal material strength data, and the state synchronization is performed.

[0006] Preferably, the step of obtaining the travel path of the mobile frame by adopting dynamic path planning according to the coordinate mapping relationship is specifically as follows: Obtain obstacle distribution data and processing parameters between tool magazine workstations, and obtain a safety spacing threshold according to the processing parameters; Constructing an initial path boundary of a three-dimensional space grid model according to the obstacle distribution data and the safety distance threshold; Obtaining a coordinate mapping relationship according to the three-dimensional space grid model, calculating a path segment speed curve according to the coordinate mapping relationship, and dynamically matching the path segment speed curve with a maximum acceleration threshold of a mobile drive mechanism; Extracting the path segment speed curve to obtain a lateral displacement parameter, and generating a moving posture control instruction of the mobile frame according to the lateral displacement parameter; A travel path of the mobile frame is generated according to the obstacle distribution data, the initial path boundary and the posture control instruction.

[0007] Preferably, the step of generating the initial path boundary of the three-dimensional space grid model is specifically as follows: According to the station coding data, the equipment model information is obtained, and the corresponding safety distance parameter configuration file is loaded based on the equipment model information; Acquire the ambient temperature and humidity data in the tool magazine and the material data of the guide rail, and obtain the thermal expansion compensation coefficient according to the ambient temperature and humidity and the material data; Extracting historical fault record data of the mobile drive mechanism, and obtaining a risk avoidance area for path planning according to the historical fault record data; The safety spacing parameter, the thermal expansion compensation coefficient, and the risk avoidance area are spatially superimposed to generate a dynamic path boundary model, and an initial path boundary is generated according to the dynamic path boundary model.

[0008] Preferably, the step of driving the broach extraction mechanism to perform three-dimensional composite motion is specifically: Extracting the workstation coordinate data of the travel route in the three-dimensional space grid model, and acquiring the contact surface image between the hook and the broach box hanging column; Performing edge feature recognition on the contact surface image to obtain edge features, and adjusting the anti-unhooking engagement inclination angle to between 18 and 22 degrees according to the edge features; Extracting encoder feedback data during the tilt angle adjustment process, generating a vertical positioning trajectory of the lifting device according to the encoder feedback data and setting a soft limit protection layer; Obtaining a Z-axis offset according to the vertical positioning trajectory, and determining whether the Z-axis offset is greater than a preset offset threshold; If it is determined that the Z-axis offset is greater than the offset threshold, the three-dimensional laser scanner is triggered to generate a joint surface point cloud model deviation comparison result, and a dynamic adjustment instruction for the hook's inclination angle is generated according to the joint surface point cloud model deviation comparison result.

[0009] Preferably, the step of triggering the rotating device to perform ±2 degree fine adjustment compensation is specifically: Extracting color features from the contact surface image, identifying abnormal wear areas on the inner wall of the insertion hole according to the color features and marking pressure concentration points; According to the comparison result of the joint surface point cloud model, a Hausdorff distance value is obtained, and according to the Hausdorff distance value, an axis deviation vector is decomposed into pitch angle and yaw angle compensation amounts; Extracting distribution data of the pressure concentration point, and generating an actual compensation angle feedback value by combining the distribution data, the pitch angle and the yaw angle compensation amount; Based on the actual compensation angle feedback value, cumulative error data is obtained, and the pneumatic auxiliary positioning mechanism is activated according to the cumulative error data to perform adjustment, and the wear coefficient of the tool plug-in surface is updated.

[0010] Preferably, after the step of activating the pneumatic auxiliary positioning mechanism for adjustment according to the accumulated error data and updating the wear coefficient of the tool plug-in surface, the method further includes: Obtaining spatial coordinate data based on the actual compensation angle feedback value, and scanning the joint surface according to the spatial coordinate data to obtain a three-dimensional topological structure of the joint surface; Taking the wear coefficient as a base point, obtaining a historical wear coefficient, and establishing a wear coefficient variation curve according to the historical wear coefficient; Obtaining a historical change trend according to the wear change curve, and performing surface fitting according to the historical change trend to generate a defect area repair plan; Extracting the geometric parameter deviation value in the repair scheme, generating a grinding path instruction of the robot arm according to the geometric parameter deviation value and linking the adsorption device; Execution trajectory data is obtained based on the grinding path instruction, and a joint surface quality correction coefficient is generated according to the execution trajectory data and written into a quality traceability system.

[0011] Preferably, the step of generating a quality assessment report during the tool changing process is specifically as follows: Establishing a historical tool change process parameter database and a random forest prediction model, and loading the historical tool change process parameter database into the random forest prediction model according to the joint surface quality correction coefficient; According to the grinding path instruction, trajectory deviation data is obtained, and the trajectory deviation data is compared with a preset historical case to obtain a comparison value; Determining whether the comparison value is greater than a preset comparison threshold, and if it is determined that the comparison value is greater than the comparison threshold, generating an expected quality indicator according to the trajectory deviation data; Acquire actual test data, extract a comprehensive deviation value between the expected quality index and the actual test data, and obtain a quality score according to the comprehensive deviation value; The metal material strength of the metal material is obtained, associated data is obtained according to the quality score and the metal material strength, a structural safety factor is generated according to the associated data, and a quality assessment report is generated according to the structural safety factor.

[0012] Preferably, the step of obtaining the structural safety factor of the broach assembly according to the process parameter deviation value, the path planning time consumption and the metal material strength data is specifically as follows: Performing grey correlation on the process parameter deviation values ​​to obtain a grey correlation relationship, and obtaining a weight distribution coefficient of the deviation parameter of each process to the structural strength according to the grey correlation relationship; Obtain a corresponding standard stress relaxation coefficient table according to the metal material strength data, and obtain a tensile strength attenuation value by combining the standard stress relaxation coefficient table and the path planning time consumption; Acquire real-time load data during the working process, and combine the tensile strength attenuation value and the real-time load data to obtain the remaining safe cycle number of the metal; The structural safety factor of the broach assembly is obtained according to the weight distribution coefficient, the tensile strength attenuation value and the remaining number of safety cycles.

[0013] In summary, the present application includes at least one of the following beneficial technical effects: The storage position of each broach is obtained by coding the station data in the tool magazine, and then the tool is changed according to the tool change command. The whole process of tool change is monitored, and the posture of tool change is adjusted in real time. Then, the coordinate system of the guide rail truss is obtained, and the travel path of the mobile frame during tool change is obtained according to the coordinate system. According to the travel path, a certain inclination angle is formed between the hook and the broach box hanging column, and then the position of the broach is fine-tuned according to the obtained plug-in gap data to install it. Finally, a quality assessment report is generated based on the plug-in gap data, and the structural safety factor of the broach assembly is generated based on the assessment report. It improves the efficiency and safety of the upper and lower knives, and also improves the real-time and flexibility of the process monitoring and adjustment of the upper and lower knives. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a flow chart of the steps of a method for controlling the automatic upper and lower cutting of a broach provided in an embodiment of the present application. DETAILED DESCRIPTION

[0015] The following combination Figure 1 The present application is described in further detail, but the actual aspects of the present invention are not limited thereto.

[0016] The embodiment of the present application discloses a method for controlling the automatic upper and lower cutting of a broach.

[0017] In this embodiment, a method for controlling the automatic upper and lower cutting of a broach is provided, the method comprising: S100: Obtain processing parameters and generate tool change instructions according to a preset algorithm, obtain station coding data of the broach magazine, and parse the storage position coordinates of the target broach according to the station coding data; S200: According to the tool change instruction, the clamping cylinder is controlled to perform an unlocking action, the unlocking action is monitored to obtain real-time monitoring data, and a posture calibration instruction is generated according to the real-time monitoring data; S300: Acquire a coordinate system of the guide rail truss, obtain a coordinate mapping relationship based on the storage position coordinates and the coordinate system, and obtain a travel path of the mobile frame using dynamic path planning according to the coordinate mapping relationship; S400: Based on the travel path, the broach extraction mechanism is driven to perform a three-dimensional composite motion to form an inclination angle of 15-25 degrees between the hook and the broach box hanging column; S500: Obtain the plug-in clearance data, trigger the rotating device to perform ±2 degree fine adjustment compensation according to the plug-in clearance data, so that the axis deviation between the insertion hole and the plug-in column is less than 0.1 mm, and generate a plug-in completion signal; S600: Scan the plug-in gap data to obtain abnormal values ​​in the plug-in gap data, perform multi-source data fusion processing according to the posture calibration instruction, the travel route and the abnormal values, and generate a quality assessment report in the tool change process and a tool magazine storage status update instruction; S700: Extract the process parameter deviation value, path planning time and metal material strength data in the quality assessment report, obtain the structural safety factor of the broach assembly based on the process parameter deviation value, path planning time and metal material strength data, and perform state synchronization.

[0018] It should be pointed out that the above process is only the basic steps of this embodiment. In the specific implementation process, some steps can be appropriately added, reduced or modified without affecting the overall implementation effect.

[0019] The steps of obtaining the moving path of the mobile frame by using dynamic path planning according to the coordinate mapping relationship are specifically as follows: Obtain obstacle distribution data and processing parameters between tool magazine stations, and obtain safety distance thresholds based on the processing parameters; Construct the initial path boundary of the three-dimensional space grid model according to the obstacle distribution data and the safety distance threshold; A coordinate mapping relationship is obtained according to the three-dimensional space grid model, a path segment speed curve is calculated according to the coordinate mapping relationship, and the path segment speed curve is dynamically matched with a maximum acceleration threshold of the mobile drive mechanism; Extracting the segmented speed curve of the path to obtain the lateral displacement parameter, and generating the moving posture control instruction of the mobile frame according to the lateral displacement parameter; The travel path of the mobile frame is generated according to the obstacle distribution data, the initial path boundary and the attitude control instructions.

[0020] In application, taking the turbine disk production line of an aviation manufacturing plant as an example, for the station spacing in area B of the tool magazine, the obstacle distribution data obtained include: the spacing between adjacent stations is 850mm, and the drooping height of the top lighting bracket is 2100mm. The safety spacing threshold is set to 150mm, and the unit size of the constructed three-dimensional grid model is 50×50×50mm. During path planning, it is calculated that the segmented acceleration of the mobile frame on the X-axis does not exceed 0.3g, and the maximum speed of the Y-axis is limited to 0.8m / s. Through real-time scanning by the laser radar, the lateral displacement parameters are dynamically adjusted to generate a travel path containing 3 S-shaped avoidances, and the total travel time is optimized to 18.7 seconds.

[0021] The steps for generating the initial path boundary of the three-dimensional space grid model are as follows: According to the station coding data, the equipment model information is obtained, and the corresponding safety distance parameter configuration file is loaded based on the equipment model information; Acquire the ambient temperature and humidity data in the tool magazine and the material data of the guide rail, and obtain the thermal expansion compensation coefficient according to the ambient temperature and humidity and the material data; Extract historical fault record data of the mobile drive mechanism, and obtain the risk avoidance area of ​​the path planning according to the historical fault record data; The safety distance parameters, thermal expansion compensation coefficients and risk avoidance areas are spatially superimposed to generate a dynamic path boundary model, and the initial path boundary is generated according to the dynamic path boundary model.

[0022] In use, taking the turbine disc production line of an aviation manufacturing plant as an example, the equipment model is identified as the HMC-800 horizontal machining center. Loading the corresponding safety spacing configuration file shows that the minimum safety distance is 120mm. Under the ambient temperature and humidity of 38℃ / 65%RH, the thermal expansion of the guide rail (material GCr15) was measured to be 0.12mm / m, and the compensation coefficient was generated as 1.15. Combined with the historical fault records that the 5th station had been stuck three times, a risk avoidance area with a radius of 300mm was delineated. The final generated dynamic path boundary model reserves a 200mm safety margin in the Z-axis direction.

[0023] The steps of driving the broach extraction mechanism to perform three-dimensional composite motion are specifically as follows: Extracting the workstation coordinate data of the travel route in the three-dimensional space grid model, and obtaining the contact surface image between the hook and the broach box hanging column; Perform edge feature recognition on the contact surface image to obtain edge features, and adjust the anti-unhooking joint tilt angle to between 18 and 22 degrees according to the edge features; Extract the encoder feedback data during the tilt angle adjustment process, generate the vertical positioning trajectory of the lifting device according to the encoder feedback data, and set the soft limit protection layer; Obtaining a Z-axis offset according to the vertical positioning trajectory, and determining whether the Z-axis offset is greater than a preset offset threshold; If it is determined that the Z-axis offset is greater than the offset threshold, the three-dimensional laser scanner is triggered to generate a joint surface point cloud model deviation comparison result, and a dynamic adjustment instruction for the inclination angle of the hook is generated according to the joint surface point cloud model deviation comparison result.

[0024] In use, taking the turbine disk production line of an aviation manufacturing plant as an example, when extracting the route coordinates (X=2280, Y=710, Z=1495), the machine vision detects the edge features of the contact surface between the hook and the broach box, and identifies two 5mm misalignments. The servo motor adjusts the tilt angle to 20.5 degrees, and the encoder feedback Z-axis positioning deviation accumulates to 1.2mm, triggering the vertical positioning trajectory correction. When the Z-axis offset is detected to be 1.5mm (exceeding the preset 1.2mm threshold), the point cloud model generated by the 3D laser scanning shows that there is a 0.8mm flatness deviation on the joint surface, and a dynamic adjustment instruction is generated to correct the tilt angle to 19.8 degrees.

[0025] The steps for triggering the rotary device to perform ±2 degree fine adjustment compensation are as follows: Extract color features from the contact surface image, identify abnormal wear areas on the inner wall of the insertion hole based on the color features, and mark the pressure concentration points; According to the comparison result of the joint surface point cloud model, the Hausdorff distance value is obtained, and the axis deviation vector is decomposed into pitch angle and yaw angle compensation according to the Hausdorff distance value; Extract the distribution data of the pressure concentration point, and generate the actual compensation angle feedback value by combining the distribution data, pitch angle and yaw angle compensation; Based on the actual compensation angle feedback value, the accumulated error data is obtained, the pneumatic auxiliary positioning mechanism is activated for adjustment according to the accumulated error data, and the wear coefficient of the tool plug-in surface is updated.

[0026] In use, taking the turbine disk production line of an aviation manufacturing plant as an example, image analysis identified three shiny wear points on the inner wall of the insertion hole, which were marked as pressure concentration areas. Hausdorff distance calculation showed that the axis deviation was 0.25mm, which was decomposed into a pitch angle compensation of 1.2 degrees and a yaw angle compensation of 0.8 degrees. Pressure point distribution analysis showed that 60% were concentrated at the 3 o'clock direction, generating an actual compensation angle feedback value of 1.15 degrees. When the cumulative error reached 0.35mm, the pneumatic auxiliary positioning device was activated to apply a compensation pressure of 5kPa, and the updated wear coefficient was reduced from 0.85 to 0.78.

[0027] After the step of activating the pneumatic auxiliary positioning mechanism to adjust according to the accumulated error data and updating the wear coefficient of the tool plug-in surface, the method further includes: Based on the actual compensation angle feedback value, spatial coordinate data is obtained, and the joint surface is scanned according to the spatial coordinate data to obtain the three-dimensional topological structure of the joint surface; Taking the wear coefficient as the base point, the historical wear coefficient is obtained, and the wear coefficient change curve is established according to the historical wear coefficient; The historical change trend is obtained according to the wear change curve, and the surface fitting is performed according to the historical change trend to generate the defect area repair plan; Extract the geometric parameter deviation value in the repair plan, generate the grinding path instruction of the robot arm according to the geometric parameter deviation value and link the adsorption device; The execution trajectory data is obtained based on the grinding path instruction, and the joint surface quality correction coefficient is generated according to the execution trajectory data and written into the quality traceability system.

[0028] In use, taking the turbine disk production line of an aviation manufacturing plant as an example, the three-dimensional topological scan shows that there is a 0.3×0.5mm concave area on the joint surface. The wear coefficient change curve of the past three months (0.72→0.85→0.78) was retrieved, and the repair plan was generated using cubic spline interpolation fitting. The generated robot arm grinding path contains 12 correction points, the maximum feed amount is 0.02mm, and the vacuum adsorption device is used to maintain a negative pressure of -80kPa. After execution, the surface roughness Ra improved from 1.6μm to 0.8μm, and the quality correction factor was updated to 0.92.

[0029] The steps to generate a quality assessment report for the tool change process are as follows: Establish a historical tool change process parameter database and a random forest prediction model, and load the historical tool change process parameter database into the random forest prediction model according to the joint surface quality correction coefficient; According to the grinding path instruction, trajectory deviation data is obtained, and the trajectory deviation data is compared with the preset historical cases to obtain a comparison value; Determine whether the comparison value is greater than a preset comparison threshold, and if it is determined that the comparison value is greater than the comparison threshold, generate an expected quality indicator according to the trajectory deviation data; Obtain actual test data, extract the comprehensive deviation between expected quality indicators and actual test data, and obtain quality scores based on the comprehensive deviation; The metal material strength of the metal material is obtained, associated data is obtained according to the quality score and the metal material strength, a structural safety factor is generated according to the associated data, and a quality assessment report is generated according to the structural safety factor.

[0030] In application, taking the turbine disc production line of an aviation manufacturing plant as an example, the random forest model loaded 200 sets of historical tool change data and predicted that the trajectory deviation should be ≤0.15mm. The actual detection deviation of the X-axis was 0.18mm, the Y-axis was 0.12mm, and the comprehensive deviation was 0.21mm. Combined with the strength of TC11 titanium alloy σb=1030MPa, the calculated quality score was 85 points (out of 100), the structural safety factor was 1.6, and the generated evaluation report recommended replacing the guide component after 200 cycles.

[0031] According to the process parameter deviation value, path planning time and metal material strength data, the steps for obtaining the structural safety factor of the broach assembly are as follows: The process parameter deviation values ​​are subjected to grey correlation to obtain the grey correlation relationship, and the weight distribution coefficient of the deviation parameter of each process to the structural strength is obtained according to the grey correlation relationship; According to the strength data of metal materials, the corresponding standard stress relaxation coefficient table is obtained, and the tensile strength attenuation value is obtained by combining the standard stress relaxation coefficient table and the path planning time. Obtain real-time load data during the working process, and combine the tensile strength attenuation value and real-time load data to obtain the remaining safe cycles of the metal; The structural safety factor of the broach assembly is obtained according to the weight distribution coefficient, the tensile strength attenuation value and the remaining number of safety cycles.

[0032] In application, taking the turbine disk production line of an aviation manufacturing plant as an example, the grey correlation analysis shows that the feed rate deviation has an impact weight of 0.35 on the structural strength, and the speed deviation has a weight of 0.28. According to the standard stress relaxation coefficient table, after 120 cumulative working hours, the tensile strength of the TC4 material decays to 92% of the original value. Real-time load monitoring shows that the peak stress is 580MPa, and the remaining safe cycles are calculated to be 2380 times. The comprehensive weight coefficient of 0.62, the strength decay of 8%, and the remaining number of cycles give a structural safety factor of 1.54, and the preventive maintenance procedure is initiated when the warning threshold of 1.5 is triggered.

[0033] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for controlling the automatic upper and lower cutting of a broach, characterized in that: The following steps are involved: Obtaining processing parameters and generating tool change instructions according to a preset algorithm, obtaining station coding data of the broach magazine, and parsing the storage position coordinates of the target broach according to the station coding data; According to the tool change instruction, the clamping cylinder is controlled to perform an unlocking action, the unlocking action is monitored to obtain real-time monitoring data, and a posture calibration instruction is generated according to the real-time monitoring data; Acquire a coordinate system of the guide rail truss, obtain a coordinate mapping relationship based on the storage position coordinates and the coordinate system, and obtain a travel path of the mobile frame using dynamic path planning according to the coordinate mapping relationship; Based on the travel path, the broach extraction mechanism is driven to perform a three-dimensional composite motion to form an inclination angle of 15-25 degrees between the hook and the broach box hanging column; Acquire plug-in clearance data, trigger the rotating device to perform ±2 degree fine adjustment compensation according to the plug-in clearance data, so that the axis deviation between the insertion hole and the plug-in column is less than 0.1 mm, and generate a plug-in completion signal; Scan the plug-in gap data to obtain abnormal values ​​in the plug-in gap data, perform multi-source data fusion processing according to the posture calibration instruction, the travel route and the abnormal values, and generate a quality assessment report in the tool change process and a tool magazine storage status update instruction; The process parameter deviation value, path planning time and metal material strength data in the quality assessment report are extracted, and the structural safety factor of the broach assembly is obtained based on the process parameter deviation value, the path planning time and the metal material strength data, and the state synchronization is performed.

2. The method for controlling the automatic upper and lower cutting of a broach according to claim 1, characterized in that: The steps of obtaining the travel path of the mobile frame by using dynamic path planning according to the coordinate mapping relationship are specifically as follows: Obtain obstacle distribution data and processing parameters between tool magazine workstations, and obtain a safety spacing threshold according to the processing parameters; Constructing an initial path boundary of a three-dimensional space grid model according to the obstacle distribution data and the safety distance threshold; Obtaining a coordinate mapping relationship according to the three-dimensional space grid model, calculating a path segment speed curve according to the coordinate mapping relationship, and dynamically matching the path segment speed curve with a maximum acceleration threshold of a mobile drive mechanism; Extracting the path segment speed curve to obtain a lateral displacement parameter, and generating a moving posture control instruction of the mobile frame according to the lateral displacement parameter; A travel path of the mobile frame is generated according to the obstacle distribution data, the initial path boundary and the posture control instruction.

3. The method for controlling the automatic upper and lower cutting of a broach according to claim 2 is characterized in that: The steps for generating the initial path boundary of the three-dimensional space grid model are as follows: According to the station coding data, the equipment model information is obtained, and the corresponding safety distance parameter configuration file is loaded based on the equipment model information; Acquire the ambient temperature and humidity data in the tool magazine and the material data of the guide rail, and obtain the thermal expansion compensation coefficient according to the ambient temperature and humidity and the material data; Extracting historical fault record data of the mobile drive mechanism, and obtaining a risk avoidance area for path planning according to the historical fault record data; The safety spacing parameter, the thermal expansion compensation coefficient, and the risk avoidance area are spatially superimposed to generate a dynamic path boundary model, and an initial path boundary is generated according to the dynamic path boundary model.

4. The method for controlling the automatic upper and lower cutting of a broach according to claim 1, characterized in that: The steps of driving the broach extraction mechanism to perform three-dimensional composite motion are specifically as follows: Extracting the workstation coordinate data of the travel route in the three-dimensional space grid model, and acquiring the contact surface image between the hook and the broach box hanging column; Performing edge feature recognition on the contact surface image to obtain edge features, and adjusting the anti-unhooking engagement inclination angle to between 18 and 22 degrees according to the edge features; Extracting encoder feedback data during the tilt angle adjustment process, generating a vertical positioning trajectory of the lifting device according to the encoder feedback data and setting a soft limit protection layer; Obtaining a Z-axis offset according to the vertical positioning trajectory, and determining whether the Z-axis offset is greater than a preset offset threshold; If it is determined that the Z-axis offset is greater than the offset threshold, the three-dimensional laser scanner is triggered to generate a joint surface point cloud model deviation comparison result, and a dynamic adjustment instruction for the hook's inclination angle is generated according to the joint surface point cloud model deviation comparison result.

5. The method for controlling the automatic upper and lower cutting of a broach according to claim 1, characterized in that: The steps for triggering the rotary device to perform ±2 degree fine adjustment compensation are as follows: Extracting color features from the contact surface image, identifying abnormal wear areas on the inner wall of the insertion hole according to the color features and marking pressure concentration points; According to the comparison result of the joint surface point cloud model, a Hausdorff distance value is obtained, and according to the Hausdorff distance value, an axis deviation vector is decomposed into pitch angle and yaw angle compensation amounts; Extracting distribution data of the pressure concentration point, and generating an actual compensation angle feedback value by combining the distribution data, the pitch angle and the yaw angle compensation amount; Based on the actual compensation angle feedback value, cumulative error data is obtained, and the pneumatic auxiliary positioning mechanism is activated according to the cumulative error data to perform adjustment, and the wear coefficient of the tool plug-in surface is updated.

6. The method for controlling the automatic upper and lower cutting of a broach according to claim 1, characterized in that: After the step of activating the pneumatic auxiliary positioning mechanism to adjust according to the accumulated error data and updating the wear coefficient of the tool plug-in surface, the method further includes: Obtaining spatial coordinate data based on the actual compensation angle feedback value, and scanning the joint surface according to the spatial coordinate data to obtain a three-dimensional topological structure of the joint surface; Taking the wear coefficient as a base point, obtaining a historical wear coefficient, and establishing a wear coefficient variation curve according to the historical wear coefficient; Obtaining a historical change trend according to the wear change curve, and performing surface fitting according to the historical change trend to generate a defect area repair plan; Extracting the geometric parameter deviation value in the repair scheme, generating a grinding path instruction of the robot arm according to the geometric parameter deviation value and linking the adsorption device; Execution trajectory data is obtained based on the grinding path instruction, and a joint surface quality correction coefficient is generated according to the execution trajectory data and written into a quality traceability system.

7. A method for controlling the automatic upper and lower cutting of a broach according to claim 6, characterized in that: The steps to generate a quality assessment report for the tool change process are as follows: Establishing a historical tool change process parameter database and a random forest prediction model, and loading the historical tool change process parameter database into the random forest prediction model according to the joint surface quality correction coefficient; According to the grinding path instruction, trajectory deviation data is obtained, and the trajectory deviation data is compared with a preset historical case to obtain a comparison value; Determining whether the comparison value is greater than a preset comparison threshold, and if it is determined that the comparison value is greater than the comparison threshold, generating an expected quality indicator according to the trajectory deviation data; Acquire actual test data, extract a comprehensive deviation value between the expected quality index and the actual test data, and obtain a quality score according to the comprehensive deviation value; The metal material strength of the metal material is obtained, associated data is obtained according to the quality score and the metal material strength, a structural safety factor is generated according to the associated data, and a quality assessment report is generated according to the structural safety factor.

8. The method for controlling the automatic upper and lower cutting of a broach according to claim 1, characterized in that: The step of obtaining the structural safety factor of the broach assembly according to the process parameter deviation value, the path planning time consumption and the metal material strength data is specifically as follows: Performing grey correlation on the process parameter deviation values ​​to obtain a grey correlation relationship, and obtaining a weight distribution coefficient of the deviation parameter of each process to the structural strength according to the grey correlation relationship; Obtain a corresponding standard stress relaxation coefficient table according to the metal material strength data, and obtain a tensile strength attenuation value by combining the standard stress relaxation coefficient table and the path planning time consumption; Acquire real-time load data during the working process, and combine the tensile strength attenuation value and the real-time load data to obtain the remaining safe cycle number of the metal; The structural safety factor of the broach assembly is obtained according to the weight distribution coefficient, the tensile strength attenuation value and the remaining number of safety cycles.

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