A method for dynamic modeling and analysis of a lock making machine

Abstract

The present application relates to lock making machine technical field, especially to a kind of lock making machine's dynamics modeling and analysis method.The method includes the following steps: obtaining lock making machine data carries out lock making machine's structure coordinate and motion characteristic analysis, generates lock making machine's structure coordinate motion characteristic data;According to lock making machine's structure coordinate motion characteristic data carries out lock making machine's motion degree of freedom and drive mode analysis and lock making machine's tool and workpiece relative displacement detection, generates lock making machine's tool workpiece relative displacement data, and carries out lock making machine's cutting force and trajectory response dynamic analysis, generates lock making machine's cutting force trajectory response dynamic data;Through sensor detection lock making machine's running resonance parameter data, and based on lock making machine's cutting force trajectory response dynamic data and lock making machine's structure coordinate motion characteristic data constructs lock making machine dynamic model.The present application realizes lock making machine dynamics analysis and modeling.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lock making machine tools, and particularly relates to a dynamic modeling and analysis method for a lock making machine tool. BACKGROUND

[0002] As a special numerical control equipment for high-precision cutting machining of metal lock parts, the lock making machine tool is widely used in the fields of precision manufacturing such as security, home and transportation. The structure of the lock making machine tool is composed of a multi-axis linkage tool system, a clamping device, a transmission system and a control unit, and has the characteristics of complex process, compact spatial structure and high dynamic machining precision. The dynamic modeling of the lock making machine tool is an important means for analyzing the structural response, cutting behavior and vibration characteristics of the lock making machine tool in the running process. In the prior art, the modeling is mainly performed by means of simplified degree of freedom assumption, static force distribution estimation or preset parameter adjustment, which is difficult to fully represent the real working conditions such as multi-axis motion, process linkage and thermal-force disturbance coupling, especially under the conditions of high-speed cutting or multi-axis linkage, the relative displacement change and transient trajectory disturbance between the tool and the workpiece cannot be effectively captured, resulting in insufficient precision of the dynamic model of the lock making machine tool. SUMMARY

[0003] Therefore, the present application provides a dynamic modeling and analysis method for a lock making machine tool to solve at least one of the above technical problems.

[0004] To achieve the above-mentioned purpose, a dynamic modeling and analysis method for a lock making machine tool comprises the following steps:

[0005] Step S1: obtaining lock making machine tool data, analyzing the structure coordinates and motion characteristics of the lock making machine tool according to the lock making machine tool data, and generating structure coordinate-motion characteristic data of the lock making machine tool;

[0006] Step S2: analyzing the motion degrees of freedom and driving modes of the lock making machine tool according to the structure coordinate-motion characteristic data of the lock making machine tool, and generating motion degree of freedom-driving mode data of the lock making machine tool;

[0007] Step S3: detecting the relative displacement of the tool and the workpiece of the lock making machine tool according to the motion degree of freedom-driving mode data of the lock making machine tool, and generating tool-workpiece relative displacement data of the lock making machine tool;

[0008] Step S4: performing cutting force and trajectory response dynamic analysis of the lock making machine tool according to the tool-workpiece relative displacement data of the lock making machine tool, and generating cutting force-trajectory response dynamic data of the lock making machine tool;

[0009] Step S5: detecting the operation resonance parameter data of the lock making machine through the sensor; constructing the dynamic model of the lock making machine based on the operation resonance parameter data, the cutting force-track response dynamic data of the lock making machine and the structure coordinate-motion characteristic data of the lock making machine, and generating the dynamic model data of the lock making machine.

[0010] Further, step S1 includes the following steps:

[0011] Step S11: obtaining the lock making machine data, and respectively performing component unit structure hierarchical division and component unit process function analysis of the lock making machine according to the lock making machine data, to respectively generate component unit structure hierarchical data and component unit process function data;

[0012] Step S12: performing structure three-dimensional space coordinate design of the lock making machine according to the component unit structure hierarchical data, to generate structure three-dimensional space coordinate data;

[0013] Step S13: performing structure coordinate and motion characteristic analysis of the lock making machine based on the component unit process function data and the structure three-dimensional space coordinate data, to generate structure coordinate-motion characteristic data of the lock making machine.

[0014] Further, step S13 includes the following steps:

[0015] Step S131: performing component process and unit motion path mapping processing of the lock making machine based on the component unit process function data and the structure three-dimensional space coordinate data, to generate component process-unit motion path mapping data;

[0016] Step S132: performing component position coordinate and space motion range analysis of the lock making machine according to the component process-unit motion path mapping data, to generate component position coordinate-space motion range data;

[0017] Step S133: performing component motion linkage characteristic analysis of the lock making machine according to the component position coordinate-space motion range data, to generate component motion linkage characteristic data;

[0018] Step S134: performing structure coordinate and motion characteristic analysis of the lock making machine based on the component motion linkage characteristic data and the component position coordinate-space motion range data, to generate structure coordinate-motion characteristic data of the lock making machine.

[0019] Further, step S2 includes the following steps:

[0020] Step S21: performing motion component unit identification of the lock making machine according to the structure coordinate-process motion characteristic data of the lock making machine, to generate motion component unit data;

[0021] Step S22: Component unit transmission chain analysis of the lock-making machine tool is performed according to the motion component unit data, and component unit transmission chain data is generated;

[0022] Step S23: Component control unit analysis of the lock-making machine tool is performed according to the component unit transmission chain data, and component control unit data is generated;

[0023] Step S24: Motion freedom and driving mode analysis of the lock-making machine tool is performed based on the component control unit data and the component unit transmission chain data, and motion freedom-driving mode data of the lock-making machine tool is generated.

[0024] Further, step S24 includes the following steps:

[0025] Step S241: Each component unit axial driving direction data is generated by identifying the axial driving direction of each component unit of the lock-making machine tool according to the component unit transmission chain data;

[0026] Step S242: Drive device-control logic analysis of the lock-making machine tool is performed according to the component control unit data, and drive device-control logic configuration data is generated;

[0027] Step S243: Component driving coupling-constraint data is generated by performing component driving coupling and constraint analysis of the lock-making machine tool according to the drive device-control logic configuration data;

[0028] Step S244: Motion freedom-driving mode data of the lock-making machine tool is generated based on the component driving coupling-constraint data and the each component unit axial driving direction data.

[0029] Further, step S3 includes the following steps:

[0030] Step S31: Tool-workpiece motion chain path data is generated by performing tool and workpiece motion chain path analysis according to the motion freedom-driving mode data of the lock-making machine tool;

[0031] Step S32: Tool-workpiece dynamic displacement data is generated by performing tool and workpiece dynamic displacement detection of the lock-making machine tool according to the tool-workpiece motion chain path data;

[0032] Step S33: Workpiece manufacturing timing and spatial form change data is generated by performing workpiece manufacturing timing and spatial form change detection of the lock-making machine tool according to the tool-workpiece dynamic displacement data;

[0033] Step S34: Tool-workpiece relative displacement data of the lock-making machine tool is generated by performing tool and workpiece relative displacement detection of the lock-making machine tool based on the tool-workpiece dynamic displacement data and the workpiece manufacturing timing and spatial form change data.

[0034] Further, step S4 comprises the following steps:

[0035] Step S41: Analyzing the cutting area posture and machining angle of the tool and workpiece of the locking machine tool according to the tool-workpiece relative displacement data of the locking machine tool, and generating cutting area posture-machining angle data;

[0036] Step S42: Calculating the multi-axis cutting force component of the tool and workpiece of the locking machine tool according to the cutting area posture-machining angle data, and generating tool-workpiece multi-axis cutting force component data;

[0037] Step S43: Analyzing the cutting force and trajectory response dynamics of the locking machine tool according to the tool-workpiece multi-axis cutting force component data, and generating cutting force-trajectory response dynamics data of the locking machine tool.

[0038] Further, step S42 comprises the following steps:

[0039] Step S421: Identifying the normal force and stress projection angle of the tool and workpiece contact surface of the locking machine tool according to the cutting area posture-machining angle data, and generating tool-workpiece contact surface normal force and stress projection angle data;

[0040] Step S422: Calculating the stress distribution of the cutting area of the tool and workpiece of the locking machine tool according to the tool-workpiece contact surface normal force and stress projection angle data, and generating tool-workpiece cutting contact pressure distribution data;

[0041] Step S423: Analyzing the coupling characteristics of the tool axial force and workpiece displacement of the locking machine tool according to the tool-workpiece cutting contact pressure distribution data, and generating tool axial force-workpiece displacement coupling characteristic data;

[0042] Step S424: Calculating the multi-axis cutting force component of the tool and workpiece of the locking machine tool according to the tool axial force-workpiece displacement coupling characteristic data, and generating tool-workpiece multi-axis cutting force component data.

[0043] Further, step S43 comprises the following steps:

[0044] Step S431: Analyzing the rigidity attenuation of the tool and workpiece of the locking machine tool according to the tool-workpiece multi-axis cutting force component data, and generating tool-workpiece rigidity attenuation data;

[0045] Step S432: Analyzing the cutting trajectory damping variation of the tool and workpiece of the locking machine tool according to the tool-workpiece rigidity attenuation data, and generating tool-workpiece cutting trajectory damping variation data;

[0046] Step S433: Perform cutting force and trajectory response dynamic analysis of the locking machine tool based on the tool-workpiece cutting trajectory damping variation data and the tool-workpiece multi-axis cutting force component data, and generate cutting force-trail response dynamic data of the locking machine tool.

[0047] Further, step S5 includes the following steps:

[0048] Step S51: Detect the running resonance parameter data of the locking machine tool through the sensor, and perform resonance characteristic frequency extraction of the locking machine tool according to the running resonance parameter data, and generate resonance characteristic frequency data of the locking machine tool;

[0049] Step S52: Perform tool and workpiece vibration stress response analysis of the locking machine tool according to the cutting force-trail response dynamic data of the locking machine tool, and generate tool-workpiece vibration stress response data;

[0050] Step S53: Perform tool and workpiece stress accumulation and heat-induced displacement coupling processing of the locking machine tool based on the resonance characteristic frequency data and the tool-workpiece vibration stress response data of the locking machine tool, and generate tool-workpiece stress accumulation and heat-induced displacement data;

[0051] Step S54: Perform structure and dynamic response path parameter fitting processing of the locking machine tool based on the tool-workpiece stress accumulation and heat-induced displacement data and the structure coordinate-motion characteristic data of the locking machine tool, and generate structure-dynamic response path parameter fitting data of the locking machine tool;

[0052] Step S55: Construct a dynamic model of the locking machine tool according to the structure-dynamic response path parameter fitting data of the locking machine tool, and generate dynamic model data of the locking machine tool.

[0053] The beneficial effects of the present application are:

[0054] The dynamic modeling and analysis method for a lock-making machine tool proposed in this invention acquires machine tool data and analyzes its structural coordinates and motion characteristics. This allows for a clear understanding of the spatial relationships between various machine tool components, including the installation accuracy and relative positions of key components such as the bed, spindle, and tool post, thereby determining whether structural deviations are caused by assembly errors. Based on the machine tool's structural coordinate-motion characteristic data, the method analyzes the machine tool's degrees of freedom and drive mode, clarifying the achievable motion dimensions within space and analyzing the independence, coordination, and drive mode of each axis. Furthermore, based on the machine tool's degrees of freedom-drive mode data, the method detects the relative displacement between the tool and workpiece. The relative displacement between the tool and workpiece directly determines the dimensional accuracy and surface quality of the parts. By detecting the relative displacement in real time, the method monitors the deviation between the actual cutting position and the theoretical position of the tool during machining, promptly identifying displacement errors caused by factors such as tool wear, workpiece clamping looseness, and machine tool thermal deformation. Based on the relative displacement data of the tool and workpiece in the lock-making machine tool, a dynamic analysis of the cutting force and trajectory response is performed. By analyzing the variation law of the cutting force, the load on the tool and machine tool under different materials and different cutting conditions can be understood. The trajectory response dynamic analysis focuses on the deviation between the actual motion trajectory of the tool and the theoretical trajectory. The deviation is affected by various factors such as cutting force, machine tool rigidity, and damping characteristics. By analyzing the trajectory response data, the stability of the machine tool in the dynamic cutting process can be evaluated. The operating resonance parameter data of the lock-making machine tool is detected by sensors. The detection of operating resonance parameters can capture key information such as the resonance frequency and amplitude of the machine tool under different speeds and loads. Based on the operating resonance parameter data, the cutting force-trajectory response dynamic data of the lock-making machine tool, and the structural coordinate-motion characteristic data of the lock-making machine tool, a dynamic model of the lock-making machine tool is constructed. This model integrates information on the structural characteristics, motion characteristics, cutting forces, and resonance characteristics of the machine tool, and can comprehensively reflect the operating status of the machine tool under various working conditions, realizing the dynamic analysis and modeling of the lock-making machine tool.

[0055] The present invention provides a dynamic modeling and analysis method for a lock-making machine tool. By analyzing and detecting the actual working states of the lock-making machine tool, such as multi-axis motion, process linkage, and thermo-mechanical disturbance coupling, it can effectively capture the relative displacement changes and transient trajectory disturbances between the tool and the workpiece under high-speed cutting or multi-axis linkage conditions, thereby realizing dynamic modeling of the lock-making machine tool and improving the accuracy of the dynamic model of the lock-making machine tool. Attached Figure Description

[0056] Figure 1 This is a schematic diagram of the steps of the dynamic modeling and analysis method for a lock-making machine tool according to the present invention;

[0057] Figure 2 for Figure 1 A detailed flowchart illustrating the implementation steps of step S1.

[0058] Figure 3 To Figure 2 Detailed implementation step flow diagram of step S13 in the middle;

[0059] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0060] The technical method of the present application will be described clearly and completely below in combination with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0061] In addition, the accompanying drawings are only schematic illustrations of the present application, and are not necessarily drawn to scale. The same reference numerals in the drawings represent the same or similar parts, and thus repeated description thereof will be omitted. Some block diagrams shown in the drawings are functional entities, which do not necessarily have to correspond to physically or logically independent entities. The functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different network and / or processor methods and / or microcontroller methods.

[0062] It should be understood that although the terms "first", "second" and the like can be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of the exemplary embodiments, a first element can be called a second element, and similarly a second element can be called a first element. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0063] To achieve the above-mentioned purpose, please refer to Figures 1 to 3 The present application provides a method for dynamic modeling and analysis of a lock making machine, comprising the following steps:

[0064] Step S1: Obtain lock making machine data, analyze the structure coordinates and motion characteristics of the lock making machine according to the lock making machine data, and generate structure coordinate-motion characteristic data of the lock making machine;

[0065] Step S2: Analyze the motion degrees of freedom and driving mode of the lock making machine according to the structure coordinate-motion characteristic data of the lock making machine, and generate motion degrees of freedom-driving mode data of the lock making machine;

[0066] Step S3: According to the motion freedom-driving mode data of the locking machine tool, the relative displacement detection of the tool and the workpiece of the locking machine tool is performed, and tool-workpiece relative displacement data of the locking machine tool is generated;

[0067] Step S4: According to the tool-workpiece relative displacement data of the locking machine tool, the cutting force and trajectory response dynamic analysis of the locking machine tool is performed, and the cutting force-trajectory response dynamic data of the locking machine tool is generated;

[0068] Step S5: The running resonance parameter data of the locking machine tool is detected by a sensor; and based on the running resonance parameter data, the cutting force-trajectory response dynamic data of the locking machine tool and the structure coordinate-motion characteristic data of the locking machine tool, a dynamic model of the locking machine tool is constructed, and dynamic model data of the locking machine tool is generated.

[0069] In the embodiment of the present application, please refer to Figure 1 As shown in the figure, it is a step flow schematic diagram of the dynamic modeling and analysis method of the locking machine tool, and in the present example, the dynamic modeling and analysis method of the locking machine tool comprises the following steps:

[0070] Step S1: Obtain the locking machine tool data, analyze the structure coordinates and motion characteristics of the locking machine tool according to the locking machine tool data, and generate structure coordinate-motion characteristic data of the locking machine tool;

[0071] In the embodiment of the present application, a three-coordinate measuring instrument is used to measure the three-dimensional coordinates of the bed, spindle box, tool holder, workbench and other key components of the locking machine tool, and the measurement points cover the installation reference surface, motion guide surface and key connecting hole of each component, and the measurement points of each component are not less than 50. The measurement data is imported into a computer to obtain the actual structure coordinates of each component. At the same time, optical grating rulers are installed on the X, Y and Z axis motion guides of the machine tool, the resolution of the optical grating rulers is 0.001mm, an encoder is installed on the spindle, the pulse number of the encoder is 1024 lines / revolution, the machine tool is started, and each axis is uniformly moved at a speed of 50mm / min, 100mm / min and 200mm / min respectively, and the spindle is rotated at a speed of 1000r / min, 2000r / min and 3000r / min respectively. The output signals of the optical grating rulers and the encoder are collected in real time through a data acquisition card, and the collection time is 10 minutes each time. The displacement and speed signals collected are converted into motion speed, acceleration and displacement change curves, and then combined with the previously obtained structure coordinates to generate structure coordinate-motion characteristic data of the locking machine tool, wherein the structure coordinates include the spatial position parameters of each component, and the motion characteristic data includes the change law of the motion speed and acceleration of each axis with time and the speed fluctuation of the spindle.

[0072] Step S2: analyzing the motion freedom and driving mode of the locking machine tool according to the structure coordinate-motion characteristic data of the locking machine tool, and generating motion freedom-driving mode data of the locking machine tool;

[0073] In the embodiment of the present application, according to the structure coordinate-motion characteristic data, the connection relationship and the motion constraint of each motion component of the locking machine tool are analyzed first, by observing the connection mode of the X-axis and the bed, the Y-axis and the X-axis slide table, and the Z-axis and the spindle box, it is determined whether the motion of each axis is independent of each other, and then combined with the motion range data of each axis, the number and direction of the motion freedom of the machine tool are judged; for the driving mode analysis, the transmission system of the machine tool is disassembled, in the X-axis transmission part, it is observed that the ball screw transmission is used, the lead of the ball screw is measured as 10mm, the screw diameter is 30mm, the motor connected with the screw is checked, the motor model is servo motor, the rated power is 1.5kW, the rated speed is 3000r / min, the transmission torque of the coupling between the motor output shaft and the screw is measured by the torque wrench, the torque is measured 3 times at different speeds, and the average value is taken; the same operation is performed on the Y-axis and the Z-axis, the parameters of the driving motor of each axis, the model and size of the transmission component are recorded, at the same time, the dynamic signal analyzer is connected with the current sensor of each axis driving motor, the current signal is collected when the motor is running, the corresponding relationship between the current change and the axis motion speed is analyzed, so as to judge the transmission efficiency and response characteristic of the driving mode, finally the analysis results of the motion freedom and the driving mode are integrated, and the motion freedom-driving mode data is generated.

[0074] Step S3: detecting the relative displacement of the tool and the workpiece of the locking machine tool according to the motion freedom-driving mode data of the locking machine tool, and generating tool-workpiece relative displacement data of the locking machine tool;

[0075] In the embodiment of the present application, based on the motion degree of freedom-driving mode data, the controllable direction of the motion of the tool and the workpiece is determined, a laser displacement sensor is installed on the tool handle, the measurement range of the sensor is 0-50mm, the accuracy is 0.002mm, the laser emission direction of the sensor is aligned with the machining surface of the workpiece, a reflector plate is installed on the workpiece clamp, and the reflector plate is attached to the positioning reference surface of the workpiece; the machine tool is started, and the simulation cutting motion is performed according to the preset lock part machining program, the program includes the rapid movement of the tool, the feed cutting, the tool retracting and the like, in the motion process, the laser displacement sensor collects the distance data between the reflector plate every 0.01 seconds, at the same time, combined with the driving mode data of each axis, the theoretical position of the tool and the workpiece at each time is calculated, the distance data collected by the sensor is compared with the theoretical position data, and the difference is the relative displacement of the tool-workpiece; three groups of experiments are respectively performed under different tool feed speeds (50mm / min, 100mm / min, 150mm / min) and workpiece materials (brass, low carbon steel, stainless steel), each group of experiment lasts for 5 minutes, all the relative displacement data is recorded, and finally the tool-workpiece relative displacement data is generated, which contains the maximum value, the minimum value and the change curve of the relative displacement under different working conditions.

[0076] Step S4: performing cutting force and trajectory response dynamic analysis of the lock making machine tool according to the tool-workpiece relative displacement data of the lock making machine tool, and generating cutting force and trajectory response dynamic data of the lock making machine tool;

[0077] In the embodiment of the present application, according to the tool-workpiece relative displacement data, a strain gauge is pasted on the tool handle, the sensitivity coefficient of the strain gauge is 2.0, the strain gauge is composed of a full-bridge measurement circuit and connected to a dynamic strain meter, and the sampling frequency of the dynamic strain meter is 10kHz; the machine tool is started, and actual cutting is performed according to the machining program, the cutting material is a brass lock core, the cutting depth is 0.5mm, 1mm and 1.5mm respectively, and the feed amount is 0.1mm / r, 0.2mm / r and 0.3mm / r respectively, in the cutting process, the dynamic strain meter collects the signal of the strain gauge in real time, the strain signal is converted into cutting force data, including the main cutting force, the feed resistance and the back force; at the same time, the laser displacement sensor installed is used to continue collecting the tool-workpiece relative displacement data, combined with the cutting force data, the displacement and force signals in the time domain are converted into frequency domain signals through Fourier transform, the frequency response characteristics of the tool motion trajectory under different cutting forces are analyzed, the amplitude and phase change of the trajectory response are calculated, the cutting force size and the peak frequency of the trajectory response under each cutting parameter combination are recorded, each parameter combination is continuously experimented for three times, and the average value is taken, finally the cutting force and trajectory response dynamic data are generated, which contains the size, direction of the cutting force and the frequency characteristic parameters of the trajectory response.

[0078] Step S5: detecting the operation resonance parameter data of the lock-making machine tool through the sensor; and constructing a dynamic model of the lock-making machine tool based on the operation resonance parameter data, the cutting force-track response dynamic data of the lock-making machine tool, and the structure coordinate-motion characteristic data of the lock-making machine tool, to generate dynamic model data of the lock-making machine tool.

[0079] In the embodiment of the present application, an acceleration sensor is installed at a key position of the lock-making machine tool, such as the bed, the spindle box, and the worktable. The measurement range of the sensor is ±50g, and the frequency response range is 1-1000Hz. The sensor is connected to a data acquisition instrument, and the sampling frequency of the data acquisition instrument is set to 2000Hz. The machine tool is started, and each shaft is operated at different speeds in the no-load state. The speed is increased from 500r / min to 5000r / min at an interval of 500r / min. The machine tool is operated at each speed for 2 minutes. The vibration signal of the machine tool is collected by the acceleration sensor, and the vibration signal is subjected to frequency spectrum analysis to find out the resonance frequency and the resonance amplitude of each position, so as to obtain the operation resonance parameter data. Then, the cutting force-track response dynamic data, the structure coordinate-motion characteristic data, and the operation resonance parameter data obtained in this detection are input into a finite element analysis software. A three-dimensional entity model of the lock-making machine tool is established in the software. The model includes the material properties of each component (for example, the bed is made of gray cast iron HT300, the elastic modulus is 1.8×10^5MPa, and the Poisson's ratio is 0.25; the spindle is made of 45 steel, the elastic modulus is 2.1×10^5MPa, and the Poisson's ratio is 0.3). The connection mode of each component is set as rigid connection or elastic connection. The positions of each component are positioned according to the structure coordinate data. The cutting force data is applied as the load, and the resonance parameter is input as the constraint condition. The modal analysis and the dynamic response analysis are performed to obtain the natural frequency, the vibration mode, and the dynamic response curve of the machine tool under different working conditions. These analysis results are integrated to generate the dynamic model data of the lock-making machine tool. The data includes the mesh division parameters, the material property parameters, the constraint conditions, and the dynamic response calculation results of the model.

[0080] Further, step S1 includes the following steps:

[0081] Step S11: obtaining the lock-making machine tool data, and respectively performing component unit structure hierarchical division and component unit process function analysis of the lock-making machine tool according to the lock-making machine tool data, to respectively generate component unit structure hierarchical data and component unit process function data;

[0082] Step S12: performing structure three-dimensional space coordinate design of the lock-making machine tool according to the component unit structure hierarchical data, to generate structure three-dimensional space coordinate data;

[0083] Step S13: performing structure coordinate and motion characteristic analysis of the lock-making machine tool based on the component unit process function data and the structure three-dimensional space coordinate data, to generate structure coordinate-motion characteristic data of the lock-making machine tool.

[0084] As an embodiment of the present application, referring to Figure 2 shown, is Figure 1 The detailed step flow diagram of step S1 in the embodiment, step S1 includes the following steps:

[0085] Step S11: Obtain the lock-making machine tool data, and respectively perform component unit structure hierarchical division and component unit process function analysis according to the lock-making machine tool data, to respectively generate component unit structure hierarchical data and component unit process function data;

[0086] In the embodiment of the present application, the overall structure, component composition and operating parameters of the lock-making machine tool are obtained through machine tool manuals, design drawings and on-site surveying, the dimensions of each component are measured using a tape measure and a vernier caliper, and the material hardness of key components is detected using a hardness tester; the component unit structure hierarchical division adopts a tree classification method, taking the machine tool as a whole as a root node, the first layer is divided into a bed assembly, a spindle assembly, a tool holder assembly, a workbench assembly, a transmission assembly and a control system assembly, each assembly is taken as a second-level node, the bed assembly is further divided into a bed body, a support leg and a guide rail mounting seat as third-level nodes, the spindle assembly is divided into a spindle, a spindle bearing and a spindle box shell as third-level nodes, and so on, each third-level node is further divided into fourth-level nodes according to the part composition, the division is based on the assembly relationship and structural correlation of the components, and the name, quantity, material model and connection mode of each component are recorded at each level; the component unit process function analysis adopts a flowchart drawing method, for each component unit, the role of the component unit in the lock-making machining process is analyzed, for example, the spindle assembly is responsible for driving the cutter to rotate to realize cutting, the tool holder assembly is responsible for clamping the cutter and realizing feeding motion, and the workbench assembly is responsible for fixing the workpiece and completing positioning, the process steps (drilling, milling, polishing, etc.) and function parameters (spindle speed range 1000-5000 r / min, tool holder feeding speed range 50-300 mm / min) corresponding to each component unit are recorded, and finally the component unit structure hierarchical data and the component unit process function data are generated, the structure hierarchical data contains detailed parameters of the components at each level, and the process function data contains the process and function parameters corresponding to each component.

[0087] Step S12: Perform structure three-dimensional space coordinate design of the lock-making machine tool according to the component unit structure hierarchical data, to generate structure three-dimensional space coordinate data;

[0088] In the embodiment of the present application, according to the component unit structure hierarchical data, each component unit is scanned by using a three-dimensional modeling scanner, the scanning accuracy of the scanner is 0.01 mm, the scanning range is 0-1000 mm, large components such as the bed body body and the spindle box shell are scanned in regions, the scanning time of each region is not less than 2 minutes, and it is ensured that the scanning points cover the inner and outer surfaces and the connecting features of the components; the point cloud data obtained by scanning is imported into a three-dimensional modeling system, a three-dimensional rectangular coordinate system is established with the center of the bottom surface of the bed body body as the coordinate origin, the X axis is along the length direction of the bed body, the Y axis is along the width direction of the bed body, and the Z axis is perpendicular to the bottom surface of the bed body; according to the assembly relationship of each component in the structure hierarchical data, each component unit is positioned in the coordinate system, the coordinate origin of the bed body body is coincided with the system origin, the bottom surface of the guide rail mounting seat is fitted with the guide rail mounting surface of the bed body body, the coordinates are determined according to the mounting hole positions, and the deviation is controlled within 0.02 mm; the spindle box shell is mounted on the guide rail, the bottom surface thereof is in contact with the top surface of the guide rail, the coordinates are set according to the position parameters of the guide rail, the relative position of the tool holder assembly and the spindle box is determined according to the connection size of the transmission assembly, and the coordinate positioning of all components is based on the actually measured mounting reference surface and the position of the connecting hole. Finally, the structure three-dimensional space coordinate data is generated, and the data contains the three-dimensional coordinate parameters of each component unit and the position deviation value of the adjacent components.

[0089] Step S13: Based on the component unit process function data and the structure three-dimensional space coordinate data, the structure coordinate and motion characteristic analysis of the lock making machine tool is performed, and the structure coordinate-motion characteristic data of the lock making machine tool is generated.

[0090] In the embodiment of the present application, based on the component unit process function data and the structure three-dimensional space coordinate data, the trajectory of the moving component of the lock making machine tool is measured using a laser tracker, the measurement accuracy of the laser tracker is 0.005 mm, the measurement range is 0-30 m, the transmitting end of the tracker is fixed on a stable support beside the machine tool, and the reflecting target is installed on the moving part of the tool holder; according to the feeding movement function of the tool holder assembly in the process function data, the tool holder is controlled to move linearly along the X axis, Y axis and Z axis respectively, the movement distance is 500 mm, the movement speed is 100 mm / min, 200 mm / min and 300 mm / min, the movement is performed 3 times at each speed, the laser tracker records the space coordinates of the reflecting target in real time, the sampling interval is 0.01 seconds, and the actual movement trajectory of the tool holder is obtained; combined with the structure three-dimensional space coordinate data, the theoretical coordinates of the tool holder at each time are calculated, the deviation of the actual trajectory and the theoretical trajectory is compared, and the movement characteristics are analyzed; for the spindle assembly, according to the rotation function, the spindle is controlled to rotate at a speed of 1000 r / min, 2000 r / min and 3000 r / min, the actual speed is measured using a tachometer, the measurement accuracy of the tachometer is ±1 r / min, at the same time, the radial and axial vibrations of the spindle are measured using a vibration sensor, the measurement range of the sensor is 0-50 μm, the sampling frequency is 1000 Hz, and the continuous measurement time is 5 minutes; the structure coordinate parameters, movement trajectory deviation, speed fluctuation, vibration amplitude and other data of the component are integrated, the structure coordinate-movement characteristic data is generated, and the data includes the three-dimensional coordinates, movement speed, acceleration, trajectory deviation and vibration parameters of each component.

[0091] Further, the step S13 comprises the following steps:

[0092] Step S131: component process and unit movement path mapping processing of the lock making machine tool is performed based on the component unit process function data and the structure three-dimensional space coordinate data, and component process-unit movement path mapping data is generated;

[0093] Step S132: component position coordinate and space movement range analysis of the lock making machine tool is performed according to the component process-unit movement path mapping data, and component position coordinate-space movement range data is generated;

[0094] Step S133: component movement linkage characteristic analysis of the lock making machine tool is performed according to the component position coordinate-space movement range data, and component movement linkage characteristic data is generated;

[0095] Step S134: structure coordinate and movement characteristic analysis of the lock making machine tool is performed based on the component movement linkage characteristic data and the component position coordinate-space movement range data, and structure coordinate-movement characteristic data of the lock making machine tool is generated.

[0096] As an embodiment of the present application, refer to Figure 3As shown, Figure 2 The detailed process flow diagram of step S13 is shown in the figure. In this embodiment, step S13 includes the following steps:

[0097] Step S131: Based on the component unit process function data and the structure three-dimensional space coordinate data, the component process and unit motion path mapping processing of the lock making machine tool is performed to generate the component process-unit motion path mapping data.

[0098] In this embodiment, according to the component unit process function data and the structure three-dimensional space coordinate data, a motion path recorder is connected to the control system of the lock making machine tool, the sampling frequency of the recorder is 1000 Hz, and the motion signals of each component can be captured in real time; for the spindle assembly, according to its function in the drilling process, the motion trajectory of the spindle from the initial position to the drilling position is recorded, including the whole process of starting, accelerating, uniform speed, decelerating, and stopping, and at the same time, combined with the coordinate parameters of the spindle in the structure three-dimensional space coordinate data, the process steps at each time (such as drilling preparation, drilling execution, and drilling completion) are corresponded to the spatial position coordinates of the spindle; for the tool holder assembly, in the milling groove process, the feeding path of the tool holder along the X axis and the Y axis is recorded, and the cutting-in, cutting, and cutting-out process stages of the milling groove are one-to-one mapped with the motion coordinates of the tool holder, each mapping point contains the process name, time, and spatial coordinate value; for the workbench assembly, in the positioning process, the rotation and movement process of the workbench is recorded, and the process steps of coarse adjustment, fine adjustment, and locking of positioning are corresponded to the coordinate changes of the workbench, the machining process of three different lock parts (pin tumbler lock core, leaf tumbler lock core, and magnetic lock core) is continuously recorded, 5 complete processes of each part are recorded, and finally the component process-unit motion path mapping data is generated, which contains the motion path coordinate sequence of each component in different processes and the corresponding process stages.

[0099] Step S132: According to the component process-unit motion path mapping data, the component position coordinate and space motion range analysis of the lock making machine tool is performed to generate the component position coordinate-space motion range data.

[0100] In the embodiment of the present application, according to the component process-unit motion path mapping data, the coordinate values in the mapping data are extracted using a coordinate resolver, the resolution accuracy of the resolver is 0.001 mm, and the extreme coordinate points in the data can be identified; for the main shaft assembly, the maximum and minimum values of the X, Y, Z axis coordinates of the motion path in the drilling and reaming processes are extracted, and the spatial motion range of the main shaft is calculated, i.e. the X axis direction is from 50 mm to 550 mm, the Y axis direction is from 30 mm to 330 mm, and the Z axis direction is from 80 mm to 580 mm, and the starting position coordinates and the ending position coordinates of the main shaft in each process are recorded, such as the starting coordinates of the drilling process are (100 mm, 100 mm, 150 mm), and the ending coordinates are (100 mm, 100 mm, 100 mm); for the tool holder assembly, the motion coordinates in the slot milling and polishing processes are analyzed, the X axis motion range of the tool holder is determined to be from 60 mm to 560 mm, the Y axis motion range is from 40 mm to 340 mm, and the extreme position coordinates of the tool holder in each process are recorded; for the workbench assembly, the rotation angle range (0° to 90°) and the movement coordinate range in the positioning and clamping processes are analyzed, and the position coordinates and the spatial motion range of all components are sorted into a book, the component position coordinate-spatial motion range data is generated, and the data contains the coordinate extreme values, the process starting and ending coordinates, and the spatial motion boundary parameters of each component.

[0101] Step S133: analyzing the component motion linkage characteristics of the locking machine tool according to the component position coordinate-spatial motion range data, and generating component motion linkage characteristic data;

[0102] In the embodiment of the present application, according to the component position coordinate-space motion range data, the test instrument is connected to the driving motors of each motion axis of the machine tool, and the test instrument can simultaneously collect the motion parameters of X, Y, Z axes and the main shaft, and the sampling interval is 0.001 seconds; in the composite process of machining the plug lock core, the process includes the linkage process of the main shaft rotation drilling and the cutter holder feeding milling, the machine tool is started, the test instrument records the corresponding relationship that the cutter holder X axis feeding speed increases from 50 mm / min to 150 mm / min when the main shaft speed increases from 1000 r / min to 3000 r / min, calculates the motion phase difference of the two, and the result shows that the phase difference is stable within 0.02 seconds; in the process of machining the blade lock core, the linkage of the workbench rotation and the Z axis feeding is recorded, the workbench rotates every 15°, and the Z axis feeds 5 mm, the motion synchronization error of the two is measured, and the error value is controlled within 0.01 mm and 0.1°; 5 groups of tests are respectively carried out for different linkage combinations (the main shaft and the X axis, the cutter holder and the Y axis, the workbench and the Z axis), each test lasts for 10 minutes, the motion speed, displacement change and time difference of each component in the linkage process are recorded, the coordination and synchronization of the linkage are analyzed, and finally the component motion linkage characteristic data is generated, which includes the motion parameter corresponding relationship, the synchronization error value and the phase difference curve of different linkage combinations.

[0103] Step S134: Based on the component motion linkage characteristic data and the component position coordinate-space motion range data, the structure coordinates and motion characteristics of the lock making machine tool are analyzed, and the structure coordinate-motion characteristic data of the lock making machine tool is generated.

[0104] In the embodiment of the present application, based on the component motion linkage characteristic data and the component position coordinate-space motion range data, the actual positions of each component in the linkage motion are measured by using a three-dimensional coordinate measuring instrument, the measurement points cover the key motion parts of each component, each component has not less than 30 measurement points, and the measurement accuracy is 0.002 mm; when the main shaft and the cutter holder are linked to process, the spatial coordinates of the main shaft under different rotation speeds (1500 r / min, 2500 r / min, 3500 r / min) and different feeding speeds of the cutter holder (80 mm / min, 180 mm / min, 280 mm / min) are measured, and compared with the theoretical coordinates in the component position coordinate-space motion range data, the position deviation is obtained; combined with the synchronization error in the linkage characteristic data, the causes of the deviation are analyzed, such as the position deviation caused by the linkage phase difference; the motion speed and acceleration of the component are calculated by using the motion characteristic analyzer, according to the displacement change and time interval in the linkage process, the maximum acceleration of the main shaft is calculated as 500 mm / s 2 , and the maximum acceleration of the cutter holder is calculated as 300 mm / s 2At the same time, the motion stability of each component in linkage is analyzed, whether mutation exists is judged through the slope change of velocity change curve, 8 repeated measurements are carried out for each of the three different linkage conditions, the average value is taken, the actual position coordinates of the component, the motion range, the linkage error, the velocity and acceleration parameters are integrated, the structure coordinate-motion characteristic data is generated, and the data contains the three-dimensional coordinate measured values of each component, the motion parameters and the linkage characteristic analysis results.

[0105] Further, the step S2 comprises the following steps:

[0106] Step S21: according to the structure coordinate-process motion characteristic data of the lock making machine tool, the motion component unit identification of the lock making machine tool is carried out, and the motion component unit data is generated;

[0107] In the embodiment of the application, according to the structure coordinate-motion characteristic data, the motion components of the lock making machine tool are detected by using a motion component identifier, the instrument detects whether the components move by emitting ultrasonic waves of a specific frequency and receiving the frequency change of reflected waves, and the detection range covers all components of the machine tool; for the spindle assembly, according to the position change of the spindle in the structure coordinate and the rotating speed parameter of the spindle in the motion characteristic data, when the reflected frequency of the ultrasonic waves changes with time and the change rule is consistent with the rotating speed of the spindle, it is determined that the spindle is a motion component unit; for the tool holder assembly, according to the coordinate movement and speed parameter of the tool holder assembly in the X and Y axis directions, the reflected frequency of the ultrasonic waves presents a regular change corresponding to the feed speed, and it is determined that the tool holder is a motion component unit; for the workbench assembly, according to the rotating angle change and the movement coordinates, combined with the periodic change of the reflected wave frequency, it is identified as a motion component unit; for the bed body, support foot and other components, the reflected frequency of the ultrasonic waves does not change, and it is determined that they are fixed components; all the components are detected repeatedly for 3 times, each detection lasts for 2 hours, the name, structure coordinate range and motion parameter of the motion component are recorded, and finally the motion component unit data is generated, which contains the identification result of the motion component, the corresponding structure coordinate and motion characteristic parameter.

[0108] Step S22: according to the motion component unit data, the component unit transmission chain analysis of the lock making machine tool is carried out, and the component unit transmission chain data is generated;

[0109] In the embodiment of the present application, according to the motion component unit data, the transmission relationship between each motion component is analyzed using a transmission chain analyzer, which can measure the force transmission path and motion transmission direction between components, with a measurement accuracy of 0.01N and 0.1°; for the transmission relationship between the main shaft and the motor, by analyzing the speed change of the main shaft and the speed change of the motor output shaft, it is determined that the two are connected through belt transmission, the diameter of the belt pulley is measured, the diameter of the driving pulley is 50mm, the diameter of the driven pulley is 100mm, the transmission ratio is 1:2, and the model of the belt is recorded as A type with a length of 800mm; for the transmission of the tool holder and the servo motor, the feed motion of the tool holder is driven by the servo motor through the ball screw, the lead of the screw is measured as 10mm, the motor moves 10mm for each rotation, the coupling type between the screw and the motor output shaft is measured as a rigid coupling with a diameter of 30mm and a length of 50mm; for the rotary transmission of the workbench, the workbench is driven by the stepping motor through the gear set, the number of teeth of the driving gear is 20, the number of teeth of the driven gear is 60, the transmission ratio is 1:3, the modulus of the gear is measured as 2mm, and the tooth width is 20mm; the transmission connection mode, transmission ratio and transmission component parameters of all motion components are sorted to generate component unit transmission chain data, which contains the component, parameters and motion transmission relationship of each transmission chain.

[0110] Step S23: analyzing the component control unit of the locking machine tool according to the component unit transmission chain data to generate component control unit data;

[0111] In the embodiment of the present application, according to the component unit transmission chain data, the electrical control system of the machine tool is connected using a control unit detector, which can collect the input and output signals of each control module with a sampling frequency of 1000Hz; for the main shaft transmission chain, the module that controls the speed of the main shaft is a main shaft controller with a model of SP-200, which receives speed instruction signals from the operation panel, outputs voltage signals to control the main shaft motor, and the voltage range is 0-10V corresponding to the speed of 1000-5000r / min, and the response time of the controller is measured as 0.05 seconds; for the tool holder transmission chain, the feed controller with a model of FC-300 controls the tool holder feed, receives pulse signals to control the servo motor, the pulse frequency range is 100-1000Hz corresponding to the feed speed of 50-500mm / min, and the positioning accuracy of the controller is measured as 0.01mm; for the workbench transmission chain, the rotary controller with a model of RC-150 controls the rotation of the workbench, receives angle instruction signals, and outputs control signals to the stepping motor with a control accuracy of 0.5°; the connection lines of each control unit and the driving components in the transmission chain are detected, and the resistance values of the lines are recorded as less than 1Ω and the insulation resistance is greater than 10MΩ; the model, input and output parameters, response time and connection line parameters of the control unit are integrated to generate component control unit data, which contains the detailed parameters of each control unit and the connection relationship with the transmission chain.

[0112] Step S24: Based on the component control unit data and the component unit transmission chain data, the motion freedom and driving mode of the locking machine tool are analyzed, and the motion freedom-driving mode data of the locking machine tool is generated.

[0113] In the embodiment of the present application, based on the component control unit data and the component unit transmission chain data, the locking machine tool is detected by using a motion freedom detector. The instrument measures the movable direction of the component by applying a specific force value (range 0-500N), with an accuracy of 0.01mm; according to the rotation transmission of the main shaft and the X, Y, Z axis feeding transmission of the tool holder in the transmission chain data, it is detected that the main shaft can rotate around the Z axis, the tool holder can move linearly along the X, Y, Z axes, the workbench can rotate around the Y axis, a total of 5 independent motion directions, and it is determined that the motion freedom is 5; for the driving mode, combined with the control unit data, the main shaft is driven by an AC servo motor with model M-1500, rated power 1.5kW, rated speed 3000r / min, which drives the main shaft to rotate through belt transmission; the X, Y, Z axes of the tool holder are respectively driven by servo motors with model S-800, rated power 0.75kW, which realizes feeding through ball screw transmission; the workbench is driven by a stepping motor with model B-500, rated power 0.5kW, which realizes rotation through gear transmission; the driving voltage of each motor is measured as 380V, the current range is 5-10A, the transmission component efficiency, the belt transmission efficiency is 92%, the ball screw transmission efficiency is 95%, and the gear transmission efficiency is 90%; the motion freedom number, direction and parameters of each driving component are integrated to generate the motion freedom-driving mode data, which contains the specific direction of the motion freedom, the driving motor model, the transmission mode and the efficiency parameters.

[0114] Further, step S24 includes the following steps:

[0115] Step S241: According to the component unit transmission chain data, the axial driving direction of each component unit of the locking machine tool is identified, and the axial driving direction data of each component unit is generated;

[0116] In the embodiment of the present application, according to the component unit transmission chain data, each component unit is detected by using an axial direction identifier, which is equipped with a three-dimensional force sensor and can measure the force change of the component in the X, Y and Z axial directions, and the measurement accuracy is 0.01N; for the main shaft assembly, according to the belt transmission relationship between the main shaft and the motor in the transmission chain data, the main shaft motor is started, when the main shaft rotates, the three-dimensional force sensor detects that there is a rotating torque in the Z axial direction of the main shaft, and the force in other directions is zero, it is determined that the axial driving direction of the main shaft is rotation around the Z axis; for the tool holder assembly, based on the transmission relationship of the ball screw in the transmission chain, when the tool holder is driven to move along the X axis, the sensor detects a continuous driving force in the X axial direction, and the forces in the Y and Z axial directions are zero, and similarly, when the tool holder is driven to move along the Y and Z axes, driving forces are detected in the corresponding axial directions respectively, it is determined that the axial driving direction of the tool holder is the straight line direction of the X, Y and Z axes; for the workbench assembly, according to the gear set transmission relationship, the stepping motor is started, and the sensor detects a rotating torque in the Y axial direction, it is determined that the axial driving direction of the workbench is rotation around the Y axis; each component unit is detected for 5 times, each detection lasts for 10 minutes, the axial driving direction of each component unit and the force peak value of the corresponding shaft are recorded, the axial driving direction data of each component unit is generated, and the data includes the component unit name, the axial driving direction and the force parameter.

[0117] Step S242: According to the component control unit data, the driving device and control logic analysis of the locking machine tool are carried out, and driving device-control logic configuration data is generated;

[0118] In the embodiment of the present application, according to the component control unit data, the control unit of the machine tool is connected with the driving device using the driving control analyzer, the analyzer can collect the corresponding relationship between the control signal and the driving action, the sampling frequency is 2000 Hz; for the spindle driving device, the control unit is SP-200 spindle controller, when the controller inputs 1V voltage signal, the spindle motor speed in the driving device is 1000 r / min, when inputting 5V, the speed is 3000 r / min, when inputting 10V, the speed is 5000 r / min, the linear corresponding relationship between the control signal and the speed is recorded, the control logic is that the voltage signal increases, and the speed increases in proportion; for the tool rest driving device, when the FC-300 feeding controller receives 100 Hz pulse signal, the tool rest feeding speed is 50 mm / min, when receiving 500 Hz, the speed is 250 mm / min, when receiving 1000 Hz, the speed is 500 mm / min, the control logic is that the pulse frequency is proportional to the feeding speed; for the workbench driving device, the RC-150 rotation controller receives the angle instruction signal, when the instruction is 10°, the workbench rotates 10°, when the instruction is 30°, the workbench rotates 30°, the control logic is that the instruction angle is consistent with the rotation angle; the corresponding relationship between the control signal and the driving action under 3 different working conditions is detected, each detection lasts for 1 hour, the driving device-control logic configuration data is generated, the data includes the driving device model, the control signal parameter, the driving action parameter and the control logic relationship.

[0119] Step S243: according to the driving device-control logic configuration data, the component driving coupling and constraint analysis of the locking machine tool is carried out, and the component driving coupling-constraint data is generated;

[0120] In the embodiment of the present application, according to the drive device-control logic configuration data, the coupling constraint detector is used to detect the driving process of each component. The instrument can measure the displacement change and the interaction of force when multiple components move simultaneously, and the measurement accuracy is 0.001 mm and 0.01 N. When the tool holder moves along the X-axis and the spindle simultaneously, it is detected that the X-axis displacement of the tool holder and the rotation angle of the spindle have no mutual influence, the force transmission path is independent, and it is determined that there is no driving coupling between the two. When the tool holder moves along the X-axis and the Y-axis simultaneously, the change of X-axis displacement will cause an additional displacement of 0.002 mm in the Y-axis direction, and the driving force of the Y-axis will cause an additional force of 0.05 N in the X-axis direction, which is determined to exist weak coupling, and the constraint condition is that the sum of the movement speed of the X-axis and the Y-axis is not more than 600 mm / min. When the workbench rotates and the tool holder moves along the Z-axis, the rotation of the workbench by 10° will cause a displacement deviation of 0.003 mm in the Z-axis direction of the tool holder, which is determined to exist coupling, and the constraint condition is that when the rotation speed of the workbench is not more than 5° / s, the feed speed of the Z-axis of the tool holder is not more than 200 mm / min. All possible component driving combinations are detected for 5 times, each detection lasts for 30 minutes, the coupling condition and the constraint parameter are recorded, the component driving coupling-constraint data is generated, and the data includes the driving combination, the coupling degree and the constraint condition.

[0121] Step S244: Based on the component driving coupling-constraint data and the axial driving direction data of each component unit, the motion freedom and driving mode analysis of the lock making machine tool is performed, and the motion freedom-driving mode data of the lock making machine tool is generated.

[0122] In the embodiment of the present application, based on the coupling-constraint data of the components and the axial driving direction data of each component unit, comprehensive analysis is performed using a degree-of-freedom analysis system which can integrate the axial direction data and the coupling-constraint data and calculate the number of independent motion directions; according to the axial driving direction data, there are five directions, i.e., the spindle around the Z axis, the tool holder along the X axis, the Y axis and the Z axis, and the worktable around the Y axis, and in combination with the coupling-constraint data, the weak coupling between the X axis and the Y axis of the tool holder does not affect the independent directions, and the coupling between the worktable and the Z axis of the tool holder also does not reduce the independent directions, so it is determined that the motion degrees of freedom are five; in view of the driving modes and in combination with the axial driving directions, the spindle is rotated around the Z axis by a M-1500 AC servo motor through belt transmission, the X axis, the Y axis and the Z axis of the tool holder are respectively driven by S-800 servo motors through ball screws, and the worktable is rotated around the Y axis by a B-500 stepping motor through gear transmission; according to the coupling-constraint data, the parameters of each driving device are set, the spindle speed is 1000-5000 r / min, the feeding speed of the X axis and the Y axis of the tool holder is 50-300 mm / min and the sum is ≤600 mm / min, the feeding speed of the Z axis is 50-200 mm / min, and the rotation speed of the worktable is 0-5° / s; 10 running tests are performed on each driving mode, each test lasts for 1 hour, the motion stability and the parameter compliance are recorded, the motion degrees of freedom-driving mode data are generated, and the data include the specific directions of the five motion degrees of freedom, the types of each driving device, the transmission modes, the parameter ranges and the constraint conditions.

[0123] Further, the step S3 comprises the following steps:

[0124] Step S31: performing tool and workpiece motion chain path analysis according to the motion degrees of freedom-driving mode data of the locking machine tool to generate tool-workpiece motion chain path data;

[0125] In the embodiment of the present application, according to the motion degree of freedom-driving mode data, the motion path of the tool and the workpiece is analyzed by using a motion chain path analyzer. The analyzer can be connected to the driving control system of the machine tool to collect the motion parameters of each axis in real time, and the sampling frequency is 1000 Hz. The tool is installed on the tool holder and has X, Y and Z linear motion degrees of freedom. The driving mode is S-800 servo motor through ball screw transmission. The workpiece is fixed on the workbench, and the workbench has a rotation degree of freedom around the Y axis. The driving mode is B-500 step motor through gear transmission. The machine tool is started, the whole process of machining the plug lock core is simulated, the motion trajectory of the tool from the initial position (X=100 mm, Y=100 mm, Z=200 mm) to the drilling position (X=200 mm, Y=150 mm, Z=150 mm) is recorded, which includes the process of moving the X axis by 100 mm, moving the Y axis by 50 mm, and moving the Z axis by 50 mm. At the same time, the motion path of the workbench from 0° to 30° is recorded. The motion transmission relationship between the tool and the workpiece is analyzed. The motion of the tool is controlled by the X, Y and Z axis driving chain, the motion of the workpiece is controlled by the workbench rotation driving chain, and the two are related through the coordinate system of the machine tool. The motion chain path includes the motion sequence, displacement and speed change of each driving axis. The machining processes of three different lock parts are analyzed. The motion chain path data of each part is recorded for 10 times, each time for 5 minutes, the tool-workpiece motion chain path data is generated, and the data includes the composition of the motion chain, the motion parameters of each link, and the relative path relationship between the tool and the workpiece.

[0126] Step S32: detecting the dynamic displacement of the tool and the workpiece of the lock making machine tool according to the tool-workpiece motion chain path data, and generating tool-workpiece dynamic displacement data;

[0127] In the embodiment of the present application, according to the tool-workpiece kinematic chain path data, the real-time displacement of the tool and the workpiece is measured by using a dynamic displacement detector, which comprises a laser displacement sensor and a rotary encoder, the linear displacement precision of the laser sensor is 0.001 mm, and the rotary angle precision of the encoder is 0.01°; the laser displacement sensor is installed on the non-moving part of the tool holder and the worktable respectively, the laser beam is aligned with the handle of the tool and the positioning reference surface of the workpiece, and the encoder is installed on the rotary shaft of the worktable; the machine tool is started to run according to the kinematic chain path data, when the tool moves along the X axis at a speed of 100 mm / min, the laser sensor records the X axis displacement of the tool every 0.01 second, and the encoder records the rotary angle of the worktable at the same time, when the worktable rotates at a speed of 2° / s, the angle change of the workpiece is recorded synchronously; in the process of the compound motion of the Y axis and Z axis motion of the tool and the rotation of the worktable, the displacement data is continuously collected, including the instantaneous position of the tool in each axis and the rotary angle of the workpiece, when the tool moves to the path end point, the displacement deviation value is recorded, the X axis deviation is ≤0.003 mm, the Y axis deviation is ≤0.002 mm, the Z axis deviation is ≤0.002 mm, and the worktable rotary angle deviation is ≤0.05°; 5 different combinations of motion parameters are tested, each test lasts for 10 minutes, the tool-workpiece dynamic displacement data is generated, and the data includes the instantaneous displacement of the tool in the X, Y and Z axes, the rotary angle of the workpiece and the deviation value of each parameter.

[0128] Step S33: According to the tool-workpiece dynamic displacement data, the workpiece manufacturing timing and spatial form change detection of the lock making machine is carried out, and the workpiece manufacturing timing-spatial form change data is generated.

[0129] In the embodiment of the present application, according to the tool-workpiece dynamic displacement data, the manufacturing process of the workpiece is monitored by using a timing form detector, which is equipped with a high-speed camera and a three-dimensional scanner, the frame rate of the camera is 500 frames / s, and the scanning accuracy is 0.01 mm; the high-speed camera is aligned with the machining area of the workpiece, and records the whole process from the blank to the finished product, one frame of image is intercepted every 1 second, and the contour of the workpiece at different times is marked out, for example, the workpiece is a cylindrical body with a diameter of 20 mm at the beginning of machining, a 5 mm diameter drill hole appears at X=150 mm after 10 seconds, and a 3 mm wide groove appears in the Y direction after 20 seconds; the three-dimensional scanner scans the workpiece every 30 seconds during the machining process, and obtains the three-dimensional form data of the workpiece, compares the results of the adjacent two scans, and calculates the change amount of the volume and the difference of the surface form of the workpiece, for example, the initial volume is 10000 mm 3 , and the volume after machining is 8000 mm 3, the surface roughness is reduced from Ra3.2 μm to Ra1.6 μm; by combining the time parameter in the dynamic displacement data, the morphological changes of the workpiece are corresponded to the displacement time sequence of the tool, such as when the tool is displaced to 140 mm in the Z axis, the workpiece surface starts to form a chamfer; the workpieces of two different materials (brass and low carbon steel) are detected, 5 complete machining processes are recorded for each material, each process lasts for 30 minutes, and the workpiece time sequence-space morphological change data is generated, which includes time nodes, three-dimensional morphological parameters of the workpiece, and the corresponding relationship between morphological changes and tool displacement.

[0130] Step S34: based on the tool-workpiece dynamic displacement data and the workpiece time sequence-space morphological change data, the relative displacement detection of the tool and the workpiece of the lock making machine tool is performed, and the tool-workpiece relative displacement data of the lock making machine tool is generated.

[0131] In the embodiment of the present application, based on the tool-workpiece dynamic displacement data and the workpiece time sequence-space morphological change data, a relative displacement calculator is used for data integration and analysis. The instrument can input the absolute displacement data of the tool and the workpiece, automatically calculate the relative displacement, and the calculation accuracy is 0.0001 mm; the instantaneous coordinates (X1, Y1, Z1) of the tool in the X, Y, Z axes and the rotation angle θ of the workpiece are extracted from the dynamic displacement data; according to the spatial morphological data of the workpiece, the absolute coordinates (X2, Y2, Z2) of a certain feature point (such as the center of the drill hole) on the workpiece are determined, which are updated with the morphological changes of the workpiece, such as the decrease of Z2 value when the drill hole depth increases; through coordinate system conversion, the coordinates of the workpiece feature point are converted to the tool coordinate system, the relative displacement of the tool and the workpiece feature point in the X direction is X1-X2, in the Y direction is Y1-Y2, and in the Z direction is Z1-Z2, and the influence of the workbench rotation angle θ on the Y and Z coordinates is considered for trigonometric correction; during the process of tool cutting workpiece, the relative displacement is calculated once every 0.001 seconds, when the tool feed speed is 50 mm / min, the change rate of the relative displacement is stabilized at 0.0083 mm / s, and when the cutting is completed, the relative displacement reaches the set value (such as 10 mm in the Z direction when the drill hole depth is 10 mm); 10 groups of different machining conditions are calculated, each group lasts for 15 minutes, and the tool-workpiece relative displacement data is generated, which includes the relative displacement value, the change rate and the corresponding relationship with the morphological changes of the workpiece at each time.

[0132] Further, step S4 includes the following steps:

[0133] Step S41: based on the tool-workpiece relative displacement data of the lock making machine tool, the cutting region posture and machining angle of the tool and the workpiece of the lock making machine tool are analyzed, and the cutting region posture-machining angle data is generated;

[0134] In the embodiment of the present application, according to the tool-workpiece relative displacement data, a three-dimensional posture measuring instrument is used to detect the cutting area, the instrument is composed of six laser ranging sensors, which are distributed around the machining area, the measurement accuracy is 0.001 mm, and the sampling frequency is 500 Hz; the measurement points of the sensors are aligned with the area where the cutting edge of the tool contacts the workpiece, when the tool feeds along the X axis at a speed of 80 mm / min, the spatial coordinates (X c ,Y c ,Z c ) of the cutting edge of the tool and the normal vector coordinates (N x ,N y ,N z ) of the machined surface of the workpiece are recorded in real time, the machining angle is obtained by calculating the included angle between the cutting edge coordinates and the normal vector of the workpiece surface, for example, when drilling, the tool axis is perpendicular to the workpiece surface, the machining angle is 90°, and when milling a groove, the tool and the workpiece surface form a 45° angle; the posture of the cutting area is analyzed, when the tool feeds downward along the Z axis, the posture of the cutting area changes with the tool position, at Z=150 mm, the center point coordinates of the cutting area are (200 mm, 150 mm, 150 mm), and the posture parameters are 5° tilt around the X axis and 3° tilt around the Y axis; the drilling, milling and chamfering processes of the plug lock core are measured respectively, each process lasts for 15 minutes, 500 groups of cutting area posture and machining angle data are recorded, the cutting area posture-machining angle data is generated, and the data includes the center point coordinates of the cutting area, the tilt angle of the posture, the machining angle and the corresponding relative displacement parameters.

[0135] Step S42: tool and workpiece multi-axis cutting force component calculation of the lock making machine is performed according to the cutting area posture-machining angle data, and tool-workpiece multi-axis cutting force component data is generated;

[0136] In the embodiment of the present application, according to the cutting area posture-machining angle data, a multi-axis cutting force meter is used to calculate the force component, the instrument is built-in with a three-dimensional force sensor, which can measure the cutting force in the X, Y and Z axis directions, the measurement range is 0-500 N, and the accuracy is 0.01 N; the force sensor is installed at the connection part of the tool handle and the tool holder, so as to ensure that the measurement axis of the sensor is consistent with the machine tool coordinate system, and the cutting force component calculation formulas of each axis are as follows: X axis component F x =f 总 ×sinα×cosβ, Y axis component F y =F 总 ×sinβ, and Z axis component F z =F 总 ×cosα×cosβ, wherein F 总For the total cutting force, α is the machining angle (the angle between the tool axis and the workpiece surface), and β is the attitude tilt angle (the tilt angle of the cutting area around the Y axis); when the tool drills with a machining angle of 90°, the machining angle α = 90°, and the attitude tilt angle β = 0°, substituting the formula gives the X-axis component F x = 0 N, the Y-axis component F y = 0 N, and the Z-axis component F z = 300 N; when the tool mills a groove with a machining angle of 45°, the machining angle α = 45°, and the attitude tilt angle β = 5°, substituting the formula gives the X-axis component F x ≈ 105 N, the Y-axis component F y ≈ 13 N, and the Z-axis component F z ≈ 105 N; tests are performed on different combinations of machining angles (30°, 60°, and 90°) and cutting speeds (50 mm / min, 100 mm / min, and 150 mm / min), each group of tests lasts for 20 minutes, the cutting force component values of each axis are recorded, and tool-workpiece multi-axis cutting force component data are generated, which include the X, Y, and Z-axis cutting force sizes and corresponding machining angles and attitude parameters.

[0137] Step S43: Perform cutting force and trajectory response dynamic analysis on the locking machine tool according to the tool-workpiece multi-axis cutting force component data, and generate cutting force-trail response dynamic data of the locking machine tool.

[0138] In the embodiment of the present application, the tool-workpiece multi-axis cutting force component data are analyzed using a dynamic response analyzer, which can receive cutting force data and relative displacement data, and the analysis frequency range is 0-1000 Hz; the cutting force components of the X, Y, and Z axes are input into the analyzer, and the relative displacement change curve of the tool-workpiece is also input; when the Z-axis cutting force increases from 200 N to 300 N, the response change of the tool trajectory is analyzed, the time domain signal is converted into a frequency domain signal through Fourier transform, the resonance frequency of the trajectory response is 250 Hz, and the amplitude is 0.002 mm; the transfer function of the cutting force and the trajectory response is calculated, when the X-axis cutting force changes with an amplitude of 100 N and a frequency of 50 Hz, the amplitude of the trajectory response is 0.0015 mm, and the phase difference is 10°; tests are performed on different combinations of cutting force sizes (100 N, 200 N, and 300 N) and change frequencies (50 Hz, 100 Hz, and 150 Hz), each group of tests lasts for 30 minutes, the frequency spectrum characteristics of the cutting force and the amplitude, frequency parameters of the trajectory response are recorded, and cutting force-trail response dynamic data are generated, which include the frequency components of the cutting force, the resonance parameters of the trajectory response, and the transfer function relationship between the two.

[0139] Further, step S42 includes the following steps:

[0140] Step S421: According to the cutting region posture-machining angle data, the normal force and force projection angle of the tool and workpiece contact surface of the locking machine tool are identified, and tool-workpiece contact surface normal force and force projection angle data are generated;

[0141] In the embodiment of the application, according to the cutting region posture-machining angle data, the tool and workpiece contact surface are measured using a normal force detector. The instrument contains four miniature pressure sensors integrated near the tool cutting edge, with a measurement accuracy of 0.01 N and an angle measurement error of ≤0.1°. When the tool drills at a machining angle of 90°, the sensor detects that the normal force of the contact surface is perpendicular to the workpiece surface, with a size of 280 N, and the force projection angle is consistent with the machining angle, which is 90°. When milling a groove at a machining angle of 45°, the normal force direction is along the normal direction of the workpiece surface, with a size of 180 N. By calculating the angle between the normal force and the X, Y, Z axes of the machine tool, the force projection angle is obtained, wherein the angle with the X axis is 45°, the angle with the Z axis is 45°, and the angle with the Y axis is 90°. The working conditions of tilting 5° around the X axis and 3° around the Y axis in the cutting region posture are measured, the normal force size is 220 N, and the force projection angle is adjusted accordingly to 40° with the X axis, 87° with the Y axis, and 50° with the Z axis. Test three machining angles (30°, 60°, 90°) and two posture parameter combinations, measure 200 groups of data for each combination, each group lasts for 10 seconds, generate tool-workpiece contact surface normal force and force projection angle data, and the data includes normal force size, axis projection angle, and corresponding cutting region posture parameters.

[0142] Step S422: According to the tool-workpiece contact surface normal force and force projection angle data, the tool and workpiece cutting area stress distribution of the locking machine tool is calculated, and tool-workpiece cutting contact pressure distribution data is generated;

[0143] In the embodiment of the application, according to the tool-workpiece contact surface normal force and force projection angle data, a stress distribution calculator is used for analysis. The instrument can input contact area parameters and normal force data, and the calculation accuracy is 0.01 MPa. The contact area between the tool cutting edge and the workpiece is measured by a microscope. The contact area is 2mm 2 when drilling, and 3mm 2 when milling a groove. When the normal force is 280 N and the contact area is 2mm 2 , the calculated cutting contact pressure is 140 MPa, and the pressure distribution is center-symmetric, with a center area pressure 10 MPa higher than the edge. When the normal force is 180 N and the contact area is 3mm 2When the milling slot, the pressure is 60 MPa, due to the different length of the tool and the workpiece contact during milling, the pressure distribution gradually decreases along the cutting direction, the front end pressure is 65 MPa, and the rear end pressure is 55 MPa; in combination with the stress projection angle, the pressure is decomposed into each axis direction, the X-axis direction pressure component is 60 MPa x cos 45°≈42.4 MPa under the 45° projection angle, and the Z-axis direction is also 42.4 MPa; 5 different normal force and contact area combinations are calculated, 30 groups of data are analyzed for each combination, the tool-workpiece cutting contact pressure distribution data is generated, and the data includes contact pressure size, distribution rule and each axis pressure component.

[0144] Step S423: According to the tool-workpiece cutting contact pressure distribution data, the tool each axis force and workpiece displacement coupling characteristic analysis of the locking machine tool is carried out, and the tool each axis force-workpiece displacement coupling characteristic data is generated;

[0145] In the embodiment of the application, according to the tool-workpiece cutting contact pressure distribution data, a coupling characteristic analyzer is used for analysis, the instrument can associate the pressure distribution data and the workpiece displacement data, the sampling frequency is 500 Hz, and the displacement measurement accuracy is 0.001 mm; when the tool X-axis direction pressure component is 42.4 MPa, the workpiece generates 0.003 mm displacement in the X-axis direction, and the displacement increases by 0.0007 mm when the pressure increases by 10 MPa; when the Z-axis pressure component is 42.4 MPa, the workpiece Z-axis displacement is 0.0025 mm, and the pressure and displacement are in a linear relationship; when the X-axis and Z-axis exist pressure at the same time, the X-axis 42.4 MPa and the Z-axis 42.4 MPa jointly act, the workpiece X-axis displacement is 0.0032 mm, the Z-axis displacement is 0.0027 mm, and there is a coupling displacement of 0.0002 mm; the pressure range is 20-150 MPa, the single-axis and double-axis pressure combinations are tested, each combination lasts for 15 minutes, the corresponding relationship between the pressure change and the displacement change is recorded, and the tool each axis force-workpiece displacement coupling characteristic data is generated, which includes the size of each axis force, the corresponding displacement and the coupling displacement value.

[0146] Step S424: According to the tool each axis force-workpiece displacement coupling characteristic data, the tool and workpiece multi-axis cutting force component calculation of the locking machine tool is carried out, and the tool-workpiece multi-axis cutting force component data is generated.

[0147] In the embodiment of the application, according to the tool each axis force-workpiece displacement coupling characteristic data, a multi-axis force component calculator is used for calculation, the calculator can input the coupling characteristic parameters and the normal force data, and the calculation error is ≤0.1 N; the formula for calculating each axis cutting force component is as follows: F x =F x cos θ x +K x x, F y =F x cos θ y +K y×Δy, F z =F×cosθ z +K z ×Δz, where F is the normal force (in N) at the contact surface between the tool and the workpiece, θ x θ y θ z Kx and Kz are the projection angles (in degrees) of the normal force along the x, y, and z axes, respectively. y K z θ represents the coupling stiffness coefficients (in N / mm) for the x, y, and z axes, respectively, used to quantify the influence of displacement on force. Δx, Δy, and Δz represent the displacement deviations (in mm) caused by the coupling effect on the x, y, and z axes, respectively. When the normal force is 280 N and the force projection angle is 90°, θ x =90°, θ y =90°, θ z =0°, Kx = K y =K z =0 N / mm, Δx = Δy = Δz = 0 mm, substituting into the formula, we get the x-axis component F. x =280N×cos90°+0×0=0N, y-axis component F y =280N×cos90°+0×0=0N, z-axis component F z =280N×cos0°+0×0=280N; When the normal force is 180N, the x-axis projection angle is 45°, the z-axis projection angle is 45°, and the y-axis projection angle is 90°, Kx=1N / mm, K z = 1 N / mm, K y =0 N / mm, Δx = 0.2 mm, Δz = 0.1 mm, Δy = 0 mm, substituting into the formula, we get the x-axis component F. x =180N×cos45°+1×0.2=127.3N+0.2N=127.5N, z-axis component F z =180N×cos45°+1×0.1=127.3N+0.1N=127.4N, y-axis component F y =180N×cos90°+0×0=0N; Calculations are performed for different combinations of normal force (100N-300N) and projection angle (0°-90°). Each combination is verified 30 times, and each time the displacement coupling value is corrected in combination with the actual measured value. The tool-workpiece multi-axis cutting force component data is generated. The data includes the x, y, and z axis cutting force components and correction values, as well as the corresponding normal force and projection angle parameters.

[0148] Furthermore, step S43 includes the following steps:

[0149] Step S431: tool and workpiece rigidity attenuation analysis of the locking machine tool is performed according to the tool-workpiece multi-axis cutting force component data, and tool-workpiece rigidity attenuation data is generated;

[0150] In the embodiment of the application, the rigidity change of the tool and the workpiece is detected by using a rigidity attenuation tester according to the tool-workpiece multi-axis cutting force component data. The tester includes a dynamic force loading device and a displacement sensor, the force loading accuracy is 0.1 N, and the displacement measurement accuracy is 0.0001 mm. The tool is installed on a tool holder, and the workpiece is fixed on a worktable. The tool is subjected to a cutting force of 100 N, 200 N and 300 N in the X-axis direction, and the displacement of the tool before and after continuous machining for 1 hour is measured. The displacement under the action of 100 N at the initial time is 0.01 mm, the displacement under the action of the same force after 1 hour is 0.012 mm, and the rigidity attenuation is 0.002 mm. The same force value is applied in the Z-axis direction, the displacement under the action of 300 N at the initial time is 0.015 mm, the displacement after 1 hour is 0.018 mm, and the rigidity attenuation is 0.003 mm. Under the action of the double-axis force, the X-axis 200 N and the Z-axis 200 N jointly act, the initial displacement is 0.02 mm, the displacement after 1 hour is 0.023 mm, and the rigidity attenuation is 0.003 mm. Different combinations of cutting force size (50 N-350 N) and machining time (0.5 hours, 1 hour and 2 hours) are tested, each combination is measured for 30 times, tool-workpiece rigidity attenuation data is generated, and the data includes the force value of each axis, the machining time, the initial displacement, the displacement after attenuation, and the rigidity attenuation.

[0151] Step S432: tool and workpiece cutting trajectory damping change analysis of the locking machine tool is performed according to the tool-workpiece rigidity attenuation data, and tool-workpiece cutting trajectory damping change data is generated;

[0152] In the embodiment of the present application, according to the tool-workpiece rigidity attenuation data, the trajectory damping analysis is carried out using a damping variation analyzer, which can input the rigidity attenuation parameters and trajectory data, and the analysis accuracy is 0.001 Ns / m; the damping coefficient of the initial cutting trajectory of the tool is measured by a free vibration method, the X-axis is 500 Ns / m, and the Z-axis is 600 Ns / m; when the X-axis rigidity attenuation is 0.002 mm, the vibration attenuation time of the tool in the X-axis direction is measured from the amplitude of 0.1 mm to 0.01 mm, and the initial attenuation time is 2 seconds, and the attenuation time is 2.5 seconds, and the damping coefficient is calculated to be reduced to 400 Ns / m; when the Z-axis rigidity attenuation is 0.003 mm, the vibration attenuation time is extended from 2 seconds to 3 seconds, and the damping coefficient is reduced from 600 Ns / m to 400 Ns / m; in the case of double-axis rigidity attenuation, the damping coefficients of the X-axis and the Z-axis are reduced to 420 Ns / m and 410 Ns / m respectively, and the trajectory damping presents uneven change; the rigidity attenuation range of 0.001 mm-0.005 mm is tested, each attenuation corresponds to three vibration frequencies (50 Hz, 100 Hz, 150 Hz), the tool-workpiece cutting trajectory damping variation data is generated, and the data includes rigidity attenuation, damping coefficient of each axis, vibration attenuation time and corresponding trajectory parameters.

[0153] Step S433: Based on the tool-workpiece cutting trajectory damping variation data, the tool-workpiece multi-axis cutting force component data is subjected to the cutting force and trajectory response dynamic analysis of the lock-making machine tool, and the cutting force- trajectory response dynamic data of the lock-making machine tool is generated.

[0154] In the embodiment of the present application, based on the tool-workpiece cutting trajectory damping variation data, combined with the tool-workpiece multi-axis cutting force component data, a dynamic response analysis system is used for comprehensive analysis, which can integrate the cutting force and damping parameters, the analysis frequency range is 0-500 Hz, and the response measurement accuracy is 0.001 mm; when the X-axis 150N cutting force and the damping coefficient 400 Ns / m are input into the system, the analysis shows that the trajectory response amplitude is 0.05 mm, and the resonance frequency is 120 Hz; when the Z-axis 200N cutting force and the damping coefficient 400 Ns / m are input into the system, the analysis shows that the trajectory response amplitude is 0.06 mm, and the resonance frequency is 150 Hz; when the X-axis 150N and the Z-axis 200N jointly act, the damping coefficients are 420 Ns / m and 410 Ns / m respectively, the trajectory response amplitude is 0.07 mm, the resonance frequency is 130 Hz, and there is a frequency coupling phenomenon; the combination of the cutting force 50N-300N and the damping coefficient 300 Ns / m-600 Ns / m is tested, each combination lasts for 20 minutes, the cutting force spectrum, the trajectory response amplitude and the resonance frequency are recorded, the cutting force- trajectory response dynamic data is generated, and the data includes the cutting force component, the damping coefficient, the trajectory response amplitude, the resonance frequency and the coupling characteristic parameters.

[0155] Further, step S5 comprises the following steps:

[0156] Step S51: detecting the operation resonance parameter data of the locking machine tool by the sensor, and extracting the resonance characteristic frequency of the locking machine tool according to the operation resonance parameter data to generate the resonance characteristic frequency data of the locking machine tool;

[0157] In the embodiment of the present application, one vibration sensor is installed at each of the four key positions of the locking machine tool, i.e. the bed, the spindle box, the tool holder and the worktable. The measurement frequency range of the sensor is 10-1000 Hz, and the measurement accuracy is 0.001 g. The machine tool is started, and the spindle is operated at a speed of 500 r / min, 1000 r / min, 1500 r / min, 2000 r / min, 2500 r / min and 3000 r / min respectively, each speed lasting for 10 minutes. The vibration acceleration data of each position is collected by the sensor in real time. The collected vibration data is input into a spectrum analyzer, and the time domain signal is converted into a frequency domain signal by Fourier transform. It is analyzed that the bed has vibration peaks at 120 Hz and 250 Hz, the spindle box has peaks at 150 Hz and 300 Hz, the tool holder has peaks at 180 Hz and 350 Hz, and the worktable has peaks at 200 Hz and 400 Hz. These peak frequencies are verified. The machine tool is continuously operated at each peak frequency for 5 minutes. The vibration amplitude of each peak frequency is more than 1.5 times of that of other frequencies. It is determined that the peak frequency is the resonance characteristic frequency. The resonance characteristic frequencies of each position are integrated to generate the resonance characteristic frequency data of the locking machine tool. The data contains the resonance frequency values, corresponding speeds and vibration amplitudes of each position.

[0158] Step S52: analyzing the tool and workpiece vibration stress response of the locking machine tool according to the cutting force-track response dynamic data of the locking machine tool to generate tool-workpiece vibration stress response data;

[0159] In the embodiment of the present application, according to the cutting force-track response dynamic data, analysis is performed using a vibration stress response analyzer, which can input the cutting force, track response parameters and material properties, and the calculation accuracy is 0.1 MPa; the known tool material is high-speed steel, the elastic modulus is 210 GPa, the Poisson's ratio is 0.3, the workpiece material is brass, the elastic modulus is 90 GPa, and the Poisson's ratio is 0.35; when the X-axis 150 N cutting force and the track response amplitude is 0.05 mm, the calculated tool vibration stress is 80 MPa, and the workpiece vibration stress is 30 MPa; when the Z-axis 200 N cutting force and the track response amplitude is 0.06 mm, the tool vibration stress is 100 MPa, and the workpiece vibration stress is 40 MPa; when the X-axis and Z-axis cutting forces act together, the maximum tool vibration stress is 120 MPa, and the workpiece stress is 50 MPa, and the stress is concentrated on the tool cutting edge and the workpiece machining surface edge; the combinations of cutting force 50 N-300 N and track response amplitude 0.01 mm-0.1 mm are tested, 20 groups of data are analyzed for each combination, the stress size, distribution area and change rule are recorded, the tool-workpiece vibration stress response data is generated, and the data includes the tool and workpiece vibration stress values, stress concentration positions and corresponding cutting force and track parameters.

[0160] Step S53: tool and workpiece stress accumulation and thermal displacement coupling processing of the locking machine tool is performed based on the resonance characteristic frequency data and the tool-workpiece vibration stress response data, and tool-workpiece stress accumulation and thermal displacement data is generated;

[0161] In the embodiment of the present application, based on the resonance characteristic frequency data and the tool-workpiece vibration stress response data, stress accumulation and thermal displacement coupling processing system is used for analysis, which can integrate resonance frequency and stress data, and the calculation accuracy is 0.001 mm; when the machine tool runs at 150 Hz resonance frequency for 1 hour, the tool vibration stress is 100 MPa, the accumulated stress value is 3.6*10^5 MPa·s, the temperature change due to frictional heat of the tool is measured, and the thermal displacement is 0.02 mm from room temperature 25℃ to 50℃; when the resonance frequency is 200 Hz and runs for 1 hour, the workpiece vibration stress is 50 MPa, the accumulated stress is 1.8*10^5 MPa·s, the temperature rises from 25℃ to 40℃, and the thermal displacement is 0.015 mm; when the resonance frequencies of 150 Hz and 200 Hz are alternately run, the tool accumulated stress is 4.5*10^5 MPa·s, the thermal displacement is 0.025 mm, the workpiece accumulated stress is 2.2*10^5 MPa·s, and the thermal displacement is 0.018 mm, and the stress accumulation and thermal displacement show coupled growth; combinations of three resonance frequencies and running time 1 hour-3 hours are tested, tool-workpiece stress accumulation and thermal displacement data is generated, and the data includes stress accumulation value, temperature change, thermal displacement amount and corresponding resonance frequency.

[0162] Step S54: Based on the tool-workpiece stress accumulation and heat-induced displacement data, the structural coordinate-motion characteristic data of the locking machine tool is processed to generate the structural and dynamic response path parameter fitting data of the locking machine tool.

[0163] In the embodiment of the present application, based on the tool-workpiece stress accumulation and heat-induced displacement data, combined with the structural coordinate-motion characteristic data, a parameter fitting system is used for processing, which can fit the relationship between the structural parameters and the dynamic response by the least square method, and the fitting error is ≤0.01 mm; the spindle position (X=200 mm, Y=150 mm, Z=100 mm) in the structural coordinate, the tool holder motion range (X=50 mm-550 mm, Y=50 mm-350 mm) and the stress accumulation and heat-induced displacement data are associated, when the tool heat-induced displacement is 0.02 mm, the corrected structural coordinate is (200.02 mm, 150 mm, 100 mm); the dynamic response path parameters include the stiffness coefficient and the damping coefficient, through fitting, the spindle stiffness coefficient is 5×10^5 N / m, the tool holder X-axis stiffness coefficient is 3×10^5 N / m, the damping coefficient has a linear relationship with the stress accumulation, and the damping coefficient decreases by 50 Ns / m for every increase of 1×10^5 MPa·s; 5 groups of different stress accumulation and heat-induced displacement data are fitted, each group lasts for 30 minutes, the structural-dynamic response path parameter fitting data is generated, and the data includes the corrected structural coordinate, the stiffness coefficient, the damping coefficient and the fitting error value.

[0164] Step S55: According to the structural-dynamic response path parameter fitting data of the locking machine tool, a dynamic model of the locking machine tool is constructed to generate the dynamic model data of the locking machine tool.

[0165] In the embodiment of the present application, according to the structural-dynamic response path parameter fitting data, a dynamic model construction system is used for modeling, which can integrate the structural parameters and the dynamic response parameters, and the model accuracy is 0.01 mm; the corrected structural coordinate is input into the system, the three-dimensional entity model of each component of the machine tool is established, the sizes of the bed, the spindle box, the tool holder and other components are set according to the fitting data; the dynamic parameters such as the stiffness coefficient and the damping coefficient are input, and the connection relationship and the motion constraint of each component are defined, such as the rotary pair of the spindle and the spindle box, and the moving pair of the tool holder and the guide rail; the resonance characteristic frequency is set as the excitation parameter of the model, the cutting force is set as the input load, and the trajectory response is set as the output parameter; the model is verified, the X-axis 150 N cutting force is input, the model outputs the trajectory response amplitude of 0.05 mm, and the deviation from the actual measured value is ≤0.002 mm; the model parameters are adjusted to the minimum error, and the dynamic model data of the locking machine tool is generated, which includes the structural parameters, the dynamic parameters, the excitation parameters and the verification results of the model.

[0166] Therefore, the embodiments should be regarded, at any point, as being exemplary and not limiting, the scope of the application being defined by the appended claims and not by the above description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

[0167] The foregoing is considered as illustrative only of the principles of the application. Numerous modifications and changes will readily occur to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Therefore, the application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for dynamic modeling and analysis of a lock-making machine tool, characterized in that, Includes the following steps: Step S1: Obtain lock-making machine tool data, analyze the structural coordinates and motion characteristics of the lock-making machine tool based on the lock-making machine tool data, and generate structural coordinate-motion characteristic data of the lock-making machine tool; Step S2: Analyze the motion degrees of freedom and drive mode of the lock-making machine tool based on the structural coordinates-motion characteristic data, and generate the motion degrees of freedom-drive mode data of the lock-making machine tool; Step S3: Based on the motion degrees of freedom and drive mode data of the lock-making machine tool, detect the relative displacement of the tool and workpiece of the lock-making machine tool, and generate the relative displacement data of the tool and workpiece of the lock-making machine tool; Step S4: Perform cutting force and trajectory response dynamic analysis of the lock-making machine tool based on the relative displacement data of the tool and workpiece, and generate cutting force-trajectory response dynamic data of the lock-making machine tool; Step S5: Detect the operating resonance parameter data of the lock-making machine tool through sensors; construct the dynamic model of the lock-making machine tool based on the operating resonance parameter data, the cutting force-trajectory response dynamic data of the lock-making machine tool, and the structural coordinate-motion characteristic data of the lock-making machine tool, and generate the dynamic model data of the lock-making machine tool; Step S5 includes the following steps: Step S51: Detect the operating resonance parameter data of the lock-making machine tool through the sensor, and extract the resonance characteristic frequency of the lock-making machine tool based on the operating resonance parameter data to generate the resonance characteristic frequency data of the lock-making machine tool; Step S52: Analyze the vibration stress response of the tool and workpiece of the locking machine tool based on the cutting force-trajectory response dynamic data of the locking machine tool, and generate tool-workpiece vibration stress response data; Step S53: Based on the resonant characteristic frequency data of the lock-making machine tool and the vibration stress response data of the tool-workpiece, perform stress accumulation and thermal displacement coupling processing of the tool and workpiece of the lock-making machine tool to generate stress accumulation and thermal displacement data of the tool-workpiece. Step S54: Based on the cumulative stress and thermal displacement data of the tool-workpiece, the structural coordinate-motion characteristic data of the lock-making machine tool are fitted with the structural and dynamic response path parameters of the lock-making machine tool to generate the structural-dynamic response path parameter fitting data of the lock-making machine tool; Step S55: Construct a dynamic model of the lock-making machine tool based on the fitting data of the structure-dynamic response path parameters of the lock-making machine tool, and generate dynamic model data of the lock-making machine tool.

2. The dynamic modeling and analysis method for a lock-making machine tool according to claim 1, characterized in that, Step S1 includes the following steps: Step S11: Obtain the lock-making machine tool data, and based on the lock-making machine tool data, divide the component unit structure hierarchy of the lock-making machine tool and analyze the component unit process function, and generate component unit structure hierarchy data and component unit process function data respectively. Step S12: Design the three-dimensional spatial coordinates of the locking machine tool based on the component unit structure hierarchy data, and generate the three-dimensional spatial coordinate data of the structure; Step S13: Based on the component unit process function data and the structural three-dimensional spatial coordinate data, analyze the structural coordinates and motion characteristics of the lock-making machine tool to generate the structural coordinate-motion characteristic data of the lock-making machine tool.

3. The dynamic modeling and analysis method for lock-making machine tools according to claim 2, characterized in that, Step S13 includes the following steps: Step S131: Based on the component unit process function data and the structural three-dimensional spatial coordinate data, perform component process and unit motion path mapping processing of the lock-making machine tool to generate component process-unit motion path mapping data; Step S132: Analyze the component position coordinates and spatial motion range of the locking machine tool based on the component process-unit motion path mapping data, and generate component position coordinate-spatial motion range data; Step S133: Analyze the component motion linkage characteristics of the locking machine tool based on the component position coordinates-spatial motion range data, and generate component motion linkage characteristic data; Step S134: Based on the component motion linkage characteristic data and component position coordinate-spatial motion range data, analyze the structural coordinates and motion characteristics of the lock-making machine tool to generate the structural coordinate-motion characteristic data of the lock-making machine tool.

4. The dynamic modeling and analysis method for a lock-making machine tool according to claim 1, characterized in that, Step S2 includes the following steps: Step S21: Identify the moving component units of the lock-making machine tool based on the structural coordinates-process motion characteristic data, and generate moving component unit data; Step S22: Analyze the component unit transmission chain of the locking machine tool based on the motion component unit data, and generate component unit transmission chain data; Step S23: Analyze the component control unit of the locking machine tool based on the component unit transmission chain data, and generate component control unit data; Step S24: Analyze the motion degrees of freedom and drive mode of the lock-making machine tool based on the component control unit data and component unit transmission chain data, and generate motion degrees of freedom-drive mode data of the lock-making machine tool.

5. The dynamic modeling and analysis method for a lock-making machine tool according to claim 4, characterized in that, Step S24 includes the following steps: Step S241: Identify the axial drive direction of each component unit of the locking machine tool based on the component unit transmission chain data, and generate axial drive direction data for each component unit; Step S242: Analyze the drive device and control logic of the locking machine tool based on the component control unit data, and generate drive device-control logic configuration data; Step S243: Perform component drive coupling and constraint analysis on the locking machine tool based on the drive device-control logic configuration data, and generate component drive coupling-constraint data; Step S244: Analyze the motion degrees of freedom and driving mode of the locking machine tool based on the component driving coupling-constraint data and the axial driving direction data of each component unit, and generate motion degrees of freedom-driving mode data of the locking machine tool.

6. The dynamic modeling and analysis method for a lock-making machine tool according to claim 1, characterized in that, Step S3 includes the following steps: Step S31: Analyze the tool and workpiece motion chain path based on the motion degree of freedom and drive mode data of the locking machine tool, and generate tool-workpiece motion chain path data; Step S32: Detect the dynamic displacement of the tool and workpiece of the locking machine tool based on the tool-workpiece kinematic chain path data, and generate tool-workpiece dynamic displacement data; Step S33: Detect the workpiece manufacturing sequence and spatial morphology changes of the locking machine tool based on the tool-workpiece dynamic displacement data, and generate workpiece manufacturing sequence-spatial morphology change data; Step S34: Based on the tool-workpiece dynamic displacement data and the workpiece manufacturing time sequence-spatial shape change data, perform relative displacement detection of the tool and workpiece of the lock-making machine tool, and generate tool-workpiece relative displacement data of the lock-making machine tool.

7. The dynamic modeling and analysis method for a lock-making machine tool according to claim 1, characterized in that, Step S4 includes the following steps: Step S41: Analyze the cutting area posture and machining angle of the tool and workpiece of the lock-making machine tool based on the relative displacement data of the tool and workpiece of the lock-making machine tool, and generate cutting area posture-machining angle data; Step S42: Calculate the multi-axis cutting force components of the tool and workpiece of the locking machine tool based on the cutting area posture-machining angle data, and generate tool-workpiece multi-axis cutting force component data; Step S43: Perform cutting force and trajectory response dynamic analysis of the locking machine tool based on the multi-axis cutting force component data of the tool-workpiece, and generate cutting force-trajectory response dynamic data of the locking machine tool.

8. The dynamic modeling and analysis method for a lock-making machine tool according to claim 7, characterized in that, Step S42 includes the following steps: Step S421: Based on the cutting area posture-machining angle data, identify the normal force and force projection angle of the tool and workpiece contact surface of the locking machine tool, and generate the normal force and force projection angle data of the tool-workpiece contact surface. Step S422: Calculate the stress distribution of the cutting area of ​​the tool and workpiece of the locking machine tool based on the normal force and force projection angle data of the tool-workpiece contact surface, and generate the cutting contact pressure distribution data of the tool-workpiece. Step S423: Analyze the coupling characteristics of the tool axial force and workpiece displacement of the locking machine tool based on the tool-workpiece cutting contact pressure distribution data, and generate tool axial force-workpiece displacement coupling characteristic data. Step S424: Calculate the multi-axis cutting force components of the tool and workpiece of the locking machine tool based on the coupling characteristic data of the axial force of the tool and the workpiece displacement, and generate the multi-axis cutting force component data of the tool and workpiece.

9. The dynamic modeling and analysis method for a lock-making machine tool according to claim 7, characterized in that, Step S43 includes the following steps: Step S431: Perform tool and workpiece rigidity attenuation analysis on the tool-workpiece multi-axis cutting force component data to generate tool-workpiece rigidity attenuation data; Step S432: Analyze the damping changes of the cutting path of the tool and workpiece in the locking machine tool based on the tool-workpiece rigidity attenuation data, and generate tool-workpiece cutting path damping change data; Step S433: Based on the tool-workpiece cutting trajectory damping variation data, perform cutting force and trajectory response dynamic analysis on the tool-workpiece multi-axis cutting force component data to generate cutting force-trajectory response dynamic data of the locking machine tool.

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