CN114083347A - Five-axis linkage numerical control machine tool monitoring method and system - Google Patents
Five-axis linkage numerical control machine tool monitoring method and system Download PDFInfo
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- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/08—Control or regulation of cutting velocity
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Abstract
The invention relates to the technical field of numerical control machine tools, in particular to a five-axis linkage numerical control machine tool monitoring method and a system, wherein the method comprises the following steps: acquiring basic vibration data of a set part position when the machine tool operates normally; establishing a vibration database according to the basic vibration data; acquiring real-time vibration data on a set component when a current machine tool runs; comparing the real-time vibration data to the vibration database; and controlling the cutting speed according to the comparison result, and triggering adaptive control according to the comparison result, wherein the adaptive control is to reduce the cutting feed speed when the real-time vibration data is greater than the set threshold value in the database, and restore the original cutting speed if the real-time vibration data is less than the set threshold value in the database. Compared with the prior art, the invention not only improves the detection precision, but also can realize real-time processing, and prolongs the service life of the machine tool.
Description
Technical Field
The invention relates to the technical field of numerical control machines, in particular to a five-axis linkage numerical control machine monitoring method and a five-axis linkage numerical control machine monitoring system.
Background
The five-axis linkage numerical control machine tool is an important industrial mother machine with high automation integration degree, high precision requirement and long precision retention requirement, and the five-axis linkage numerical control machine tool is required to be detected frequently in order to realize high precision and long precision performance.
In the related technology, the detection of a five-axis linkage numerical control machine tool is mostly manually detected at regular intervals, the quality of the machine tool is judged through the detected precision performance, for example, the positioning precision, the repeated positioning precision and the reverse positioning precision of each axis of the machine tool, or the geometric precision working precision and the like are measured, and if the precision is found to have deviation, the adjustment or the replacement is actively carried out;
however, the manual regular detection mode can only detect and repair the machine tool afterwards, and cannot realize real-time judgment and protection of the five-axis linkage numerical control machine tool.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art that is known to a person skilled in the art.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the monitoring method and the monitoring system for the five-axis linkage numerical control machine tool are provided, and real-time protection of the five-axis linkage numerical control machine tool is realized.
In order to achieve the purpose, the invention adopts the technical scheme that:
in a first aspect, a method for monitoring a five-axis linkage numerical control machine tool is provided, which is applied to a numerical control machine tool provided with a vibration sensor, and further comprises the following steps:
acquiring basic vibration data of a set part position when the machine tool operates normally;
establishing a vibration database according to the basic vibration data;
acquiring real-time vibration data on a set component when a current machine tool runs;
comparing the real-time vibration data to the vibration database;
and controlling the cutting speed according to the comparison result, and triggering adaptive control according to the comparison result, wherein the adaptive control is to reduce the cutting feed speed when the real-time vibration data is greater than the set threshold value in the database, and restore the original cutting speed if the real-time vibration data is less than the set threshold value in the database.
Further, the set component positions comprise a left leg position, a right leg position, a beam position, a ram position and a five-axis linkage head swing position, real-time vibration data at the left leg position is recorded as CH1, real-time vibration data at the right leg position is recorded as CH2, real-time vibration data at the beam position is recorded as CH3, real-time vibration data at the beam position is recorded as CH4, and real-time vibration data at the five-axis linkage head swing position is recorded as CH 5;
triggering the adaptive control when any one of the values of CH 1-CH 5 is greater than a set threshold at a corresponding position.
Further, the set threshold values of the CH1 and the CH2 are 10-20% of the limit cutting data, the set threshold value of the CH3 is 20-30% of the limit cutting data, the set threshold value of the CH4 is 30-50% of the limit cutting data, and the set threshold value of the CH5 is 50-70% of the limit cutting data.
Further, the set component positions comprise a left leg position, a right leg position, a beam position, a ram position and a five-axis linkage head swing position, real-time vibration data at the left leg position is recorded as CH1, real-time vibration data at the right leg position is recorded as CH2, real-time vibration data at the beam position is recorded as CH3, real-time vibration data at the beam position is recorded as CH4, and real-time vibration data at the five-axis linkage head swing position is recorded as CH 5;
when the value of CH5 is greater than a set threshold in the database, adaptive control is triggered.
Further, the calculation method for setting the threshold value is as follows:
Sextreme limit＝SSetting up*(Sn-1/Sn)；
Wherein S isExtreme limitTo set the threshold, SSetting upSet for the systemStandard value, SnRepresents the current optimum value of the vibration frequency, Sn-1A frequency optimized value obtained for the last sampling, n representing the number of samplings and being greater than 1, and:
Sn＝S5*a*b；
wherein S5 is the vibration frequency of CH5, a is the first revised parameter, b is the second revised parameter, and:
a＝S4/S3；
wherein S4 is the vibration frequency of CH4, and S3 is the vibration frequency of CH 3;
b＝1+|S1-S2|/S1；
where S2 is the vibration frequency of CH2, and S1 is the vibration frequency of CH 1.
In a second aspect, the present invention provides a five-axis linkage numerical control machine tool monitoring system, including:
a numerical control machine tool;
the vibration sensor is arranged on the numerical control machine tool and used for monitoring vibration data of the numerical control machine tool;
the controller is connected with the numerical control machine tool and the vibration sensor and is used for acquiring data on the vibration sensor;
the controller is used for establishing a database according to the basic vibration data, the data acquired by the controller also comprises real-time vibration data of the numerical control machine tool during working, the real-time vibration data is compared with the data in the database by the controller, and adaptive control is triggered according to a comparison result, wherein the adaptive control is to reduce the cutting feed speed when the real-time vibration data is greater than a set threshold value in the database, and restore the original cutting feed speed if the real-time vibration data is less than the set threshold value in the database.
Furthermore, the numerical control machine is a five-axis linkage numerical control machine and comprises a left leg and a right leg which are arranged in parallel, a cross beam connected with the left leg and the right leg, a ram arranged on the cross beam in a sliding manner, and a five-axis linkage swinging head arranged on the ram;
the vibration sensors are respectively arranged on the left leg, the right leg, the cross beam, the ram and the five-axis linkage swing head, real-time vibration data of the sensors at the left leg is CH1, real-time vibration data of the sensors at the right leg is CH2, real-time vibration data of the cross beam is CH3, real-time vibration data of the ram is CH4, and real-time vibration data of the five-axis linkage swing head is CH 5;
the controller triggers the adaptive control when any one of the CH 1-CH 5 values is greater than a set threshold at a corresponding position.
Further, the set threshold values of the CH1 and the CH2 are 10-20% of the limit cutting data, the set threshold value of the CH3 is 20-30% of the limit cutting data, the set threshold value of the CH4 is 30-50% of the limit cutting data, and the set threshold value of the CH5 is 50-70% of the limit cutting data.
Furthermore, the numerical control machine is a five-axis linkage numerical control machine and comprises a left leg and a right leg which are arranged in parallel, a cross beam connected with the left leg and the right leg, a ram arranged on the cross beam in a sliding manner, and a five-axis linkage swinging head arranged on the ram;
the vibration sensors are respectively arranged on the left leg, the right leg, the cross beam, the ram and the five-axis linkage swing head, real-time vibration data of the sensors at the left leg is CH1, real-time vibration data of the sensors at the right leg is CH2, real-time vibration data of the cross beam is CH3, real-time vibration data of the ram is CH4, and real-time vibration data of the five-axis linkage swing head is CH 5;
when the value of CH5 is greater than a set threshold in the database, the controller triggers the adaptive control.
Further, the calculation formula of the set threshold is as follows:
Sextreme limit＝SSetting up*(Sn-1/Sn)；
Wherein S isExtreme limitTo set the threshold, SSetting upSet standard values for the system, SnIndicating the currentOptimum value of vibration frequency, Sn-1A frequency optimized value obtained for the last sampling, n representing the number of samplings and being greater than 1, and:
Sn＝S5*a*b；
wherein S5 is the vibration frequency of CH5, a is the first revised parameter, b is the second revised parameter, and:
a＝S4/S3；
wherein S4 is the vibration frequency of CH4, and S3 is the vibration frequency of CH 3;
b＝1+|S1-S2|/S1；
where S2 is the vibration frequency of CH2, and S1 is the vibration frequency of CH 1.
The invention has the beneficial effects that: according to the invention, the threshold is set by establishing the database, and the vibration data of the machine tool is monitored in real time, so that the cutting feed speed is reduced when the real-time vibration data is greater than the set threshold, and the original cutting feed speed is recovered when the vibration data is greater than the set threshold.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a five-axis linkage numerical control machine tool monitoring system according to an embodiment of the present invention;
FIG. 2 is a schematic view of a working principle of a five-axis linkage numerical control machine monitoring system according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating steps of a method for monitoring a five-axis linkage numerically controlled machine tool according to an embodiment of the present invention;
FIG. 4 is a schematic sampling diagram of a monitoring method of a five-axis linkage numerical control machine tool according to a second embodiment of the invention;
fig. 5 is a schematic diagram of sampling of an optimized value of vibration frequency in the monitoring method of the five-axis linkage numerical control machine tool in the second embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example one
In order to solve the above problems, an embodiment of the present invention provides a five-axis linkage nc machine tool monitoring system as shown in fig. 1 and 2, which includes an nc machine tool 10, a vibration sensor 20, and a controller 30, wherein the five-axis linkage nc machine tool monitoring system includes:
the numerical control machine 10 is not only a five-axis linkage numerical control machine in the embodiment of the invention, but also other types of machine tools can automatically monitor by adopting the inventive concept in the embodiment of the invention;
the vibration sensor 20 is arranged on the numerical control machine tool 10 and is used for monitoring vibration data of the numerical control machine tool 10, wherein the vibration data can be vibration frequency, vibration amplitude and other data types;
the controller 30 is connected with the numerical control machine 10 and the vibration sensor 20, and is used for acquiring data on the vibration sensor 20 and controlling the numerical control machine 10;
the specific data processing process is as shown in fig. 2, the data acquired by the controller 30 includes basic vibration data when the numerical control machine 10 operates normally, the controller 30 establishes a database according to the basic vibration data, the database is used for establishing a set threshold, after the database is established, the data acquired by the controller 30 further includes real-time vibration data when the numerical control machine 10 operates, the controller 30 compares the real-time vibration data with the data in the database, and triggers adaptive control according to the comparison result, the adaptive control is that when the real-time vibration data is greater than the set threshold in the database, the cutting feed speed is reduced, and if the real-time vibration data is less than the set threshold in the database, the original cutting feed speed is recovered. It should be noted that the controller 30 may be a programmable logic controller 30, so as to implement logic calculations such as signal data acquisition, data quantization, code conversion, etc. to convert data into executable data;
the set threshold in the embodiment of the present invention is set according to a limit value on the specification of the numerical control machine 10, and is set according to the vibration condition of the position where the vibration sensor 20 is located, while ensuring that the device is not damaged;
the monitoring method of the monitoring system of the invention is shown in fig. 3, and comprises the following steps:
s10: acquiring basic vibration data of a set part position when the machine tool operates normally;
s20: establishing a vibration database according to the basic vibration data;
s30: acquiring real-time vibration data on a set component when a current machine tool runs;
s40: comparing the real-time vibration data with a vibration database;
s50: controlling the cutting speed according to the comparison result, and triggering self-adaptive control according to the comparison result, wherein the self-adaptive control is that when the real-time vibration data is greater than the set threshold value in the database, the cutting feed speed is reduced, and if the real-time vibration data is less than the set threshold value in the database, the original cutting speed is recovered; in addition, it should be noted that the method in the embodiment of the present invention may also be implemented by a computer, and may also be connected to an external alarm device to implement alarm, and may even store data to facilitate the subsequent accident tracing work;
in the embodiment, the threshold is set by establishing the database, and the vibration data of the machine tool is monitored in real time, so that the cutting feed speed is reduced when the real-time vibration data is greater than the set threshold, and the original cutting feed speed is recovered when the real-time vibration data is greater than the set threshold.
Referring to fig. 1, in the embodiment of the present invention, the numerical control machine 10 is a five-axis linkage numerical control machine 10, and includes a left leg 11, a right leg 12, a beam 13 connected to the left leg and the right leg, a ram 14 slidably disposed on the beam 13, and a five-axis linkage swing head 15 disposed on the ram 14;
in order to further improve the monitoring accuracy, in the embodiment of the present invention, the vibration sensor 20 has a plurality of sensors respectively disposed on the left leg 11, the right leg 12, the beam 13, the ram 14, and the five-axis linkage pan 15, and the real-time vibration data at the left leg 11 of the sensor is CH1, the real-time vibration data at the right leg 12 is CH2, the real-time vibration data at the beam 13 is CH3, the real-time vibration data at the position of the ram 14 is CH4, and the real-time vibration data at the position of the five-axis linkage pan 15 is CH 5;
when any one of the values of CH1 through CH5 is greater than the set threshold value at the corresponding position, the controller 30 triggers adaptive control. Therefore, as long as the vibration data of one position is larger than the set threshold value, the self-adaptive control is started, the monitoring accuracy is improved, and the protection of the numerical control machine tool 10 is realized.
In the embodiment of the invention, due to the structural characteristics of the numerical control machine tool 10, the vibration degrees of all parts at the same time are sequentially from small to large, namely the left leg 11, the right leg 12, the beam 13, the ram 14 and the five-axis linkage swinging head 15, according to the difference of the vibration degrees, the set threshold values of all parts are calibrated according to the test results, specifically, the set threshold values of CH1 and CH2 are 10-20% of the limit cutting data, the set threshold value of CH3 is 20-30% of the limit cutting data, the set threshold value of CH4 is 30-50% of the limit cutting data, and the set threshold value of CH5 is 50-70% of the limit cutting data. In a preferred embodiment of the present invention, the threshold is further optimized as shown in table 1 below:
TABLE 1
Through the arrangement, the vibration data of each part is monitored according to the percentage of the limit value, so that the vibration monitoring of the numerical control machine tool 10 is realized from a plurality of part positions, and the real-time protection of the five-axis numerical control machine tool is realized. The control method part of the embodiment of the present invention overlaps with the above system part, and will not be described in detail here.
Example two
In the above embodiment, an absolute static indicator is used, that is, it is assumed that the components do not interfere with each other, but in actual operation, the components affect each other, and this effect is reflected in that when each component vibrates, the vibration amplitude is increased due to resonance, which causes false triggering of adaptive control, or vibration transmission of each component causes cancellation between each other, which causes that adaptive control is not performed when adaptive control is triggered, thereby causing damage to the device;
therefore, in the second embodiment of the invention, the position with the maximum vibration intensity is selected, that is, the five-axis linkage swing head 15 is used as a reference point for real-time monitoring, the vibration data is selected as the vibration frequency, firstly, the vibration frequency optimization value is obtained through calculation, and then the triggering operation of self-adaptive control is performed, so that the triggering accuracy is further improved, and the control precision is improved;
specifically, with reference to fig. 1, in the second embodiment of the present invention, the numerical control machine 10 is a five-axis linkage numerical control machine, and includes a left leg 11 and a right leg 12 arranged in parallel, a cross beam 13 connected to the two legs, a ram 14 arranged on the cross beam 13 in a sliding manner, and a five-axis linkage swing head 15 arranged on the ram 14;
the vibration sensors 20 are respectively arranged on the left leg 11, the right leg 12, the cross beam 13, the ram 14 and the five-axis linkage pendulum head 15, real-time vibration data at the left leg 11 of the sensor is CH1, real-time vibration data at the right leg 12 of the sensor is CH2, real-time vibration data at the cross beam 13 of the sensor is CH3, real-time vibration data at the position of the ram 14 of the sensor is CH4, and real-time vibration data at the position of the five-axis linkage pendulum head 15 of the sensor is CH 5;
when the value of CH5 is greater than a set threshold in the database, controller 30 triggers adaptive control.
Specifically, the calculation formula for setting the threshold value in the second embodiment of the present invention is:
Sextreme limit＝SSetting up*(Sn-1/Sn)；
Wherein S isExtreme limitTo set the threshold, SSetting upSet standard values for the system, SnRepresents the current optimum value of the vibration frequency, Sn-1A frequency optimized value obtained for the last sampling, n representing the number of samplings and being greater than 1, and:
Sn＝S5*a*b；
wherein S5 is the vibration frequency of CH5, a is the first revised parameter, b is the second revised parameter, and:
a＝S4/S3；
wherein S4 is the vibration frequency of CH4, and S3 is the vibration frequency of CH 3;
b＝1+|S1-S2|/S1；
where S2 is the vibration frequency of CH2, and S1 is the vibration frequency of CH 1.
In the specific implementation of data acquisition, as shown in figure 4,the working time is taken as a horizontal axis, the vibration frequency is taken as a vertical axis, vibration curves corresponding to CH 1-CH 5 are established, as can be seen from the graph, vibration data of each channel can fluctuate along with the continuation of time, sampling is carried out at the same time point in normal operation when data are collected, the obtained frequency values are respectively marked as S1-S5, and in specific calculation, a calculation formula S of a frequency optimization valuenIn S5 a b, since the five-axis linkage pendulum head 15 is closest to the machining position and is also the maximum position of vibration, the vibration frequency at this position plays a role in determining the entire frequency optimization value;
a is a first revised parameter, a is S4/S3, since the ram 14 slides relative to the beam 13 during operation to change the machining position, the first revised parameter a is used for reflecting the installation precision of the ram 14 relative to the beam 13, the higher the installation precision is, the stronger the integrity of the ram 14 and the beam 13 is, the smaller the vibration frequency difference is, the smaller the value of a is, otherwise, the larger the value of a is;
b is a second revised value, b is 1+ | S1-S2|/S1, which reflects the structural stability of the left leg 11, the right leg 12 and the beam 13 as the basic support structure, during the working process, the left leg 11, the right leg 12 and the beam 13 are often connected through a guide structure, and the connection position has a certain distance from the machining position, so that the stability of the basic structure is reflected through the vibration difference between the left leg 11 and the right leg 12, when the basic structure is unstable, the value of b is larger, otherwise, the value of b is smaller;
n is the sampling frequency, and for convenience of observation and analysis, as shown in fig. 5, a vertical coordinate with the working time as a horizontal axis and the vibration frequency as a vertical axis is established, the horizontal coordinate of each sampling point is determined, the corresponding frequency optimization value is each point of the vertical coordinate, and each point is connected to obtain a frequency optimization curve, so as to facilitate subsequent evaluation and detection of the device performance;
in a second embodiment of the invention, the set threshold S for adaptive controlExtreme limitThe processing method is real-time, so that the protection effect can be realized and the processing efficiency can be improved in the processing process; specifically, SSetting upThe standard value set for the system, the set threshold value Slimit is adjusted on the basis of the S set, Sn-1/Sn means that the current frequency optimization value is increased or decreased relative to the last frequency optimization value, and when the current frequency optimization value is decreased relative to the last frequency optimization value, the frequency of the vibration has the tendency of decreasing, which is beneficial to the whole processing process, so that the S can be properly increasedExtreme limitThe value of (1) allows the trigger setting threshold of the current adaptive control to be larger, thereby allowing temporary high-frequency vibration to improve the processing efficiency; on the contrary, the overall vibration trend is shown to be rising, and S is reducedExtreme limitNamely, the set threshold of the trigger is reduced, so as to achieve the real-time protection function of the numerical control machine tool 10.
Through the dynamic adjustment taking the frequency as the reference, on one hand, the reliability of detection and the accuracy of control are improved, and on the other hand, the processing efficiency is improved on the premise of protecting the numerical control machine 10. It should be noted that, since the system part has been described in detail above, the related method part in the embodiment of the present invention may refer to the system part, and a person skilled in the art may understand the related method in the embodiment of the present invention according to the description of the system part, and details are not described here.
It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A monitoring method of a five-axis linkage numerical control machine tool is applied to the numerical control machine tool provided with a vibration sensor, and is characterized by comprising the following steps:
acquiring basic vibration data of a set part position when the machine tool operates normally;
establishing a vibration database according to the basic vibration data;
acquiring real-time vibration data on a set component when a current machine tool runs;
comparing the real-time vibration data to the vibration database;
and controlling the cutting speed according to the comparison result, and triggering adaptive control according to the comparison result, wherein the adaptive control is to reduce the cutting feed speed when the real-time vibration data is greater than the set threshold value in the database, and restore the original cutting speed if the real-time vibration data is less than the set threshold value in the database.
2. The monitoring method of the five-axis linkage numerical control machine tool according to claim 1, wherein the set part positions comprise a left leg position, a right leg position, a beam position, a ram position and a five-axis linkage yaw position, the real-time vibration data at the left leg position is recorded as CH1, the real-time vibration data at the right leg position is recorded as CH2, the real-time vibration data at the beam position is recorded as CH3, the real-time vibration data at the beam position is recorded as CH4, and the real-time vibration data at the five-axis linkage yaw position is recorded as CH 5;
triggering the adaptive control when any one of the values of CH 1-CH 5 is greater than a set threshold at a corresponding position.
3. The monitoring method of the five-axis linkage numerical control machine tool is characterized in that the set threshold values of the CH1 and the CH2 are 10-20% of the limit cutting data, the set threshold value of the CH3 is 20-30% of the limit cutting data, the set threshold value of the CH4 is 30-50% of the limit cutting data, and the set threshold value of the CH5 is 50-70% of the limit cutting data.
4. The monitoring method of the five-axis linkage numerical control machine tool according to claim 1, wherein the set part positions comprise a left leg position, a right leg position, a beam position, a ram position and a five-axis linkage yaw position, the real-time vibration data at the left leg position is recorded as CH1, the real-time vibration data at the right leg position is recorded as CH2, the real-time vibration data at the beam position is recorded as CH3, the real-time vibration data at the beam position is recorded as CH4, and the real-time vibration data at the five-axis linkage yaw position is recorded as CH 5;
when the value of CH5 is greater than a set threshold in the database, adaptive control is triggered.
5. The monitoring method of the five-axis linkage numerical control machine tool according to claim 4, wherein the set threshold value is calculated by the following method:
Sextreme limit=S Setting up*（S n-1/S n）；
Wherein S isExtreme limitIn order to set the threshold value(s),S setting upThe standard value set for the system is,S nrepresents the current optimum value of the vibration frequency, Sn-1A frequency optimized value obtained for the last sampling, n representing the number of samplings and being greater than 1, and:
Sn=S5*a*b；
wherein S5 is the vibration frequency of CH5, a is the first revised parameter, b is the second revised parameter, and:
a=S4/S3；
wherein S4 is the vibration frequency of CH4, and S3 is the vibration frequency of CH 3;
b=1+ | S1-S2|/S1；
where S2 is the vibration frequency of CH2, and S1 is the vibration frequency of CH 1.
6. The utility model provides a five-axis linkage digit control machine tool monitored control system which characterized in that includes:
a numerical control machine tool;
the vibration sensor is arranged on the numerical control machine tool and used for monitoring vibration data of the numerical control machine tool;
the controller is connected with the numerical control machine tool and the vibration sensor and is used for acquiring data on the vibration sensor and controlling the numerical control machine tool;
the controller is used for establishing a database according to the basic vibration data, the data acquired by the controller also comprises real-time vibration data of the numerical control machine tool during working, the real-time vibration data is compared with the data in the database by the controller, and adaptive control is triggered according to a comparison result, wherein the adaptive control is to reduce the cutting feed speed when the real-time vibration data is greater than a set threshold value in the database, and restore the original cutting feed speed if the real-time vibration data is less than the set threshold value in the database.
7. The monitoring system of the five-axis linkage numerical control machine tool is characterized in that the numerical control machine tool is a five-axis linkage numerical control machine tool and comprises a left leg and a right leg which are arranged in parallel, a cross beam connected with the left leg and the right leg, a ram arranged on the cross beam in a sliding mode, and a five-axis linkage swinging head arranged on the ram;
the vibration sensors are respectively arranged on the left leg, the right leg, the cross beam, the ram and the five-axis linkage swing head, real-time vibration data of the sensors at the left leg is CH1, real-time vibration data of the sensors at the right leg is CH2, real-time vibration data of the cross beam is CH3, real-time vibration data of the ram is CH4, and real-time vibration data of the five-axis linkage swing head is CH 5;
the controller triggers the adaptive control when any one of the CH 1-CH 5 values is greater than a set threshold at a corresponding position.
8. The monitoring system of the five-axis linkage numerical control machine tool is characterized in that the set threshold values of the CH1 and the CH2 are 10-20% of the limit cutting data, the set threshold value of the CH3 is 20-30% of the limit cutting data, the set threshold value of the CH4 is 30-50% of the limit cutting data, and the set threshold value of the CH5 is 50-70% of the limit cutting data.
9. The monitoring system of the five-axis linkage numerical control machine tool is characterized in that the numerical control machine tool is a five-axis linkage numerical control machine tool and comprises a left leg and a right leg which are arranged in parallel, a cross beam connected with the left leg and the right leg, a ram arranged on the cross beam in a sliding mode, and a five-axis linkage swinging head arranged on the ram;
the vibration sensors are respectively arranged on the left leg, the right leg, the cross beam, the ram and the five-axis linkage swing head, real-time vibration data of the sensors at the left leg is CH1, real-time vibration data of the sensors at the right leg is CH2, real-time vibration data of the cross beam is CH3, real-time vibration data of the ram is CH4, and real-time vibration data of the five-axis linkage swing head is CH 5;
when the value of CH5 is greater than a set threshold in the database, the controller triggers the adaptive control.
10. The monitoring system of the five-axis linkage numerical control machine tool according to claim 9, wherein the calculation formula of the set threshold is as follows:
S extreme limit=S Setting up*（S n-1/S n）；
Wherein S isExtreme limitIn order to set the threshold value(s),S setting upThe standard value set for the system is,S nrepresents the current optimum value of the vibration frequency, Sn-1A frequency optimized value obtained for the last sampling, n representing the number of samplings and being greater than 1, and:
Sn=S5*a*b；
wherein S5 is the vibration frequency of CH5, a is the first revised parameter, b is the second revised parameter, and:
a=S4/S3；
wherein S4 is the vibration frequency of CH4, and S3 is the vibration frequency of CH 3;
b=1+ | S1-S2|/S1；
where S2 is the vibration frequency of CH2, and S1 is the vibration frequency of CH 1.
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