Machine tool performance evaluation method, system, comprehensive system and cloud platform based on machine tool data
阅读说明：本技术 基于机床数据的机床性能测评方法、系统、综合系统、云平台 (Machine tool performance evaluation method, system, comprehensive system and cloud platform based on machine tool data ) 是由 朱志浩 张晓� 于 2018-08-17 设计创作，主要内容包括：本发明提供一种基于机床数据的机床性能测评方法、系统、综合系统、云平台,应用于云平台,包括以下步骤：获取数控机床发送来的机床数据；根据所述云平台提供的指标标准值和所述机床数据计算机床性能测评值。本发明的基于机床数据的机床性能测评方法、系统、综合系统、云平台在云平台上基于数控机床自身的传感器实时采集的机床数据和指标标准值对机床性能进行测评,准确度高,反馈速度快。(The invention provides a machine tool performance evaluation method, a machine tool performance evaluation system, a comprehensive system and a cloud platform based on machine tool data, which are applied to the cloud platform and comprise the following steps: acquiring machine tool data sent by a numerical control machine tool; and calculating the machine tool performance measurement and evaluation value according to the index standard value provided by the cloud platform and the machine tool data. The machine tool performance evaluation method, the machine tool performance evaluation system and the comprehensive system based on the machine tool data have the advantages that the cloud platform evaluates the machine tool performance on the cloud platform based on the machine tool data and the index standard value acquired by the sensor of the numerical control machine tool in real time, the accuracy is high, and the feedback speed is high.)
1. A machine tool performance evaluation method based on machine tool data is applied to a cloud platform and is characterized in that: the method comprises the following steps:
acquiring machine tool data sent by a numerical control machine tool;
and calculating the machine tool performance measurement and evaluation value according to the index standard value provided by the cloud platform and the machine tool data.
2. The machine tool performance evaluation method based on machine tool data according to claim 1, characterized in that: and when the preset conditions are met, calibrating an index standard value based on historical machine tool data of the machine tool with the same model as the numerical control machine tool, which is obtained by the cloud platform, so as to obtain the index standard value.
3. The machine tool performance evaluation method based on machine tool data according to claim 2, characterized in that: the preset condition is any one of the following conditions:
the time interval from the last calibration index standard value exceeds a first preset time length;
and the ratio of the quantity of the machine tool data acquired by the cloud platform to the total quantity of the machine tool data of the same model on the cloud platform within a second preset time is greater than a preset value.
4. The machine tool performance evaluation method based on machine tool data according to claim 2, characterized in that: the index standard value includes at least: a main shaft excitation characteristic standard value, a dynamic precision characteristic standard value, a damping characteristic standard value, a response characteristic standard value and a fluctuation characteristic standard value;
the calibration comprises the following steps:
acquiring a main shaft excitation characteristic standard value based on an average value of feedback speed fluctuation data of motors of all feed shafts during main shaft equal-interval accelerated motion collected by machine tools of the same model within a preset time length;
acquiring the dynamic precision characteristic standard value based on the average value of the maximum error data of the feeding shaft acquired by the machine tools of the same model within preset time;
acquiring the damping characteristic standard value based on the average value of torque current data of motors when the feeding shafts move at a constant speed, which is acquired by the machine tools of the same model within a preset time length;
acquiring the standard value of the response characteristic based on the average value of the relevant indexes of the step response collected by the machine tools of the same model in the preset duration;
and acquiring the standard value of the fluctuation characteristic based on the average value of the speed fluctuation data of the motor during the uniform motion of each feeding shaft, which is acquired by the machine tools of the same model in the preset time length.
5. The machine tool performance evaluation method based on machine tool data according to claim 1, characterized in that: the performance evaluation value comprises a characteristic score of the machine tool and a machine tool performance score;
calculating the machine tool performance evaluation value according to the index standard value and the machine tool data comprises the following steps:
calculating a characteristic score of the machine tool based on the index standard value and the machine tool data, the characteristic including at least: a spindle excitation characteristic, a dynamic accuracy characteristic, a damping characteristic, a response characteristic and a fluctuation characteristic;
based on the characteristic score, a feature score is calculated,
6. The machine tool performance evaluation method based on machine tool data according to claim 5, characterized in that: calculating a characteristic score of a machine tool based on the index standard value and the machine tool data includes the steps of:
for a main shaft excitation characteristic score of a certain feed shaft of the machine tool, enabling the main shaft to rotate at a certain speed, and dividing the main shaft into a plurality of sections according to a time sequence based on the collected speed feedback of the feed shaft; calculating an interval index score corresponding to each interval, wherein the interval index score is the difference value between the maximum value and the minimum value of the data in the current interval; calculating the average value of the interval index scores of all the intervals as the main shaft excitation characteristic score of the shaft; taking the weighted average value of the main shaft excitation characteristic scores of the feeding shafts as the main shaft excitation characteristic score of the machine tool;
for the dynamic precision characteristic score of a certain feed shaft of the machine tool, calculating the average value of the maximum contour errors of the feed shaft at two reversing position intervals of the feed shaft as the dynamic precision characteristic score of the feed shaft based on the acquired maximum contour errors of the feed shaft in the reversing position intervals of the machine tool in the circular motion in which the feed shaft participates; taking the weighted average value of the dynamic precision characteristic scores of the feeding shafts as the dynamic precision characteristic score of the machine tool;
for the damping characteristic score of a certain feed shaft of the machine tool, calculating the average value of the torque current values of the servo motor in the process as the damping characteristic score of the feed shaft based on the collected torque current values of the servo motor when the machine tool runs at a constant speed on the full stroke of the certain feed shaft; taking the weighted average value of the damping characteristic scores of the feeding shafts as the damping characteristic score of the machine tool;
for the response characteristic value of a certain feed shaft of the machine tool, the certain feed shaft of the machine tool performs short-distance reciprocating acceleration and deceleration movement at 3 positions in the travel interval of the certain feed shaft, the center-of-gravity frequency and the average energy amplitude value obtained by FFT conversion of feedback speed data acquired in a preset time after the speed reaches a specified speed are calculated, and the center-of-gravity frequency and the average energy amplitude value are obtained according to the feedback speed data
dividing the fluctuation characteristic score of a certain feed shaft of the machine tool into a plurality of sections according to a time sequence based on the collected feedback speed data of the uniform running of the certain feed shaft of the machine tool; calculating an interval index score corresponding to each interval, wherein the interval index score is the difference value between the maximum value and the minimum value of the feedback speed data in the current interval; calculating the fluctuation characteristic value of the shaft, wherein the fluctuation characteristic value is the average value of interval index scores of all intervals; calculating the ratio of the average value to a standard value of the fluctuation characteristic, and calculating a value of the fluctuation characteristic according to the ratio; and taking the weighted average value of the wave characteristic scores of the feed shafts as the wave characteristic score of the machine tool.
7. The machine tool performance evaluation method based on machine tool data according to claim 1, characterized in that: further comprising:
when the machine tool performance measurement and evaluation value is in a preset range, analyzing the variation trend of the machine tool performance, and providing a machine tool maintenance suggestion based on the variation trend;
and when the machine tool performance evaluation value is not in the preset range, giving an alarm.
8. The machine tool performance evaluation method based on machine tool data according to claim 1, characterized in that:
further comprising: storing the machine tool performance measurement and evaluation value on the cloud platform;
and, further comprising: and providing a historical machine tool performance measurement and evaluation value of the numerical control machine tool based on a user query request.
9. The machine tool performance evaluation method based on machine tool data according to claim 1, characterized in that: and the machine tool data is acquired by a built-in sensor on the numerical control machine tool execution part.
10. The machine tool performance evaluation method based on machine tool data according to claim 1, characterized in that: the machine tool data is collected in the process of the numerical control machine tool operation standard cycle module;
the standard cycle module at least comprises: a main shaft excitation test subprogram, an arc test subprogram, a constant motion current test subprogram, a single-shaft acceleration test subprogram and a feed shaft constant fluctuation test subprogram;
acquiring the machine tool data at least comprises:
in the process of main shaft excitation testing, the feedback speed fluctuation data of each feed shaft motor when the main shaft accelerates at equal intervals are collected;
in the process of testing the arc, acquiring the maximum error of the feed shaft when the two shafts of the feed shaft are linked to do arc motion;
in the process of testing the constant-speed motion current, collecting torque current data of a motor when each feeding shaft moves at a constant speed;
in the single-shaft acceleration test process, acquiring speed feedback data of a motor during step response test of each feeding shaft;
and acquiring the speed fluctuation data of the motor when each feeding shaft moves at a constant speed in the process of testing the constant speed fluctuation of the feeding shafts.
11. The utility model provides a machine tool performance evaluation system based on machine tool data, is applied to the cloud platform, its characterized in that: the device comprises an acquisition module and a processing module;
the acquisition module is used for acquiring machine tool data sent by the numerical control machine tool;
and the processing module is used for calculating the machine tool performance measurement and evaluation value according to the index standard value provided by the cloud platform and the machine tool data.
12. A cloud platform, comprising: a processor, a memory, and a communicator;
the communicator is used for communicating with the numerical control machine tool;
the memory is used for storing a computer program;
the processor is configured to execute the memory-stored computer program to cause the cloud platform to perform the machine tool data-based machine tool performance evaluation method of any one of claims 1 to 10.
13. A machine tool performance evaluation integrated system based on machine tool data is characterized in that: comprising the cloud platform of claim 12 and at least one numerically controlled machine tool;
the numerical control machine tool is used for executing operation corresponding to the characteristics of the machine tool, collecting machine tool data and sending the machine tool data to the cloud platform.
14. The integrated system for machine tool performance evaluation based on machine tool data according to claim 13, wherein:
the cloud platform includes:
the machine tool performance query module is used for providing a historical machine tool performance measurement and evaluation value based on a query request of a user;
the machine tool interface module is used for receiving machine tool data sent by the numerical control machine tool;
the index standard calculation module is connected with the machine tool interface module and is used for calculating the index standard value of the machine tool with the same model;
the performance calculation module is connected with the machine tool interface module and the index standard calculation module and is used for calculating a machine tool performance measurement and evaluation value;
the cloud data storage module is connected with the performance calculation module and used for storing the machine tool performance measurement and evaluation value;
the digit control machine tool includes:
the standard cycle module is used for controlling the machine tool execution component to execute operation corresponding to the characteristics of the machine tool;
the machine tool execution component is used for executing the operation corresponding to the characteristics of the machine tool and acquiring the data of the machine tool through a built-in sensor;
the data acquisition module is connected with the machine tool execution component and used for acquiring the machine tool data;
the local storage module is connected with the data acquisition module and is used for locally storing the machine tool data;
and the interface module is connected with the local storage module and used for sending the machine tool data to the cloud platform.
Technical Field
The invention relates to the technical field of data processing, in particular to a machine tool performance evaluation method, a machine tool performance evaluation system, a comprehensive system and a cloud platform based on machine tool data.
Background
Machine tool refers to a machine for manufacturing machines, also called machine tools or machine tools, and is conventionally called simply a machine tool. Generally, the machining method is divided into a metal cutting machine, a forging machine, a woodworking machine and the like. The variety of machine tools is very large, for example: the general machine tool comprises: lathes, planers, milling machines, punches, grinding machines, spark forming machines, wire cutting machines, drilling machines, boring machines, hobbing machines, spin riveting machines, bending machines, and the like; the special machine tool comprises: thread rolling machine specially for making screw thread, upsetting machine, crankshaft grinding machine specially for grinding crankshaft, etc.
The numerical control machine tool is a short name of a digital control machine tool (Computer numerical control machine tools), and is an automatic machine tool provided with a program control system. The numerical control machine tool is metal processing equipment which is widely applied, is mainly used for processing a rotating part, and is used for processing disc parts and shaft parts.
In the development process of modern manufacturing industry, numerical control machine tools play an important role all the time, become key equipment of manufacturing industry and are widely applied to various fields of aerospace, automobile manufacturing, machining and the like. However, in the case of long-time operation, high-load, high-speed motion, the overall performance of the machine tool inevitably deteriorates, thereby causing various failures. Various failures bring about serious economic losses, which affect the development of the manufacturing industry. Therefore, the performance detection of the numerical control machine tool is very important. The performance detection is to perform irregular detection on the machine tool, analyze the acquired parameter signals, judge the current state of the machine tool according to the analysis and make corresponding prediction, and accordingly make corresponding adjustment on the machine tool in time.
Specifically, the performance of the machine tool refers to how well the machine tool operates as a whole, and is a comprehensive evaluation of the operating state of the machine tool. The evaluation can determine which state the machine tool is in, so that corresponding maintenance measures are taken, the running efficiency of the machine tool is effectively improved, the frequency of faults is reduced, and the service life of the machine tool is prolonged. Therefore, the performance can be regarded as a method for early warning of faults, and through evaluation of the performance value, the probability of the machine tool to fail in the future can be predicted.
The state of the mechanical device should correspond to its ability to maintain its particular performance under the prevailing usage circumstances. The state of the mechanical equipment corresponds to the performance of the machine tool, and the performance test is to test the capability of the machine to maintain specific performance under the current use environment. The results of the machine tool performance test and the machine tool performance are therefore corresponding.
The conventional machine tool performance test or fault detection method is a method of installing sensors, such as vibration sensors, current sensors, temperature sensors, etc., at key positions and then analyzing the state of the machine tool according to signals collected by the sensors. The traditional method comprises the following steps: multivariate regression analysis, artificial neural networks, support vector machines, fuzzy theory, and the like. Wherein the multiple regression analysis is to describe the relationship between the characteristic quantity of the machine tool and the state quantity of the machine tool by a linear equation; the artificial neural network carries out information processing by simulating a neural system, and trains and adjusts parameters of neurons according to the relation between input and output and a large number of samples; the support vector machine mainly constructs a dividing plane among various states of the machine tool so as to form a whole model; fuzzy theory is mainly to form a diagnosis model through empirical knowledge and expert diagnosis.
However, the conventional machine tool performance test or fault detection method has the following disadvantages:
(1) the acquired data mainly come from a sensor additionally arranged on a machine tool at present, on one hand, the noise of signals acquired from the sensor is serious, filtering is needed, and in the filtering process, characteristic data can be filtered, so that the accuracy of the signals is reduced; on the other hand, the external sensor is mainly arranged on the machine head and the main shaft, and the cost of the sensor is higher at the two parts.
(2) The existing machine tool physical examination method is mainly characterized in that a user transmits signal data to a manufacturing party of a machine tool, and the manufacturing party analyzes the data and gives corresponding suggestions. In the middle, there is a time difference problem, and it often takes one or two days for the user to obtain the feedback suggestion, so the efficiency of the physical examination is low.
(3) The existing machine tool physical examination method mainly comprises state detection. The current state of the machine tool is analyzed according to the data collected by the physical examination of the machine tool, the change trend of the machine tool performance is not considered, the change trend can more accurately reflect the degradation trend of machine tool components, and the fault is early warned.
Disclosure of Invention
In view of the above disadvantages of the prior art, the present invention aims to provide a machine tool performance evaluation method, system, integrated system and cloud platform based on machine tool data, wherein the machine tool performance is evaluated on the cloud platform based on machine tool data acquired by a sensor of a numerical control machine tool in real time and an index standard value obtained by computing based on cloud platform industrial big data, and the method has the advantages of high accuracy and high feedback speed.
In order to achieve the above objects and other related objects, the present invention provides a machine tool performance evaluation method based on machine tool data, applied to a cloud platform, comprising the steps of:
acquiring machine tool data sent by a numerical control machine tool;
and calculating the machine tool performance measurement and evaluation value according to the index standard value provided by the cloud platform and the machine tool data.
In an embodiment of the present invention, when a preset condition is satisfied, calibrating an index standard value based on historical machine tool data of the machine tool of the same model as the numerical control machine tool, which is obtained by the cloud platform, to obtain the index standard value.
In an embodiment of the present invention, the preset condition is any one of the following conditions:
the time interval from the last calibration index standard value exceeds a first preset time length;
and the ratio of the quantity of the machine tool data acquired by the cloud platform to the total quantity of the machine tool data of the same model on the cloud platform within a second preset time is greater than a preset value.
In an embodiment of the present invention, the index standard value at least includes: a main shaft excitation characteristic standard value, a dynamic precision characteristic standard value, a damping characteristic standard value, a response characteristic standard value and a fluctuation characteristic standard value;
the calibration comprises the following steps:
acquiring a main shaft excitation characteristic standard value based on an average value of feedback speed fluctuation data of motors of all feed shafts during main shaft equal-interval accelerated motion collected by machine tools of the same model within a preset time length;
acquiring the dynamic precision characteristic standard value based on the average value of the maximum error data of the feeding shaft acquired by the machine tools of the same model within preset time;
acquiring the damping characteristic standard value based on the average value of torque current data of motors when the feeding shafts move at a constant speed, which is acquired by the machine tools of the same model within a preset time length;
acquiring the standard value of the response characteristic based on the average value of the relevant indexes of the step response collected by the machine tools of the same model in the preset duration;
and acquiring the standard value of the fluctuation characteristic based on the average value of the speed fluctuation data of the motor during the uniform motion of each feeding shaft, which is acquired by the machine tools of the same model in the preset time length.
In an embodiment of the present invention, the performance evaluation value includes a characteristic score of the machine tool and a performance score of the machine tool;
calculating the machine tool performance evaluation value according to the index standard value and the machine tool data comprises the following steps:
calculating a characteristic score of the machine tool based on the index standard value and the machine tool data, the characteristic including at least: a spindle excitation characteristic, a dynamic accuracy characteristic, a damping characteristic, a response characteristic and a fluctuation characteristic;
according to the characteristic score, adoptCalculating the machine tool performance score, where k1、k2、k3、k4、k5Respectively representing the main shaft excitation characteristic score, the dynamic precision characteristic score, the damping characteristic score, the response characteristic score and the fluctuation characteristic score, mu1、μ2、μ3、μ4、μ5Weights representing the principal axis excitation characteristic score, the dynamic accuracy characteristic score, the damping characteristic score, the response characteristic score, and the fluctuation characteristic score, respectively.
In an embodiment of the present invention, calculating the characteristic score of the machine tool based on the index standard value and the machine tool data includes the steps of:
for a main shaft excitation characteristic score of a certain feed shaft of the machine tool, enabling the main shaft to rotate at a certain speed, and dividing the main shaft into a plurality of sections according to a time sequence based on the collected speed feedback of the feed shaft; calculating an interval index score corresponding to each interval, wherein the interval index score is the difference value between the maximum value and the minimum value of the data in the current interval; calculating the average value of the interval index scores of all the intervals as the main shaft excitation characteristic score of the shaft; taking the weighted average value of the main shaft excitation characteristic scores of the feeding shafts as the main shaft excitation characteristic score of the machine tool;
for the dynamic precision characteristic score of a certain feed shaft of the machine tool, calculating the average value of the maximum contour errors of the feed shaft at two reversing position intervals of the feed shaft as the dynamic precision characteristic score of the feed shaft based on the acquired maximum contour errors of the feed shaft in the reversing position intervals of the machine tool in the circular motion in which the feed shaft participates; taking the weighted average value of the dynamic precision characteristic scores of the feeding shafts as the dynamic precision characteristic score of the machine tool;
for the damping characteristic score of a certain feed shaft of the machine tool, calculating the average value of the torque current values of the servo motor in the process as the damping characteristic score of the feed shaft based on the collected torque current values of the servo motor when the machine tool runs at a constant speed on the full stroke of the certain feed shaft; taking the weighted average value of the damping characteristic scores of the feeding shafts as the damping characteristic score of the machine tool;
for the response characteristic value of a certain feed shaft of the machine tool, the certain feed shaft of the machine tool performs short-distance reciprocating acceleration and deceleration movement at 3 positions in the travel interval of the certain feed shaft, the center-of-gravity frequency and the average energy amplitude value obtained by FFT conversion of feedback speed data acquired in a preset time after the speed reaches a specified speed are calculated, and the center-of-gravity frequency and the average energy amplitude value are obtained according to the feedback speed data
dividing the fluctuation characteristic score of a certain feed shaft of the machine tool into a plurality of sections according to a time sequence based on the collected feedback speed data of the uniform running of the certain feed shaft of the machine tool; calculating an interval index score corresponding to each interval, wherein the interval index score is the difference value between the maximum value and the minimum value of the feedback speed data in the current interval; calculating the fluctuation characteristic value of the shaft, wherein the fluctuation characteristic value is the average value of interval index scores of all intervals; calculating the ratio of the average value to a standard value of the fluctuation characteristic, and calculating a value of the fluctuation characteristic according to the ratio; and taking the weighted average value of the wave characteristic scores of the feed shafts as the wave characteristic score of the machine tool.
In an embodiment of the present invention, the method further includes:
when the machine tool performance measurement and evaluation value is in a preset range, analyzing the variation trend of the machine tool performance, and providing a machine tool maintenance suggestion based on the variation trend;
and when the machine tool performance evaluation value is not in the preset range, giving an alarm.
In an embodiment of the present invention, the method further includes: storing the machine tool performance measurement and evaluation value on the cloud platform;
and, further comprising: and providing a historical machine tool performance measurement and evaluation value of the numerical control machine tool based on a user query request.
In an embodiment of the present invention, the machine tool data is collected by a sensor built in the execution component of the numerical control machine tool.
In one embodiment of the invention, the machine tool data is collected in the process of the running standard cycle module of the numerical control machine tool;
the standard cycle module at least comprises: a main shaft excitation test subprogram, an arc test subprogram, a constant motion current test subprogram, a single-shaft acceleration test subprogram and a feed shaft constant fluctuation test subprogram;
acquiring the machine tool data at least comprises:
in the process of main shaft excitation testing, the feedback speed fluctuation data of each feed shaft motor when the main shaft accelerates at equal intervals are collected;
in the process of testing the arc, acquiring the maximum error of the feed shaft when the two shafts of the feed shaft are linked to do arc motion;
in the process of testing the constant-speed motion current, collecting torque current data of a motor when each feeding shaft moves at a constant speed;
in the single-shaft acceleration test process, acquiring speed feedback data of a motor during step response test of each feeding shaft;
and acquiring the speed fluctuation data of the motor when each feeding shaft moves at a constant speed in the process of testing the constant speed fluctuation of the feeding shafts.
Correspondingly, the invention provides a machine tool performance evaluation system based on machine tool data, which is applied to a cloud platform and comprises an acquisition module and a processing module;
the acquisition module is used for acquiring machine tool data sent by the numerical control machine tool;
and the processing module is used for calculating the machine tool performance measurement and evaluation value according to the index standard value provided by the cloud platform and the machine tool data.
The invention provides a cloud platform, comprising: a processor, a memory, and a communicator;
the communicator is used for communicating with the numerical control machine tool;
the memory is used for storing a computer program;
the processor is used for executing the computer program stored in the memory so as to enable the cloud platform to execute the machine tool performance evaluation method based on the machine tool data.
Finally, the invention provides a machine tool performance evaluation comprehensive system based on machine tool data, which comprises the cloud platform and at least one numerical control machine tool;
the numerical control machine tool is used for executing operation corresponding to the characteristics of the machine tool, collecting machine tool data and sending the machine tool data to the cloud platform.
In an embodiment of the present invention, the cloud platform includes:
the machine tool performance query module is used for providing a historical machine tool performance measurement and evaluation value based on a query request of a user;
the machine tool interface module is used for receiving machine tool data sent by the numerical control machine tool;
the index standard calculation module is connected with the machine tool interface module and is used for calculating the index standard value of the machine tool with the same model;
the performance calculation module is connected with the machine tool interface module and the index standard calculation module and is used for calculating a machine tool performance measurement and evaluation value;
the cloud data storage module is connected with the performance calculation module and used for storing the machine tool performance measurement and evaluation value;
the digit control machine tool includes:
the standard cycle module is used for controlling the machine tool execution component to execute operation corresponding to the characteristics of the machine tool;
the machine tool execution component is used for executing the operation corresponding to the characteristics of the machine tool and acquiring the data of the machine tool through a built-in sensor;
the data acquisition module is connected with the machine tool execution component and used for acquiring the machine tool data;
the local storage module is connected with the data acquisition module and is used for locally storing the machine tool data;
and the interface module is connected with the local storage module and used for sending the machine tool data to the cloud platform.
As described above, the machine tool performance evaluation method, system, integrated system and cloud platform based on machine tool data according to the present invention have the following beneficial effects:
(1) the machine tool performance is evaluated based on machine tool data and index standard values acquired by a sensor of the numerical control machine tool in real time, the accuracy is high, and signal noise is avoided;
(2) the historical performance indexes of the machine tool can be inquired in real time, the change trend of the performance indexes is further analyzed, and cross-terminal inquiry is supported;
(3) the performance of the machine tool can be obtained in all directions by adopting the main shaft excitation characteristic, the dynamic precision characteristic, the damping characteristic, the response characteristic and the fluctuation characteristic as performance indexes;
(4) the industrial big data processing is carried out based on the cloud platform, and the rapid and accurate calculation of the machine tool performance measurement and evaluation value is realized.
Drawings
FIG. 1 is a schematic diagram of a machine tool performance evaluation system based on machine tool data according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a method for machine tool performance evaluation based on machine tool data according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating a method for machine tool performance evaluation based on machine tool data according to another embodiment of the present invention;
FIG. 4 is a flow chart illustrating the labeling of standard values in one embodiment of the flow chart of FIG. 3;
FIG. 5 is a flow chart illustrating the calculation of a machine characteristic evaluation in one embodiment of the flow chart of FIG. 3;
FIG. 6 is a schematic diagram of a machine tool performance evaluation system based on machine tool data according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a cloud platform according to an embodiment of the invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The machine tool performance evaluation method, the machine tool performance evaluation system and the comprehensive system based on the machine tool data have the advantages that the cloud platform evaluates the machine tool performance on the cloud platform based on the machine tool data and the index standard value acquired by the sensor of the numerical control machine tool in real time, the accuracy is high, the feedback speed is high, and data support is provided for normal use of the numerical control machine tool.
As shown in fig. 1, in an embodiment, the machine tool performance evaluation integrated system based on machine tool data of the present invention includes a numerical control machine tool end and a cloud platform end. Wherein, the numerical control machine tool end can comprise one or more numerical control machine tools. Wherein the nc machines 1, 2 and more nc machines n are connected to the cloud platform P. Wherein, the plurality of numerical control machine tools can be machine tools with different models produced by different manufacturers.
In this embodiment, each numerical control machine tool at least comprises two parts, namely a numerical control system A and a machine tool execution part B. The numerical control system A is provided with a standard cycle module C, a data acquisition module D, an interface module M and a local data storage module E. The standard cycle module C is used for controlling the machine tool execution component B to execute the operation corresponding to the characteristics of the machine tool. Specifically, the standard cycle module C includes a preset numerically-controlled machine tool execution module, and preferably includes a main shaft excitation test subroutine, an arc test subroutine, a uniform motion current test subroutine, a single-axis acceleration test subroutine, and a feeding shaft uniform fluctuation test subroutine, so as to implement evaluation of machine tool performance characteristics. The machine tool execution component B is used for executing operation corresponding to the characteristics of the machine tool and collecting the machine tool data through a built-in sensor. Generally, a plurality of sensors, such as a motor encoder, a motor current sensor and the like, are built in the machine tool executing component B, and the sensors can directly or indirectly reflect the motion condition of the machine tool. The type of data collected may vary from component to component, and may include: speed, current, power, temperature, etc. And the data acquisition module D is connected with the machine tool execution component B and is used for acquiring the machine tool data. And the local data storage module E is connected with the data acquisition module D and is used for locally storing the machine tool data. And the interface module M is connected with the local storage module E and is used for sending the machine tool data to the cloud platform P and acquiring part of instructions initiated by the cloud platform P. In other embodiments, a sensor may not be built in the machine tool actuator B, but a sensor externally mounted on the machine head or the spindle may collect data.
The cloud platform P comprises a machine tool interface module S, an index standard calculation module R, a machine tool performance query module Q, a performance calculation module W and a cloud data storage module T. And the machine tool performance query module Q is used for providing historical machine tool performance measurement and evaluation values based on query requests of users. The machine tool interface module S is used for communicating with each machine tool, receiving machine tool data sent by the numerical control machine tool and sending necessary instructions to the machine tool according to requirements. And the index standard calculation module R is connected with the machine tool interface module S and is used for calculating the index standard value of the machine tool with the same model. And the performance calculation module W is connected with the machine tool interface module S and the index standard calculation module R and is used for calculating the machine tool performance measurement and evaluation value. And the cloud data storage module T is connected with the performance calculation module W and used for storing the machine tool performance measurement and evaluation value and providing a function of inquiring the machine tool performance by a user.
Specifically, the numerical control machine tool is used for executing operation corresponding to the characteristics of the machine tool, collecting machine tool data in real time and sending the machine tool data to the cloud platform. Preferably, the characteristics of the machine tool include at least a spindle excitation characteristic, a dynamic accuracy characteristic, a damping characteristic, a response characteristic, and a ripple characteristic. The main indexes and test descriptions for evaluating the performance of the numerical control machine tool are shown in table 1.
TABLE 1 main indices and test description for evaluation of numerically controlled machine tool performance
The cloud platform is used for calculating and storing the performance measurement and evaluation value of the machine tool according to the machine tool data and the index standard value, so that the performance condition of the machine tool can be fed back at the first time, and the historical performance measurement and evaluation value can be inquired at any time. In one embodiment of the invention, the numerical control machine tool acquires the data of the machine tool through the sensor arranged on the machine tool execution part, so that the additional arrangement of the sensor is not needed, the evaluation cost is effectively reduced, the interference of signal noise is avoided, and the evaluation accuracy is ensured.
The machine tool performance evaluation method based on machine tool data is further explained from the perspective of a cloud platform. As shown in fig. 2, in an embodiment, the method for evaluating machine tool performance based on machine tool data of the present invention is applied to a cloud platform, and specifically includes the following steps:
and step S1, acquiring the machine tool data sent by the numerical control machine tool.
Specifically, in the invention, no additional sensor is needed, and only the sensor which is arranged on the execution part of the numerical control machine tool and is carried by the data machine tool is needed to acquire the data of the machine tool. The machine tool data comprises data such as the rotating speed of the main shaft, the rotating speed, the current and the position of the feed shaft.
When the machine tool performance is evaluated, the numerical control machine tool executes operation corresponding to the machine tool characteristics, acquires corresponding machine tool data through a sensor, and then sends the machine tool data to the cloud platform through a network cable (wired) or a wireless communication mode such as 3G and 4G, WiFi. In one embodiment of the invention, machine tool data is collected in the process of the running standard cycle module of the numerical control machine tool; the standard cycle module at least comprises: a main shaft excitation test subprogram, an arc test subprogram, a constant motion current test subprogram, a single-shaft acceleration test subprogram and a feed shaft constant fluctuation test subprogram.
Acquiring the machine tool data at least comprises:
in the process of main shaft excitation testing, the feedback speed fluctuation data of each feed shaft motor when the main shaft accelerates at equal intervals are collected;
in the process of testing the arc, acquiring the maximum error of the feed shaft when the two shafts of the feed shaft are linked to do arc motion;
in the process of testing the constant-speed motion current, collecting torque current data of a motor when each feeding shaft moves at a constant speed;
in the single-shaft acceleration test process, acquiring speed feedback data of a motor during step response test of each feeding shaft;
and acquiring the speed fluctuation data of the motor when each feeding shaft moves at a constant speed in the process of testing the constant speed fluctuation of the feeding shafts.
In one embodiment, the step of obtaining the machine tool data sent by the numerically controlled machine tool comprises the following steps:
a) the numerical control machine tool performs an operation corresponding to a characteristic of the machine tool.
Specifically, the numerical control machine tool performs an operation corresponding to the characteristics of the machine tool based on the standard cycle module C.
b) The numerical control machine tool collects machine tool data acquired by a sensor during the execution of the operation.
Specifically, during the execution of the circulation standard module C, machine tool data acquired by a built-in sensor on a machine tool execution component is acquired through the data acquisition module D by the numerical control machine tool.
c) Storing the machine tool data locally.
Specifically, the machine tool data is stored in the local data storage module E.
d) And transmitting the machine tool data to a cloud platform.
Specifically, after the standard cycle module C is executed, the machine tool data in the local data storage E is uploaded to the cloud platform P through the interface module M according to the network condition.
And step S2, calculating and storing the machine tool performance evaluation value according to the index standard value of the numerical control machine tool with the same model and the machine tool data.
Specifically, when machine tool performance is evaluated, performance of the numerically controlled machine tool is evaluated with respect to indexes such as a spindle excitation characteristic, a dynamic accuracy characteristic, a damping characteristic, a response characteristic, and a fluctuation characteristic of the numerically controlled machine tool.
For the indexes, the cloud platform stores standard index values. In the invention, the index standard value is obtained by a calibration method. Specifically, machine tool data is collected, extracted, analyzed and a digital report is generated in the operation process of a calibration program, and finally a performance index is formed. The standard index value is derived from feedback of machine tool data in a standard process, such as fluctuation situation of current, speed change situation, tracking situation of a contour track and the like. The cloud platform collects a large amount of operation data of the machine tool, and the performance evaluation index standard value is obtained by analyzing the large sample data in real time.
In the invention, the cloud platform calculates the machine tool performance evaluation value according to the index standard value and the machine tool data, so that the evaluation feedback efficiency can be improved on the basis of not depending on manufacturers, and the accuracy of machine tool performance evaluation is greatly improved.
In an embodiment of the present invention, the method for evaluating machine tool performance based on machine tool data further includes calibrating an index standard value based on historical machine tool data of a machine tool of the same model as the numerical control machine tool, which is obtained by the cloud platform, when a preset condition is satisfied, so as to obtain the index standard value. As shown in fig. 3, in this embodiment, the machine tool performance evaluation method based on machine tool data of the present invention includes the steps of:
step S31, when the performance measurement and evaluation value of the machine tool needs to be obtained, firstly, the machine tool performance is inquired based on the machine tool performance inquiry module Q on the cloud platform P so as to inquire the historical performance measurement and evaluation value.
And step S32, judging whether the cloud data storage module T has a historical performance evaluation value.
And step S33, if the historical performance evaluation value is stored on the cloud platform, displaying the historical performance evaluation value to analyze the change trend of the historical performance evaluation value.
And step S34, judging whether the re-evaluation is needed, if not, exiting the current process.
And step S35, if the historical performance evaluation value is not stored on the cloud platform or the re-evaluation is needed, directly starting an evaluation program. Firstly, the numerical control machine tool collects machine tool data in a standard cycle module and uploads the machine tool data to the cloud platform.
And step S36, when a preset condition is met, calibrating an index standard value based on historical machine tool data of the machine tool with the same model as the numerical control machine tool, which is obtained by the cloud platform.
And step S37, calculating and storing the machine tool performance evaluation value according to the index standard value of the numerical control machine tool with the same model and the machine tool data.
S38, displaying the performance evaluation value of the numerical control machine tool, and storing the performance evaluation value into a cloud data storage module T; and finally, explaining the result of each index according to the performance evaluation value, giving a suggestion method for a user to adjust the machine tool, and giving an alarm when the index exceeds a preset threshold value.
Specifically, the index standard value adopted in the invention is not a fixed value, but can be adjusted in real time according to the actual use condition of the machine tool, so that the accuracy of machine tool performance evaluation is further ensured. Preferably, the index standard value is calibrated when the time interval from the last calibration of the index standard value exceeds a first preset time period, such as 30 days. Or, the ratio of the number of the machine tool data acquired by the cloud platform to the total number of the machine tool data of the same model on the cloud platform within a second preset time is greater than a preset value, and if the machine tool data acquired within a certain day exceeds more than 50% of the total machine tool data on the cloud platform, the index standard value is calibrated.
As shown in fig. 4, the calibration of the standard value of the index includes the following steps:
and step S41, receiving the machine tool data sent by the numerical control machine tool.
Specifically, after the numerical control machine tool finishes collecting the machine tool data, the data are sent to the cloud platform P through the interface module M.
And step S42, storing the machine tool data.
Specifically, the cloud platform P acquires data through the machine tool interface module S and stores the data in the cloud data storage module T.
And step S43, calculating an index standard value based on the machine tool data.
Specifically, the cloud platform P calculates an index standard value using the index standard calculation module R.
And step S44, storing the index standard value for inquiry and use.
Specifically, the index standard value is stored in the cloud data storage T for performance evaluation value calculation.
In an embodiment of the present invention, the index standard value at least includes: a main shaft excitation characteristic standard value, a dynamic accuracy characteristic standard value, a damping characteristic standard value, a response characteristic standard value, and a fluctuation characteristic standard value. Specifically, the main shaft excitation characteristic standard value is obtained based on the average value of the feedback speed fluctuation data of the motors of the feeding shafts during the main shaft equal-interval accelerated motion collected by the machine tools of the same model within a preset time length; acquiring the dynamic precision characteristic standard value based on the average value of the maximum error data of the feeding shaft acquired by the machine tools of the same model within preset time; acquiring the damping characteristic standard value based on the average value of torque current data of motors when the feeding shafts move at a constant speed, which is acquired by the machine tools of the same model within a preset time length; acquiring the standard value of the response characteristic based on the average value of the relevant indexes of the step response collected by the machine tools of the same model in the preset duration; and acquiring the standard value of the fluctuation characteristic based on the average value of the speed fluctuation data of the motor during the uniform motion of each feeding shaft, which is acquired by the machine tools of the same model in the preset time length. It should be noted that the preset duration is set based on an empirical value, and if the preset duration is too short, the index standard value may be inaccurate; if the preset time is too long, the calculated amount is large, resulting in high complexity. In this embodiment, the preset time period is 30 days under comprehensive consideration. Other embodiments may have other configurations, and the present invention is not limited thereto. Specifically, the standard values of the respective index standard values are illustrated in Table 2.
TABLE 2 Standard value calibration explanation of machine tool performance evaluation index
In an embodiment of the present invention, the performance evaluation value includes a machine tool performance index value and a machine tool performance value, so that the real-time performance of each index of the numerical control machine tool can be known in detail, and the performance state of the numerical control machine tool can be known as a whole. Specifically, as shown in fig. 5, calculating the machine tool performance evaluation value from the index standard value and the machine tool data includes the steps of:
step S51, calculating the characteristic score of the machine tool based on the index standard value of the numerical control machine tool with the same model and the machine tool data, wherein the characteristic at least comprises the following steps: spindle excitation characteristics, dynamic accuracy characteristics, damping characteristics, response characteristics, and ripple characteristics.
In one embodiment of the present invention, the score of the spindle excitation characteristic of a certain feed axis of the machine tool is calculated by the following steps:
a) enabling the main shaft to rotate at a certain speed, and dividing the collected speed feedback of the feeding shaft into a plurality of intervals, such as 10 intervals, according to a time sequence;
b) calculating the section index score S corresponding to each sectioniThe interval index score is the difference between the maximum value and the minimum value of the data in the current interval, and Si is max (vel)i)-min(veli)；
c) And calculating a spindle excitation characteristic value of the feed shaft, wherein the spindle excitation characteristic value is an average value of interval index scores of all intervals, namely S ═ mean (S1, S2.. Si... Sn).
And taking the weighted average of the main shaft excitation characteristic scores of the feeding shafts as the main shaft excitation characteristic score of the machine tool.
In one embodiment of the present invention, the value of the damping characteristic of a feed axis of a machine tool is calculated by the following steps:
a) collecting the torque current value of a servo motor when the machine tool runs at a constant speed on the full stroke of the shaft (for example, f is 1200 mm/min);
b) and calculating the average value of the torque current values of the servo motor in the process, and taking the value as the shaft damping characteristic score.
And taking the weighted average value of the damping characteristic scores of the feed shafts as the damping characteristic score of the machine tool.
In an embodiment of the present invention, the score of the dynamic accuracy characteristic of a certain feed axis of the machine tool is calculated by the following steps:
a) acquiring the maximum contour error of the shaft in a reversing position interval in the circular motion participated by the shaft of the machine tool;
b) because two reversing position intervals exist for a certain feed shaft during arc linkage, the average value of the maximum profile errors at the two reversing position intervals is used as the score of the dynamic precision characteristic of the feed shaft.
And taking the weighted average value of the dynamic characteristic scores of the feed shafts as the dynamic characteristic score of the machine tool.
In one embodiment of the invention, the score of the response characteristic of a certain feed axis of the machine tool is calculated by the following steps:
a) the shaft of the machine tool is subjected to short-distance (such as 10mm) reciprocating acceleration and deceleration movement (6 times of acceleration and deceleration movement in total) at 3 positions (generally, the center and the left and right ends) in a stroke interval of the shaft, and the center-of-gravity frequency f obtained by performing FFT (fast Fourier transform) on feedback speed data within a period of time (such as 256ms) after the speed reaches a specified speed is obtainedciAnd average energy amplitude avi. The fft (fast Fourier transform) is a fast algorithm of Discrete Fourier Transform (DFT), that is, fast Fourier transform, and is obtained by improving the algorithm of the DFT according to the characteristics of odd, even, imaginary, and real of the DFT.
b) The score R of the response characteristic of the feed shaft is calculated as follows:
where f is the folding frequency of the FFT sampling frequency, preferably f is 500 Hz.
And taking the weighted average of the response characteristic scores of the feed axes as the response characteristic score of the machine tool.
In an embodiment of the present invention, the score of the fluctuation characteristic of a certain feed axis of the machine tool is calculated by the following steps:
a) dividing the feedback speed data of the uniform-speed operation of the feed shaft of the machine tool into a plurality of intervals, such as 10 intervals, according to a time sequence;
b) calculating the section index score V corresponding to each sectioniThe interval index score is the difference between the maximum value and the minimum value of the data in the current interval, and Vi is max (vel)i)-min(veli)；
c) Calculating a fluctuation characteristic value of the feed shaft, wherein the fluctuation characteristic value is an average value of interval index scores of all intervals, namely V mean (V1, V2.. Vi... Vn);
d) and calculating the ratio of the average value to the standard value of the current index, and calculating the score of the current index according to the ratio and a preset algorithm.
And taking the weighted average value of the wave characteristic scores of the feed shafts as the wave characteristic score of the machine tool.
To visually represent performance results using a 5-point score, the invention uses an index knq(where n is an index number, and it is defined here that the spindle excitation number is 1, the damping characteristic number is 2, the dynamic accuracy number is 3, the response characteristic number is 4, and the fluctuation characteristic is 5; and q represents an axis number such as an x-axis, a y-axis, a z-axis, etc.). The calculation methods of the indexes are similar, and when the method is applied to different indexes, only the input _ args value used in the following description needs to be modified according to each index. Wherein input _ args is the ratio of the calculated characteristic value to the corresponding index standard value. The standard value can be the average value of the V values of the same type, and can also be set according to experience. Here, the fluctuation characteristic k of the X-axis of a machine tool is used5xCalculation as an example, give k5xThe method of (3). k is a radical of5xThe calculation method comprises dividing the V value calculated by the corresponding axis of the machine tool by a standard value VS, and converting the divided result into k according to a certain algorithm5x. Calculated k5xThe value is 1-5, and the larger the value is, the better the performance is.
In an embodiment of the present invention, the preset algorithm is as follows:
wherein: input _ args is V/VS index _1 is 0.5; index _2 is 0.8; index _3 is 1; index _4 is 2; index _5 is 3
Note that, the scores of the fluctuation characteristics in the y-axis and z-axis are calculated in the same manner as above. Also, a machine often includes multiple axes, so the final k5 can be all axes (k)5x,k5y,k5z…) or a weighted average.
Step S52, according to the characteristic score, adopting
Wherein the weight may be determined according to the machine tool type. Preferably, the respective weights may also be set to 1.
In an embodiment of the present invention, the method for evaluating machine tool performance based on machine tool data further includes analyzing a variation trend of machine tool performance when the machine tool performance evaluation value is within a preset range, and providing a machine tool maintenance suggestion based on the variation trend; and when the machine tool performance evaluation value is not in the preset range, giving an alarm. Specifically, when the value of the machine tool performance index and/or the machine tool performance value is within a preset range, trend analysis is carried out on historical machine tool performance, and suggestions are provided according to the change trend; when the value of the machine tool performance index and/or the machine tool performance score is not in the preset range, the performance of the machine tool is indicated to have a certain problem, so that an alarm is automatically sent out, and a certain suggestion can be provided for a solution. It should be noted that the preset range is set in relation to the adopted division and combined with empirical values. In this embodiment, 5 points are used, namely: the score of 5 is full, all requirements such as precision and quality are met, the score of 3 is qualified, the basic requirements of machine tool machining are met, and the rest can be analogized. In other embodiments, the setting can be freely performed according to different requirements such as the average machining precision and/or the quality requirement grade of a factory of each machine tool on the cloud platform. The present invention is not particularly limited in this regard.
In an embodiment of the present invention, the method for evaluating machine tool performance based on machine tool data further includes providing a historical evaluation value of machine tool performance based on the query request. Specifically, the calculated machine tool performance measurement and evaluation values are stored on the cloud platform. A user can inquire the historical machine tool performance evaluation value of the numerical control machine tool through a certain inquiry interface, so that the historical performance information of the machine tool is known, and when the evaluation is carried out again in need, the machine tool performance evaluation is started to meet different needs of the user.
As shown in fig. 6, in an embodiment, the machine tool performance evaluation system based on machine tool data of the present invention is applied to a cloud platform, and includes an obtaining module 61 and a processing module 62.
The obtaining module 61 is configured to obtain machine tool data sent by the numerical control machine tool.
And the processing module 62 is used for calculating and storing the machine tool performance measurement and evaluation value according to the index standard value of the numerical control machine tool with the same model and the machine tool data.
It should be noted that the structures and principles of the obtaining module 61 and the processing module 62 correspond to the steps of the machine tool performance evaluation method based on the machine tool data one to one, and therefore, the description is omitted here.
It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the x module may be a processing element that is set up separately, or may be implemented by being integrated in a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and the function of the x module may be called and executed by a processing element of the apparatus. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
As shown in fig. 7, in an embodiment, the cloud platform of the present invention includes: a processor 71, a memory 72, and a communicator 73.
The communicator 73 is used for communicating with the numerical control machine tool.
The memory 72 is used for storing computer programs.
The memory 72 includes: various media that can store program codes, such as ROM, RAM, magnetic disk, U-disk, memory card, or optical disk.
The processor 71 is connected to the memory 72 and the communicator 73, and is configured to execute the computer program stored in the memory 72, so that the cloud platform executes the above-mentioned machine tool performance evaluation method based on the machine tool data.
Preferably, the processor 71 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; the integrated circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.
In conclusion, the machine tool performance evaluation method, the machine tool performance evaluation system, the comprehensive system and the cloud platform based on the machine tool data and the index standard value acquired by the sensors of the numerical control machine tool in real time have high accuracy and avoid signal noise; the historical performance indexes of the machine tool can be inquired in real time, the change trend of the performance indexes is further analyzed, and cross-terminal inquiry is supported; the performance of the machine tool can be obtained in all directions by adopting the main shaft excitation characteristic, the dynamic precision characteristic, the damping characteristic, the response characteristic and the fluctuation characteristic as performance indexes; the industrial big data processing is carried out based on the cloud platform, and the rapid and accurate calculation of the machine tool performance measurement and evaluation value is realized. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
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