Center hole precision cutting machining method of motor shaft and related device

Abstract

The invention discloses a motor shaft center hole precision cutting machining method and a related device. The method comprises the steps that a motor shaft to be machined is placed on a tool table, and a clamping position and a supporting position are controlled to fix the motor shaft to be machined on the tool table; depth camera equipment on the tool table is started to carry out three-dimensional coordinate extraction processing on the center hole of the motor shaft to be machined; based on the target three-dimensional coordinate data, an inner hole cutting tool is controlled to execute cutting machining operation on the center hole according to a preset cutting parameter range; acquiring and processing jumping data of the two ends of the to-be-processed motor shaft based on a deflection instrument arranged on the tool table; and the spindle rotating speed and the feeding speed of the inner hole cutting tool are self-adaptively adjusted based on the corresponding bounce data at the two ends, so that the difference value between the corresponding bounce data at the two ends is within a preset range. In the embodiment of the invention, the precision machining of the inner hole of the motor shaft is realized, and the precision machining speed is ensured on the premise of ensuring the machining precision of the motor shaft.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation processing, and in particular to a center hole precision cutting processing method of a motor shaft and a related device. BACKGROUND

[0002] The motor shaft is a bearing applied in a motor of a new energy electric vehicle; in order to make the motor have lower internal loss and reduce the weight of the motor, the motor shaft needs to be hollow processed, and the hollow processing of the motor shaft has corresponding processing difficulty, which may cause the inner hole of the motor shaft to be uneven, thereby causing the motor to resonate, make abnormal sound and the like when the motor shaft is installed in the motor, and seriously affecting the service life and use experience of the motor; therefore, how to ensure the precision of the hollow processing of the motor shaft and reduce the loss of the processing tool while ensuring the processing speed to realize high-precision processing of the center hole of the motor shaft needs to be solved. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art, and provides a center hole precision cutting processing method of a motor shaft and a related device, which realizes precision processing of the inner hole of the motor shaft, ensures the processing speed of the precision processing under the premise of ensuring the processing precision of the motor shaft, and reduces the loss of the processing cutting tool during processing.

[0004] In order to solve the above technical problems, an embodiment of the present application provides a center hole precision cutting processing method of a motor shaft, which comprises: placing a motor shaft to be processed on a tooling table, and fixing the motor shaft to be processed on the tooling table based on a controller on the tooling table to control clamping positions and supporting positions; starting a depth camera device on the tooling table, and performing three-dimensional coordinate extraction processing on a center hole of the motor shaft to be processed based on the depth camera device to obtain target three-dimensional coordinate data of the center hole; controlling an inner hole cutting tool to perform cutting work on the center hole according to a preset cutting parameter range based on the target three-dimensional coordinate data by the controller; when performing the cutting work on the center hole, collecting and processing jump data of both ends of the motor shaft to be processed based on a runout instrument arranged on the tooling table to obtain corresponding jump data of both ends; the controller adjusts the spindle speed and the feed speed of the inner hole cutting tool for the cutting work on the center hole in the preset cutting parameter range based on the corresponding jump data of both ends to make the difference between the corresponding jump data of both ends within a preset range.

[0005] Optionally, the placing the motor shaft to be processed on the tooling table and fixing the motor shaft to be processed on the tooling table based on the controller on the tooling table controlling the clamping position and the supporting position comprises: placing the motor shaft to be processed on the tooling table based on the grabbing device arranged on the tooling table; when the gravity sensor arranged on the tooling table detects that the motor shaft to be processed is placed on the preset position, the controller controls the clamping position and the supporting position to fix the motor shaft to be processed on the tooling table based on the pre-configured model parameters of the motor shaft to be processed.

[0006] Optionally, the three-dimensional coordinate extraction processing of the center hole of the motor shaft to be processed based on the depth camera device comprises: performing image acquisition processing on the position of the center hole of the motor shaft to be processed based on the depth camera device to obtain depth image data corresponding to the motor shaft to be processed and camera intrinsic parameters corresponding to the depth camera device; calling an OpenCV model to read the depth image data, and converting each pixel value in the depth image data into corresponding three-dimensional coordinate data in the OpenCV model by using the camera intrinsic parameters; extracting a target segmentation image of the motor shaft to be processed in the depth image data based on a target extraction model, and matching target three-dimensional coordinate data corresponding to the center hole in the three-dimensional coordinate data converted from each pixel value in the depth image data by using the target segmentation image.

[0007] Optionally, the controller controls the inner hole cutting tool to perform cutting work on the center hole according to a preset cutting parameter range based on the target three-dimensional coordinate data, comprising: the controller converts the target three-dimensional coordinate data into a first coordinate system of the inner hole cutting tool to form corresponding positioning three-dimensional coordinate data in the first coordinate system; the controller controls the inner hole cutting tool to perform cutting work on the center hole according to the preset cutting parameter range based on the positioning three-dimensional coordinate data; wherein the preset cutting parameter range is a spindle speed range and a feed speed range of the inner hole cutting tool.

[0008] Optionally, the controller controls the inner hole cutting tool to perform cutting work on the center hole according to the preset cutting parameter range based on the positioning three-dimensional coordinate data, comprising: the controller adjusts the cutting posture of the inner hole cutting tool based on the positioning three-dimensional coordinate data according to a preset inner hole size. The controller generates a cutting control signal according to the preset cutting parameter range based on the cutting posture, and controls the inner hole cutting tool to perform the cutting work on the center hole based on the cutting control signal.

[0009] Optionally, the two-end run-out data of the motor shaft to be machined is collected and processed by the run-out instrument arranged on the tooling table to obtain corresponding two-end run-out data, including: The two-end run-out data of the motor shaft to be machined during the cutting work is collected and processed by the run-out instrument arranged on the tooling table according to a predetermined collection frequency to obtain corresponding two-end run-out data.

[0010] Optionally, the controller adjusts the spindle speed and the feed speed of the inner hole cutting tool for the center hole cutting work in the preset cutting parameter range based on the corresponding two-end run-out data to make the difference between the corresponding two-end run-out data within a preset range, including: The controller performs difference processing on the corresponding two-end run-out data to obtain difference data, and judges whether the difference data is within a standard requirement data range; When the difference data is within the standard requirement data range, the controller adjusts the spindle speed upward by a first adjustment step and adjusts the feed speed upward by a second adjustment step in the preset cutting parameter range, generates an updated cutting control signal, controls the inner hole cutting tool to perform the cutting work on the center hole based on the updated cutting control signal, and returns to the step of collecting and processing the two-end run-out data of the motor shaft to be machined by the run-out instrument arranged on the tooling table; When the difference data is not within the standard requirement data range, the controller adjusts the spindle speed downward by the first adjustment step and adjusts the feed speed downward by the second adjustment step in the preset cutting parameter range, generates an updated cutting control signal, controls the inner hole cutting tool to perform the cutting work on the center hole based on the updated cutting control signal, and returns to the step of collecting and processing the two-end run-out data of the motor shaft to be machined by the run-out instrument arranged on the tooling table until the difference between the corresponding two-end run-out data is within the preset range.

[0011] In addition, the embodiment of the present application also provides a center hole precision cutting machining device for a motor shaft, including: A fixing module is used to place a motor shaft to be machined on a tooling table, and fix the motor shaft to be machined on the tooling table based on a controller on the tooling table controlling a clamping position and a supporting position; A three-dimensional extraction module is configured to start the deep camera device on the fixture table and extract three-dimensional coordinates of the center hole of the motor shaft to be machined based on the deep camera device, and obtain target three-dimensional coordinate data of the center hole. A cutting operation module is configured to control the inner hole cutting tool to perform cutting operation on the center hole according to preset cutting parameters based on the target three-dimensional coordinate data. A data acquisition module is configured to acquire run-out data of both ends of the motor shaft to be machined based on the run-out instrument arranged on the fixture table during the cutting operation of the center hole, and obtain corresponding run-out data of both ends. A cutting operation adjustment module is configured to adjust the spindle speed and the feed speed of the inner hole cutting tool during the cutting operation of the center hole within the preset cutting parameter range based on the corresponding run-out data of both ends, so that the difference between the corresponding run-out data of both ends is within a preset range.

[0012] In addition, the embodiment of the present application also provides a controller including a processor and a memory, wherein the processor runs a computer program or code stored in the memory to realize the center hole precision cutting machining method according to any one of the above.

[0013] In addition, the embodiment of the present application also provides a computer readable storage medium for storing a computer program or code, wherein the computer program or code is executed by a processor to realize the center hole precision cutting machining method according to any one of the above.

[0014] In the embodiment of the present application, the motor shaft to be machined is fixed on the fixture table, the target three-dimensional coordinate data of the center hole of the motor shaft to be machined on the fixture table is extracted, and then the inner hole cutting tool is controlled to perform cutting operation on the center hole according to preset cutting parameters. During the cutting operation, the run-out data of both ends of the motor shaft to be machined is acquired, and the spindle speed and the feed speed during the cutting operation are adaptively adjusted, so that the difference between the corresponding run-out data of both ends is within a preset range. In this way, high-precision cutting machining of the motor shaft to be machined can be realized. Meanwhile, the machining speed during the cutting machining can be adjusted to improve the machining efficiency. The service life of the cutting tool during the cutting machining is effectively guaranteed by adjusting the speed and the feed speed. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0016] Figure 1 is a flowchart of the center hole precision cutting machining method of the motor shaft in the embodiment of the present application; Figure 2 is a flowchart of the center hole precision cutting machining method of the motor shaft in another embodiment of the present application; Figure 3 is a structural composition diagram of the center hole precision cutting machining device of the motor shaft in the embodiment of the present application; Figure 4 is a structural composition diagram of the controller in the embodiment of the present application. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0018] Embodiment one, please refer to Figure 1 , Figure 1 is a flowchart of the center hole precision cutting machining method of the motor shaft in the embodiment of the present application.

[0019] As Figure 1 shown, a center hole precision cutting machining method of a motor shaft, the method comprises: S101: placing a motor shaft to be machined on a tooling table, and fixing the motor shaft to be machined on the tooling table based on a controller on the tooling table controlling a clamping position and a supporting position; In the specific implementation process of the present application, the placing a motor shaft to be machined on a tooling table, and fixing the motor shaft to be machined on the tooling table based on a controller on the tooling table controlling a clamping position and a supporting position comprises: placing the motor shaft to be machined on a preset position of the tooling table based on a grabbing device arranged on the tooling table; when the gravity sensor arranged on the tooling table detects that the motor shaft to be machined is placed on the preset position, the controller controls the clamping position and the supporting position to fix the motor shaft to be machined on the tooling table based on the preconfigured model parameters of the motor shaft to be machined.

[0020] Specifically, a grabbing device is arranged on the tooling table, which is generally a mechanical arm with grabbing function, and the mechanical arm is used to grab the motor shaft to be processed and place it on the designated position of the tooling table in a fixed posture. After the motor shaft to be processed is placed on the tooling table, the tooling table will perform a fixing operation. At this time, the clamping position and the supporting position are needed for fixing. The tooling table has multiple clamping positions and multiple supporting positions, and the controller is used to control the clamping position and the supporting position to fix the motor shaft to be processed on the tooling table. That is, the controller is used to index to the required clamping position and supporting position, and the required clamping force and supporting force by using the model parameters of the motor shaft to be processed, and then the motor shaft to be processed is fixed on the tooling table according to the indexed clamping position and supporting position, and the required clamping force and supporting force.

[0021] S102: Start the depth camera device on the tooling table, and perform three-dimensional coordinate extraction processing on the center hole of the motor shaft to be processed based on the depth camera device to obtain target three-dimensional coordinate data of the center hole. In the specific implementation process of the present application, the three-dimensional coordinate extraction processing on the center hole of the motor shaft to be processed based on the depth camera device to obtain target three-dimensional coordinate data of the center hole includes: performing image acquisition processing on the position of the center hole of the motor shaft to be processed based on the depth camera device to obtain depth image data corresponding to the motor shaft to be processed and camera intrinsic parameters corresponding to the depth camera device; calling an OpenCV model to read the depth image data, and converting each pixel value in the depth image data into corresponding three-dimensional coordinate data by using the camera intrinsic parameters in the OpenCV model; extracting a target segmentation image of the motor shaft to be processed in the depth image data based on a target extraction model, and matching target three-dimensional coordinate data corresponding to the center hole in the three-dimensional coordinate data converted from each pixel value in the depth image data by using the target segmentation image.

[0022] Specifically, a depth camera device is arranged on the tooling table, and then the depth camera device is used to perform target depth image acquisition, that is, to perform depth image acquisition on the motor shaft to be processed placed and fixed on the tooling table, so as to obtain depth image data corresponding to the motor shaft to be processed. In order to calculate subsequently, the camera intrinsic parameters of the depth camera device need to be configured in the controller. At this time, the depth image data and the camera intrinsic parameters corresponding to the depth camera device can be obtained. At this time, the depth image data and the camera intrinsic parameters can be used to perform calculation, so that the target three-dimensional coordinate data corresponding to the center hole of the motor shaft to be processed can be extracted.

[0023] In this embodiment, an OpenCV model is used to read depth image data. Specifically, the path to the depth image data to be read is set in the OpenCV model, and then commands are used to instruct the OpenCV model to read the depth image data according to the set path. After reading is complete, the 3D coordinate data is extracted in the OpenCV model; that is, each pixel value in the depth image data is converted into corresponding 3D coordinate data based on the camera intrinsic parameters in the OpenCV model. The specific implementation is detailed in the following pseudocode logic: import numpy as np # Import the NumPy library; `height, width = depth image.shape;` # Get the height and width of the depth map. points = []; # Create a point cloud array for y in range(height): # Iterate through each pixel of the depth map for x in range(width): Z = depth image[y, x]; # Get the depth value If z == 0: # Skip invalid depth values Continue x = (x - cx) * z / f; # Calculate the x-coordinate, cx, cy, f are camera intrinsic parameters, and z is the depth value. y = (y - cy) * z / f; # Calculate the y-coordinate points.append((x,y,z)); # Adds (x,y,z) to the point cloud. points = np.array(points); # Convert the list to a NumPy array After obtaining the 3D coordinate data corresponding to each pixel value in the depth image data, in order to accurately extract the 3D coordinate data corresponding to the pixel value of the required center hole, a target extraction model is needed. This target extraction model can be formed by adjusting the parameters of the depth network according to the requirements and then training and converging the model using the labeled depth image. The target extraction model is used to perform target segmentation processing on the depth image data of the motor shaft to be processed, thereby extracting the target segmentation image. Finally, the target segmentation image can be used to match the target 3D coordinate data corresponding to the center hole in the 3D coordinate data converted from each pixel value in the depth image data.

[0024] S103: The controller controls the inner hole cutting tool to perform the cutting work on the center hole according to a preset cutting parameter range based on the target three-dimensional coordinate data; In the implementation of the present application, the controller controls the inner hole cutting tool to perform the cutting work on the center hole according to a preset cutting parameter range based on the target three-dimensional coordinate data, which includes: the controller converts the target three-dimensional coordinate data into the same first coordinate system of the inner hole cutting tool to form corresponding positioning three-dimensional coordinate data in the first coordinate system; the controller controls the inner hole cutting tool to perform the cutting work on the center hole according to the preset cutting parameter range based on the positioning three-dimensional coordinate data; wherein the preset cutting parameter range is the spindle speed range and the feed speed range of the inner hole cutting tool.

[0025] Further, the controller controls the inner hole cutting tool to perform the cutting work on the center hole according to a preset cutting parameter range based on the positioning three-dimensional coordinate data, which includes: the controller adjusts the cutting posture of the inner hole cutting tool according to a preset inner hole size based on the positioning three-dimensional coordinate data; the controller generates a cutting control signal according to the preset cutting parameter range based on the cutting posture, and controls the inner hole cutting tool to perform the cutting work on the center hole based on the cutting control signal.

[0026] Specifically, after the controller obtains the target three-dimensional coordinate data, in order to use the target three-dimensional coordinate data for positioning, it needs to be converted into the same first coordinate system of the inner hole cutting tool, so that the corresponding positioning three-dimensional coordinate data in the first coordinate system is formed; at this time, the cutting work can be performed; that is, the controller controls the inner hole cutting tool to perform the cutting work on the center hole according to the preset cutting parameter range based on the positioning three-dimensional coordinate data; that is, the inner hole cutting tool is adjusted according to the positioning three-dimensional coordinate data, and the adjusted inner hole cutting tool is controlled to perform the cutting work according to the preset cutting parameter range; wherein the preset cutting parameter range is the spindle speed range and the feed speed range of the inner hole cutting tool; by setting the range, the service life of the cutting tool during cutting can be better protected.

[0027] That is, the controller adjusts the cutting posture of the inner hole cutting tool according to the preset inner hole size based on the positioning three-dimensional coordinate data; after the adjustment is completed, the controller generates a cutting control signal according to the preset cutting parameter range based on the cutting posture, and then controls the inner hole cutting tool to perform the cutting work on the center hole based on the cutting control signal.

[0028] S104: When performing the cutting operation of the center hole, collecting and processing run-out data of two ends of the motor shaft to be machined based on the run-out instrument arranged on the tooling table to obtain corresponding run-out data of the two ends; In the specific implementation process of the present application, the collecting and processing of the run-out data of the two ends of the motor shaft to be machined based on the run-out instrument arranged on the tooling table to obtain corresponding run-out data of the two ends includes: collecting and processing the run-out data of the two ends of the motor shaft to be machined during the cutting operation based on the run-out instrument arranged on the tooling table at a predetermined collection frequency to obtain corresponding run-out data of the two ends.

[0029] Specifically, the run-out instrument is arranged on the tooling table, which is mainly used to collect the run-out condition of the motor shaft to be machined during the cutting operation, so as to prevent the cutting operation precision from being greatly affected due to too large run-out amplitude during the subsequent cutting operation, thereby reducing the cutting operation precision and increasing the scrap rate of the motor shaft to be machined during the cutting operation.

[0030] Therefore, when performing the cutting operation, the run-out instrument arranged on the tooling table is started to collect and process the run-out data of the two ends of the motor shaft to be machined during the cutting operation at a predetermined collection frequency to obtain corresponding run-out data of the two ends.

[0031] S105: The controller adjusts the spindle speed and feed speed of the inner hole cutting tool for the center hole cutting operation within the preset cutting parameter range based on the corresponding run-out data of the two ends to make the difference between the corresponding run-out data of the two ends within a preset range.

[0032] In the implementation of the present application, the controller adjusts the spindle speed and the feed speed of the inner hole cutting tool for the center hole cutting operation within the preset cutting parameter range based on the corresponding run-out data of the two ends to make the difference between the corresponding run-out data of the two ends within the preset range, including: the controller performs difference processing on the corresponding run-out data of the two ends to obtain difference data, and judges whether the difference data is within the standard required data range; when the difference data is within the standard required data range, the controller adjusts the spindle speed upward by a first adjustment step and adjusts the feed speed upward by a second adjustment step in the preset cutting parameter range, generates an updated cutting control signal, controls the inner hole cutting tool to perform cutting operation on the center hole based on the updated cutting control signal, and returns to the step of collecting and processing the run-out data of the two ends of the motor shaft to be machined based on the runout instrument arranged on the tooling table; when the difference data is not within the standard required data range, the controller adjusts the spindle speed downward by a first adjustment step and adjusts the feed speed downward by a second adjustment step in the preset cutting parameter range, generates an updated cutting control signal, controls the inner hole cutting tool to perform cutting operation on the center hole based on the updated cutting control signal, and returns to the step of collecting and processing the run-out data of the two ends of the motor shaft to be machined based on the runout instrument arranged on the tooling table until the difference between the corresponding run-out data of the two ends is within the preset range.

[0033] Specifically, after obtaining the run-out data of the two ends of the motor shaft to be machined during cutting operation, the controller performs difference processing on the corresponding run-out data of the two ends to obtain difference data between the run-out data of the two ends; then the difference data is used to judge whether the difference data is within the standard required data range; then different adjustment processing is performed according to whether it is within the standard required data range, so as to ensure the precision of cutting operation of the motor shaft to be machined during cutting operation, and at the same time ensure the speed of cutting operation and the service life of the cutting tool.

[0034] When the difference data is within the standard required data range, the spindle speed and the feed speed of the cutting operation can be appropriately adjusted to increase the speed of the cutting operation; therefore, the controller needs to adjust the spindle speed upward by a first adjustment step and adjust the feed speed upward by a second adjustment step in the preset cutting parameter range, generate an updated cutting control signal, and finally control the inner hole cutting tool to perform cutting operation on the center hole based on the updated cutting control signal, and return to the step of collecting and processing the run-out data of the two ends of the motor shaft to be machined based on the runout instrument arranged on the tooling table.

[0035] When the difference value data is not within the standard required data range, the controller adjusts the spindle speed downward by a first adjustment step and adjusts the feed speed downward by a second adjustment step in a preset cutting parameter range, generates an updated cutting control signal, and then controls the inner hole cutting tool to perform cutting work on the center hole according to the updated cutting control signal, and returns to the step of collecting and processing the run-out data of the two ends of the motor shaft based on the run-out instrument arranged on the tooling table, and finally the difference between the corresponding run-out data of the two ends is within the preset range, thereby realizing the machining precision of the cutting work of the motor shaft to be machined, and adjusting the spindle speed and the feed speed in the preset cutting parameter range can effectively adjust the cutting speed and the run-out data of the two ends of the motor shaft to be machined during cutting work.

[0036] In the embodiment of the application, the motor shaft to be machined is fixed on the tooling table, the center hole of the motor shaft to be machined on the tooling table is subjected to target three-dimensional coordinate data extraction, and then the inner hole cutting tool is controlled to perform cutting work on the center hole according to a preset cutting parameter range; during cutting work, the run-out data of the two ends of the motor shaft to be machined is collected, and the spindle speed and the feed speed during cutting work are adaptively adjusted so that the difference between the corresponding run-out data of the two ends is within a preset range; in this way, high-precision cutting machining of the motor shaft to be machined can be realized; at the same time, the machining speed during cutting machining can be adjusted, thereby improving the machining efficiency; and the service life of the cutting tool during cutting machining is effectively guaranteed by adjusting the speed and the feed speed.

[0037] Embodiment two, please refer to Figure 2 , Figure 2 is a flowchart of a motor shaft center hole precision cutting machining method in another embodiment of the application.

[0038] As Figure 2 shown, a motor shaft center hole precision cutting machining method, the method comprises: S201: placing a motor shaft to be machined on a tooling table, and fixing the motor shaft to be machined on the tooling table based on a controller on the tooling table controlling a clamping position and a supporting position; S202: starting a depth camera device on the tooling table, performing image collection and processing on a position of a center hole of the motor shaft to be machined based on the depth camera device, and obtaining corresponding depth image data of the motor shaft to be machined and camera intrinsic parameters of the depth camera device; S203: reading the depth image data by calling an OpenCV model, and converting each pixel value in the depth image data into corresponding three-dimensional coordinate data by using the camera intrinsic parameters in the OpenCV model; S204: Extracting a target segmentation image of the motor shaft to be processed in the depth image data based on a target extraction model, and matching target three-dimensional coordinate data corresponding to the center hole in the three-dimensional coordinate data converted from each pixel value in the depth image data using the target segmentation image; S205: The controller converts the target three-dimensional coordinate data into the same first coordinate system as the inner hole cutting tool, forming corresponding positioning three-dimensional coordinate data in the first coordinate system; S206: The controller adjusts the cutting posture of the inner hole cutting tool according to the preset inner hole size based on the positioning three-dimensional coordinate data; S207: The controller generates a cutting control signal according to the preset cutting parameter range based on the cutting posture, and controls the inner hole cutting tool to perform cutting work on the center hole based on the cutting control signal; S208: When performing the cutting work of the center hole, the run-out data of the two ends of the motor shaft to be processed is collected and processed based on the run-out instrument arranged on the tooling table, and the corresponding run-out data of the two ends is obtained; S209: The controller adjusts the spindle speed and feed speed of the inner hole cutting tool for the center hole cutting work in the preset cutting parameter range based on the corresponding run-out data of the two ends, so that the difference between the corresponding run-out data of the two ends is within the preset range.

[0039] The specific implementation of embodiment two can be referred to embodiment one, which will not be repeated here.

[0040] Embodiment three, please refer to Figure 3 , Figure 3 is the structure composition schematic diagram of the center hole precision cutting processing device of the motor shaft in the embodiment of the application.

[0041] As Figure 3 shown, a center hole precision cutting processing device of a motor shaft, the device comprises: The fixing module 301 is used for placing the motor shaft to be processed on the tooling table, and fixing the motor shaft to be processed on the tooling table based on the controller on the tooling table controlling the clamping position and the supporting position; In the embodiment of the present application, the placing the motor shaft to be processed on the tooling table and fixing the motor shaft to be processed on the tooling table based on the controller on the tooling table to control the clamping position and the supporting position include: placing the motor shaft to be processed on the preset position of the tooling table based on the grabbing device arranged on the tooling table; when the gravity sensor arranged on the tooling table detects that the motor shaft to be processed is placed on the preset position, the controller controls the clamping position and the supporting position to fix the motor shaft to be processed on the tooling table based on the pre-configured model parameters of the motor shaft to be processed.

[0042] Specifically, the grabbing device is arranged on the tooling table, which is generally a mechanical arm with grabbing function. The motor shaft to be processed is grabbed by the mechanical arm and placed on the designated position of the tooling table in a fixed posture. After the motor shaft to be processed is placed on the tooling table, the tooling table will perform a fixing operation. At this time, the clamping position and the supporting position (supporting position) are needed for fixing. There are multiple clamping positions and multiple supporting positions on the tooling table. The controller is used to control the clamping position and the supporting position to fix the motor shaft to be processed on the tooling table. That is, the controller is used to index to the required clamping position and supporting position, and the required clamping force and supporting force by using the pre-configured model parameters of the motor shaft to be processed. Then, the motor shaft to be processed is fixed on the tooling table according to the indexed required clamping position and supporting position, and the required clamping force and supporting force.

[0043] The three-dimensional extraction module 302 is used to start the depth camera device on the tooling table, and perform three-dimensional coordinate extraction processing on the center hole of the motor shaft to be processed based on the depth camera device to obtain target three-dimensional coordinate data of the center hole. In the embodiment of the present application, the three-dimensional coordinate extraction processing on the center hole of the motor shaft to be processed based on the depth camera device to obtain target three-dimensional coordinate data of the center hole includes: performing image acquisition processing on the position of the center hole of the motor shaft to be processed based on the depth camera device to obtain depth image data corresponding to the motor shaft to be processed and camera intrinsic parameters corresponding to the depth camera device; calling an OpenCV model to read the depth image data, and converting each pixel value in the depth image data into corresponding three-dimensional coordinate data by using the camera intrinsic parameters in the OpenCV model; extracting a target segmentation image of the motor shaft to be processed in the depth image data based on a target extraction model, and matching target three-dimensional coordinate data corresponding to the center hole in the three-dimensional coordinate data converted from each pixel value in the depth image data by using the target segmentation image.

[0044] Specifically, a depth camera is installed on the tooling table, and the depth image of the target is acquired through the depth camera. That is, the depth image of the motor shaft to be processed, which is placed and fixed on the tooling table, is acquired to obtain the depth image data corresponding to the motor shaft to be processed. For subsequent calculations, the camera intrinsic parameters of the depth camera need to be configured in the controller. At this time, the depth image data and the corresponding camera intrinsic parameters of the depth camera can be obtained. Then, calculations can be performed using the depth image data and camera intrinsic parameters to extract the target three-dimensional coordinate data corresponding to the center hole of the motor shaft to be processed.

[0045] In this embodiment, an OpenCV model is used to read depth image data. Specifically, the path to the depth image data to be read is set in the OpenCV model, and then commands are used to instruct the OpenCV model to read the depth image data according to the set path. After reading is complete, the 3D coordinate data is extracted in the OpenCV model; that is, each pixel value in the depth image data is converted into corresponding 3D coordinate data based on the camera intrinsic parameters in the OpenCV model. The specific implementation is detailed in the following pseudocode logic: import numpy as np # Import the NumPy library; `height, width = depth image.shape;` # Get the height and width of the depth map. points = []; # Create a point cloud array for y in range(height): # Iterate through each pixel of the depth map for x in range(width): Z = depth image[y, x]; # Get the depth value If z == 0: # Skip invalid depth values Continue x = (x - cx) * z / f; # Calculate the x-coordinate, cx, cy, f are camera intrinsic parameters, and z is the depth value. y = (y - cy) * z / f; # Calculate the y-coordinate points.append((x,y,z)); # Adds (x,y,z) to the point cloud. points = np.array(points); # Convert the list to a NumPy array After obtaining the three-dimensional coordinate data corresponding to each pixel value in the depth image data, in order to accurately extract the three-dimensional coordinate data corresponding to the pixel value of the required center hole, a target extraction model is needed. The target extraction model can be a model formed by training and converging the depth network after adjusting the parameters according to the requirements, and then using the labeled depth image. The target extraction model is used to perform target segmentation processing on the depth image data of the motor shaft to be processed, so as to extract the target segmentation image. Finally, the target three-dimensional coordinate data corresponding to the center hole can be matched in the three-dimensional coordinate data converted from each pixel value in the depth image data by using the target segmentation image.

[0046] The cutting operation module 303 is used for the controller to control the inner hole cutting tool to perform a cutting operation on the center hole according to a preset cutting parameter range based on the target three-dimensional coordinate data; In the specific implementation process of the present application, the controller controls the inner hole cutting tool to perform a cutting operation on the center hole according to a preset cutting parameter range based on the target three-dimensional coordinate data, which includes: the controller converts the target three-dimensional coordinate data into the same first coordinate system as the inner hole cutting tool, forming corresponding positioning three-dimensional coordinate data in the first coordinate system; the controller controls the inner hole cutting tool to perform a cutting operation on the center hole according to the preset cutting parameter range based on the positioning three-dimensional coordinate data; wherein the preset cutting parameter range is the spindle speed range and the feed speed range of the inner hole cutting tool.

[0047] Further, the controller controls the inner hole cutting tool to perform a cutting operation on the center hole according to the preset cutting parameter range based on the positioning three-dimensional coordinate data, which includes: the controller adjusts the cutting posture of the inner hole cutting tool according to the preset inner hole size based on the positioning three-dimensional coordinate data; the controller generates a cutting control signal according to the preset cutting parameter range based on the cutting posture, and controls the inner hole cutting tool to perform a cutting operation on the center hole based on the cutting control signal.

[0048] Specifically, after the controller obtains the target three-dimensional coordinate data, in order to use the target three-dimensional coordinate data for positioning, it needs to be converted into the same first coordinate system of the inner hole cutting tool, so that the corresponding positioning three-dimensional coordinate data in the first coordinate system is formed; At this time, the cutting machining operation can be performed; That is, the controller will control the inner hole cutting tool to perform the cutting machining operation on the center hole according to the preset cutting parameter range through the positioning three-dimensional coordinate data; That is, the inner hole cutting tool is adjusted according to the positioning three-dimensional coordinate data, and the adjusted inner hole cutting tool performs the cutting machining operation through the preset cutting parameter range control; The preset cutting parameter range is the spindle speed range and the feed speed range of the inner hole cutting tool; By setting the range, the service life of the cutting tool during cutting operation can be better protected.

[0049] That is, the controller will adjust the cutting posture of the inner hole cutting tool according to the preset inner hole size adjustment according to the positioning three-dimensional coordinate data, and after the adjustment is completed, the controller will generate a cutting control signal according to the cutting posture according to the preset cutting parameter range, and then control the inner hole cutting tool to perform the cutting machining operation on the center hole through the cutting control signal.

[0050] The data acquisition module 304 is used to acquire the run-out data of the two ends of the motor shaft to be machined based on the run-out instrument arranged on the tooling table during the cutting operation of the center hole, and obtain the corresponding run-out data of the two ends. In the specific implementation process of the present application, the acquisition of the run-out data of the two ends of the motor shaft to be machined based on the run-out instrument arranged on the tooling table includes: acquiring the run-out data of the two ends of the motor shaft to be machined during the cutting operation based on the run-out instrument arranged on the tooling table according to a predetermined acquisition frequency, and obtaining the corresponding run-out data of the two ends.

[0051] Specifically, the run-out instrument is arranged on the tooling table, which is mainly used to acquire the run-out of the motor shaft to be machined during the cutting operation, so as to prevent the cutting operation precision from being greatly affected due to too large run-out amplitude during subsequent cutting operation, thereby reducing the cutting operation precision and increasing the scrap rate of the motor shaft to be machined during the cutting operation.

[0052] Therefore, during the cutting operation, the run-out instrument arranged on the tooling table is started to acquire the run-out data of the two ends of the motor shaft to be machined during the cutting operation according to a predetermined acquisition frequency, and the corresponding run-out data of the two ends is obtained.

[0053] The cutting operation adjustment module 305 is configured to adjust the spindle speed and the feed speed of the inner hole cutting tool for the center hole cutting operation within the preset cutting parameter range based on the run-out data of the two ends of the motor shaft, so that the difference between the run-out data of the two ends is within the preset range.

[0054] In the implementation of the present application, the controller adjusts the spindle speed and the feed speed of the inner hole cutting tool for the center hole cutting operation within the preset cutting parameter range based on the run-out data of the two ends of the motor shaft, so that the difference between the run-out data of the two ends is within the preset range, including: the controller subtracts the run-out data of the two ends to obtain difference data, and determines whether the difference data is within the standard required data range; when the difference data is within the standard required data range, the controller adjusts the spindle speed upward by a first adjustment step and adjusts the feed speed upward by a second adjustment step within the preset cutting parameter range, generates an updated cutting control signal, controls the inner hole cutting tool to perform the cutting operation on the center hole based on the updated cutting control signal, and returns to the step of collecting and processing the run-out data of the two ends of the motor shaft to be machined based on the run-out instrument arranged on the tool table; when the difference data is not within the standard required data range, the controller adjusts the spindle speed downward by a first adjustment step and adjusts the feed speed downward by a second adjustment step within the preset cutting parameter range, generates an updated cutting control signal, controls the inner hole cutting tool to perform the cutting operation on the center hole based on the updated cutting control signal, and returns to the step of collecting and processing the run-out data of the two ends of the motor shaft to be machined based on the run-out instrument arranged on the tool table until the difference between the run-out data of the two ends is within the preset range.

[0055] Specifically, after obtaining the run-out data of the two ends of the motor shaft during the cutting operation, the controller subtracts the run-out data of the two ends to obtain difference data between the run-out data of the two ends; then the difference data is used to determine whether the difference data is within the standard required data range; then different adjustment processes are performed according to whether it is within the standard required data range, so as to ensure the cutting precision of the motor shaft during the cutting operation, while ensuring the cutting operation speed and the service life of the cutting tool.

[0056] When the difference data is within the standard required data range, the spindle speed and the feed speed of the cutting operation can be appropriately adjusted to increase the speed of the cutting operation, so the controller needs to adjust the spindle speed upward by a first adjustment step and adjust the feed speed upward by a second adjustment step in the preset cutting parameter range, and generate an updated cutting control signal, and finally control the inner hole cutting tool to perform the cutting operation on the center hole according to the updated cutting control signal, and return to the step of collecting and processing the run-out data of the two ends of the motor shaft to be machined based on the run-out instrument arranged on the tooling table.

[0057] When the difference data is not within the standard required data range, the controller needs to adjust the spindle speed downward by a first adjustment step and adjust the feed speed downward by a second adjustment step in the preset cutting parameter range, and generate an updated cutting control signal, and then control the inner hole cutting tool to perform the cutting operation on the center hole according to the updated cutting control signal, and return to the step of collecting and processing the run-out data of the two ends of the motor shaft to be machined based on the run-out instrument arranged on the tooling table, and finally the difference between the corresponding run-out data of the two ends needs to be within the preset range, so as to ensure the machining precision of the cutting operation of the motor shaft to be machined, and adjusting the spindle speed and the feed speed in the preset cutting parameter range can effectively adjust the speed of the cutting operation and the run-out data of the two ends of the motor shaft to be machined during the cutting operation.

[0058] In the embodiment of the application, the motor shaft to be machined is fixed on the tooling table, the center hole of the motor shaft to be machined on the tooling table is subjected to extraction of target three-dimensional coordinate data, and then the inner hole cutting tool is controlled to perform the cutting operation on the center hole according to the preset cutting parameter range; during the cutting operation, the run-out data of the two ends of the motor shaft to be machined needs to be collected, and the spindle speed and the feed speed during the cutting operation are adaptively adjusted to make the difference between the corresponding run-out data of the two ends within the preset range; in this way, high-precision cutting machining of the motor shaft to be machined can be realized; at the same time, the machining speed during the cutting machining can be adjusted to improve the machining efficiency; and the service life of the cutting tool during the cutting machining is effectively ensured by adjusting the speed and the feed speed.

[0059] This invention provides a computer-readable storage medium storing a computer program. When executed by a processor, this program implements the center hole precision cutting machining method of any of the above embodiments. The computer-readable storage medium includes, but is not limited to, any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic cards, or optical cards. In other words, the storage device includes any medium that stores or transmits information in a readable form by a device (e.g., a computer, a mobile phone), and can be a read-only memory, a disk, or an optical disk, etc.

[0060] This invention also provides a computer application that runs on a computer and is used to execute the center hole precision cutting machining method of any of the above embodiments.

[0061] also, Figure 4 This is a schematic diagram of the structural composition of the controller in an embodiment of the present invention.

[0062] This invention also provides a controller, such as... Figure 4 As shown. The controller includes devices such as a processor 402, a memory 403, an input unit 404, and a display unit 405. Those skilled in the art will understand that... Figure 4 The illustrated controller structure is not intended to limit all devices and may include more or fewer components, or combinations of certain components. Memory 403 can be used to store application program 401 and various functional modules. Processor 402 runs application program 401 stored in memory 403, thereby performing various functional applications and data processing of the device. Memory may be internal memory or external memory, or both. Internal memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, or random access memory. External memory may include hard disks, floppy disks, ZIP disks, USB flash drives, magnetic tapes, etc. The memory disclosed in this invention includes, but is not limited to, these types of memory. The memory disclosed in this invention is only an example and not a limitation.

[0063] The input unit 404 is configured to receive input of signals and receive a keyword input by a user. The input unit 404 can include a touch panel and other input devices. The touch panel can collect a touch operation (e.g., an operation of a user using a finger, a stylus, or any suitable object or accessory near the touch panel) of the user on or near the touch panel and drive a corresponding connection device according to a preset program; the other input devices can include, but are not limited to, one or more of a physical keyboard, function keys (e.g., play control keys, switch keys, etc.), a trackball, a mouse, a joystick, etc. The display unit 405 can be configured to display information input by a user or information provided to the user and various menus of the terminal device. The display unit 405 can take the form of a liquid crystal display, an organic light-emitting diode, etc. The processor 402 is a control center of the terminal device, which connects various parts of the entire device through various interfaces and lines, performs various functions and processes data by running or executing software programs and / or modules stored in the memory 403 and calling data stored in the memory.

[0064] As an embodiment, the controller comprises: one or more processors 402, a memory 403, and one or more application programs 401, wherein the one or more application programs 401 are stored in the memory 403 and configured to be executed by the one or more processors 402, and the one or more application programs 401 are configured to perform the corresponding center hole precision cutting method in any one of the above embodiments.

[0065] In the embodiment of the present application, the center hole of the motor shaft to be machined on the tooling table is fixed on the tooling table, the target three-dimensional coordinate data of the center hole of the motor shaft to be machined on the tooling table is extracted, and then the inner hole cutting tool is controlled according to the target three-dimensional coordinate data to perform cutting work on the center hole according to the preset cutting parameter range; the run-out data of the two ends of the motor shaft to be machined is collected during the cutting work, and the spindle speed and the feed speed during the cutting work are adaptively adjusted to make the difference between the corresponding run-out data of the two ends within a preset range; in this way, high-precision cutting of the motor shaft to be machined can be realized; at the same time, the machining speed during the cutting work can be adjusted to improve the machining efficiency; and the service life of the cutting tool during the cutting work is effectively guaranteed by adjusting the speed and the feed speed.

[0066] In addition, the above detailed introduction is provided for the motor shaft center hole precision cutting processing method and related device provided by the embodiment of the application. The principle and implementation mode of the application are described by using specific examples in this paper. The above embodiment description is only used to help understand the method of the application and its core idea. Meanwhile, for the general technical personnel in the field, according to the idea of the application, the specific implementation mode and application range will be changed. In summary, the content of the specification should not be understood as a limitation of the application.

Claims

1. A method of cutting a center hole of a motor shaft with high accuracy, characterized by, The method comprises: placing a motor shaft to be machined on a tooling table, and fixing the motor shaft to be machined on the tooling table based on a controller on the tooling table controlling clamping positions and supporting positions; starting a depth camera device on the tooling table, and performing three-dimensional coordinate extraction processing on a center hole of the motor shaft to be machined based on the depth camera device to obtain target three-dimensional coordinate data of the center hole; controlling an inner hole cutting tool to perform cutting work on the center hole according to a preset cutting parameter range based on the target three-dimensional coordinate data by the controller; when performing the cutting work on the center hole, collecting jump data of both ends of the motor shaft to be machined based on a runout instrument arranged on the tooling table to obtain corresponding jump data of both ends; the controller adjusts the spindle speed and feed speed of the inner hole cutting tool for the cutting work on the center hole in the preset cutting parameter range based on the corresponding jump data of both ends, so that the difference between the corresponding jump data of both ends is within a preset range.

2. The center hole precision cutting process of claim 1, wherein, The method comprises: placing a motor shaft to be machined on a tooling table, and fixing the motor shaft to be machined on the tooling table based on a controller on the tooling table controlling clamping positions and supporting positions; placing the motor shaft to be machined on a tooling table based on a controller on the tooling table controlling clamping positions and supporting positions; 3. The center hole precision cutting process of claim 1, wherein, when the motor shaft to be machined is placed on the preset position, the controller controls the clamping positions and the supporting positions to fix the motor shaft to be machined on the tooling table based on preconfigured model parameters of the motor shaft to be machined. The method comprises: performing image collection processing on the position of the center hole of the motor shaft to be machined based on the depth camera device to obtain corresponding depth image data of the motor shaft to be machined and camera intrinsic parameters of the depth camera device; reading the depth image data by calling an OpenCV model, and converting each pixel value in the depth image data into corresponding three-dimensional coordinate data by using the camera intrinsic parameters in the OpenCV model; 4. The center hole precision cutting process of claim 1, wherein, extracting a target segmentation image of the motor shaft to be machined from the depth image data based on a target extraction model, and matching target three-dimensional coordinate data corresponding to the center hole from the three-dimensional coordinate data converted from each pixel value in the depth image data by using the target segmentation image. The method comprises: the controller converts the target three-dimensional coordinate data into a first coordinate system of the inner hole cutting tool to form corresponding positioning three-dimensional coordinate data in the first coordinate system; The controller controls the inner hole cutting tool to perform the cutting work on the center hole according to the preset cutting parameter range based on the positioning three-dimensional coordinate data; wherein the preset cutting parameter range is a spindle speed range and a feed speed range of the inner hole cutting tool.

5. The center hole precision cutting method according to claim 4, wherein The controller controls the inner hole cutting tool to perform the cutting work on the center hole according to the preset cutting parameter range based on the positioning three-dimensional coordinate data, including: The controller adjusts the cutting posture of the inner hole cutting tool according to the preset inner hole size based on the positioning three-dimensional coordinate data; The controller generates a cutting control signal according to the preset cutting parameter range based on the cutting posture, and controls the inner hole cutting tool to perform the cutting work on the center hole based on the cutting control signal.

6. The center hole precision cutting process of claim 1, wherein, The device includes: The fixed module is used for placing the motor shaft to be machined on the tooling table, and fixing the motor shaft to be machined on the tooling table based on the clamping position and the supporting position controlled by the controller on the tooling table; 7. The center hole precision cutting process of claim 1 wherein, The fixed module is used for placing the motor shaft to be machined on the tooling table, and fixing the motor shaft to be machined on the tooling table based on the clamping position and the supporting position controlled by the controller on the tooling table; The controller adjusts the spindle speed and the feed speed of the inner hole cutting tool for the cutting work on the center hole in the preset cutting parameter range based on the two-end corresponding run-out data, so that the difference between the two-end corresponding run-out data is within the preset range, including: The controller performs difference processing on the two-end corresponding run-out data to obtain difference data, and judges whether the difference data is within the standard required data range; When the difference data is within the standard required data range, the controller adjusts the spindle speed upward by a first adjustment step and adjusts the feed speed upward by a second adjustment step in the preset cutting parameter range, generates an updated cutting control signal, controls the inner hole cutting tool to perform the cutting work on the center hole based on the updated cutting control signal, and returns to the step of collecting and processing the run-out data of the two ends of the motor shaft to be machined based on the run-out instrument arranged on the tooling table; 8. An apparatus for cutting a center hole of a motor shaft with accuracy, characterized in that, When the difference data is not within the standard required data range, the controller adjusts the spindle speed downward by a first adjustment step and adjusts the feed speed downward by a second adjustment step in the preset cutting parameter range, generates an updated cutting control signal, controls the inner hole cutting tool to perform the cutting work on the center hole based on the updated cutting control signal, and returns to the step of collecting and processing the run-out data of the two ends of the motor shaft to be machined based on the run-out instrument arranged on the tooling table until the difference between the two-end corresponding run-out data is within the preset range. The device includes: The fixed module is used for placing the motor shaft to be machined on the tooling table, and fixing the motor shaft to be machined on the tooling table based on the clamping position and the supporting position controlled by the controller on the tooling table; The three-dimensional extraction module is configured to start the deep camera device on the tooling table, and perform three-dimensional coordinate extraction on a center hole of the motor shaft to be machined based on the deep camera device, and obtain target three-dimensional coordinate data of the center hole. The cutting operation module is configured to control the inner hole cutting tool to perform cutting operation on the center hole according to preset cutting parameter range based on the target three-dimensional coordinate data. The data acquisition module is configured to perform run-out data acquisition on both ends of the motor shaft to be machined based on the run-out instrument arranged on the tooling table when the cutting operation on the center hole is performed, and obtain corresponding run-out data of both ends. The cutting operation adjustment module is configured to adjust the spindle speed and the feed speed of the inner hole cutting tool for the cutting operation on the center hole in the preset cutting parameter range based on the corresponding run-out data of both ends, so that the difference between the corresponding run-out data of both ends is within a preset range.

9. A controller comprising a processor and a memory, wherein, The processor runs the computer program or code stored in the memory to implement the center hole precision cutting machining method according to any one of claims 1 to 7.

10. A computer readable storage medium for storing a computer program or code, characterized in that, When the computer program or code is executed by the processor, the center hole precision cutting machining method according to any one of claims 1 to 7 is implemented.

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