A method for cutting a center hole of a motor shaft and a related device

Abstract

The application discloses a center hole precision cutting processing method of a motor shaft and a related device, and the method comprises the following steps: placing a motor shaft to be processed on a tooling table, controlling a clamping position and a supporting position to fix the motor shaft to be processed on the tooling table; starting a depth camera device on the tooling table to perform three-dimensional coordinate extraction processing on a center hole of the motor shaft to be processed; controlling an inner hole cutting tool to perform a cutting operation on the center hole according to a preset cutting parameter range based on target three-dimensional coordinate data; collecting and processing run-out data of two ends of the motor shaft to be processed based on a run-out instrument arranged on the tooling table; and adaptively adjusting a spindle speed and a feed speed of the inner hole cutting tool based on corresponding run-out data of the two ends, so that a difference between the corresponding run-out data of the two ends is within a preset range. In the embodiment of the application, precision processing of the inner hole of the motor shaft is realized, and the speed of precision processing is ensured under the premise of ensuring the processing precision of the motor shaft.

Description

Technical Field

[0001] This invention relates to the field of automated machining technology, and in particular to a method and apparatus for precision cutting of the center hole of a motor shaft. Background Technology

[0002] The motor shaft is a bearing used in the motors of new energy electric vehicles. To reduce internal losses and weight, the motor shaft needs to be hollowed out. Hollowing out the motor shaft presents significant challenges, potentially leading to unevenness in the inner bore. This can cause resonance, abnormal noise, and even shorten the motor's lifespan, severely impacting the user experience. Therefore, it is crucial to achieve high-precision machining of the motor shaft's center hole while maintaining machining speed and minimizing tool wear. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides a method and related apparatus for precision machining of the center hole of a motor shaft, which realizes precision machining of the inner hole of the motor shaft, and ensures the speed of precision machining while ensuring the machining accuracy of the motor shaft, and at the same time reduces the wear of the machining cutting tools during machining.

[0004] To address the aforementioned technical problems, embodiments of the present invention provide a method for precision machining of the center hole of a motor shaft, the method comprising: The motor shaft to be processed is placed on the tooling table, and the clamping position and support position are controlled by the controller on the tooling table to fix the motor shaft to be processed on the tooling table. 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 the target three-dimensional coordinate data of the center hole; The controller controls the internal hole cutting tool to perform cutting operations on the center hole according to a preset cutting parameter range based on the target three-dimensional coordinate data. When performing the cutting operation of the center hole, the runout data of the two ends of the motor shaft to be processed is collected and processed based on the runout meter set on the tooling table to obtain the runout data corresponding to the two ends; The controller adaptively adjusts the spindle speed and feed rate of the internal cutting tool for cutting the center hole within the preset cutting parameter range based on the runout data corresponding to both ends, so that the difference between the runout data corresponding to both ends is within the preset range.

[0005] Optionally, the step of placing the motor shaft to be processed on the tooling table and fixing the motor shaft to be processed on the tooling table by controlling the clamping position and support position based on the controller on the tooling table includes: The gripping device on the tooling table grips the motor shaft to be processed and places it at a preset position on the tooling table. When the gravity sensor on the tooling table detects that the motor shaft to be processed is placed in 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 step of extracting the three-dimensional coordinates of the center hole of the motor shaft to be processed based on the depth camera device to obtain the target three-dimensional coordinate data of the center hole includes: Based on the image acquisition processing performed by the depth camera device on the location of the center hole of the motor shaft to be processed, the depth image data corresponding to the motor shaft to be processed and the camera intrinsic parameters corresponding to the depth camera device are obtained; The OpenCV model is invoked to read the depth image data, and the camera intrinsics are used in the OpenCV model to convert each pixel value in the depth image data into corresponding three-dimensional coordinate data. Based on the target extraction model, the target segmentation image of the motor shaft to be processed is extracted from the depth image data, and the target segmentation image is used to match the 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.

[0007] Optionally, the controller controls an internal hole cutting tool to perform cutting operations on the center hole according to a preset cutting parameter range based on the target three-dimensional coordinate data, including: The controller converts the target three-dimensional coordinate data into the same first coordinate system as the internal hole cutting tool, forming the corresponding positioning three-dimensional coordinate data in the first coordinate system; The controller controls the internal cutting tool to perform cutting operations 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 feed rate range of the internal cutting tool.

[0008] Optionally, the controller controls the internal cutting tool to perform cutting operations on the center hole based on the positioning three-dimensional coordinate data and according to the preset cutting parameter range, 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 based on the cutting posture and the preset cutting parameter range, and controls the internal cutting tool to perform cutting operations on the center hole based on the cutting control signal.

[0009] Optionally, the step of collecting and processing runout data at both ends of the motor shaft to be processed based on the runout meter set on the tooling table to obtain runout data corresponding to both ends includes: The runout data of the two ends of the motor shaft to be processed during the cutting operation is collected and processed by the runout meter set on the tooling table at a predetermined collection frequency to obtain the runout data corresponding to the two ends.

[0010] Optionally, the controller adaptively adjusts the spindle speed and feed rate of the internal cutting tool for the center hole cutting operation within the preset cutting parameter range based on the runout data corresponding to both ends, so that the difference between the runout data corresponding to both ends is within the preset range, including: The controller performs subtraction on the fluctuation data corresponding to both ends to obtain the difference data, and determines whether the difference data is within the 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 the feed rate upward by a second adjustment step within the preset cutting parameter range, and generates an updated cutting control signal. Based on the updated cutting control signal, the controller controls the internal cutting tool to perform cutting operations on the center hole, and returns to the step of collecting and processing the runout data of both ends of the motor shaft to be processed based on the runout meter set on the tooling table. When the difference data is not within the range of the standard requirement data, the controller adjusts the spindle speed downward by a first adjustment step and the feed rate downward by a second adjustment step within the preset cutting parameter range, and generates an updated cutting control signal. Based on the updated cutting control signal, the controller controls the internal cutting tool to perform cutting operations on the center hole, and returns to the step of collecting and processing the runout data of the two ends of the motor shaft to be processed based on the runout meter set on the tooling table, until the difference between the runout data corresponding to the two ends is within the preset range.

[0011] In addition, this embodiment of the invention also provides a precision machining device for the center hole of a motor shaft, the device comprising: Fixing module: used to place the motor shaft to be processed on the tooling table, and fix the motor shaft to be processed on the tooling table based on the clamping position and support position controlled by the controller on the tooling table; 3D extraction module: used to start the depth camera device on the tooling table, and perform 3D coordinate extraction processing on the center hole of the motor shaft to be processed based on the depth camera device to obtain the target 3D coordinate data of the center hole; Cutting operation module: used by the controller to control the internal hole cutting tool to perform cutting operations on the center hole according to the preset cutting parameter range based on the target three-dimensional coordinate data; Data acquisition module: used to acquire and process the runout data of both ends of the motor shaft to be processed based on the runout meter set on the tooling table when performing the cutting operation of the center hole, and obtain the runout data corresponding to both ends; Cutting operation adjustment module: used by the controller to adaptively adjust the spindle speed and feed rate of the internal cutting tool for cutting the center hole within the preset cutting parameter range based on the runout data corresponding to both ends, so that the difference between the runout data corresponding to both ends is within the preset range.

[0012] In addition, embodiments of the present invention also provide a controller, including a processor and a memory, wherein the processor runs a computer program or code stored in the memory to implement the center hole precision cutting machining method as described in any of the above.

[0013] In addition, embodiments of the present invention also provide a computer-readable storage medium for storing a computer program or code, which, when executed by a processor, implements the center hole precision cutting machining method as described above.

[0014] In this embodiment of the invention, the motor shaft to be processed is fixed on a tooling table. The three-dimensional coordinate data of the center hole of the motor shaft to be processed on the tooling table is extracted. Then, the internal hole cutting tool is controlled to perform cutting operations on the center hole according to the target three-dimensional coordinate data and the cutting parameters are preset. During the cutting operation, the runout data of the two ends of the motor shaft to be processed needs to be collected, and the spindle speed and feed rate during the cutting operation are adaptively adjusted so that the difference between the runout data at the two ends is within a preset range. This can achieve high-precision cutting of the motor shaft to be processed. At the same time, the processing speed during the cutting process can be adjusted to improve the processing efficiency. Furthermore, by adjusting the speed and feed rate, the tool life during the cutting process is effectively guaranteed. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic flowchart of the precision cutting method for the center hole of the motor shaft in an embodiment of the present invention; Figure 2 This is a flowchart illustrating a method for precision machining of the center hole of a motor shaft according to another embodiment of the present invention. Figure 3 This is a schematic diagram of the structural composition of the precision cutting device for the center hole of the motor shaft in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the controller in an embodiment of the present invention. Detailed Implementation

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

[0018] Example 1, please refer to Figure 1 , Figure 1 This is a flowchart illustrating the precision cutting method for the center hole of the motor shaft in an embodiment of the present invention.

[0019] like Figure 1 As shown, a method for precision machining of the center hole of a motor shaft is provided, the method comprising: S101: Place the motor shaft to be processed on the tooling table, and fix the motor shaft to be processed on the tooling table by controlling the clamping position and support position based on the controller on the tooling table; In a specific implementation of the present invention, the step of placing the motor shaft to be processed on a tooling table and fixing the motor shaft to be processed on the tooling table by controlling the clamping position and the support position based on the controller on the tooling table includes: using a gripping device provided on the tooling table to grip and place the motor shaft to be processed at a preset position on the tooling table; when the gravity sensor provided on the tooling table detects that the motor shaft to be processed is placed at the preset position, the controller controls the clamping position and the support 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.

[0020] Specifically, a gripping device, typically a robotic arm with gripping capabilities, is installed on the fixture table. This robotic arm grips the motor shaft to be processed and places it in a fixed posture at a designated position on the fixture table. After the motor shaft is placed on the fixture table, the fixture table performs a fixing operation. This requires fixing using clamping and support positions. The fixture table has multiple clamping and support positions, and a controller controls these positions to fix the motor shaft to be processed on the fixture table. First, the controller uses pre-configured model parameters of the motor shaft to be processed to index the required clamping and support positions, as well as the required clamping and support forces. Then, the motor shaft is fixed on the fixture table according to the indexed clamping and support positions and the required clamping and support forces.

[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 the target three-dimensional coordinate data of the center hole; In a specific implementation of this invention, the step of extracting the three-dimensional coordinates of the center hole of the motor shaft to be processed based on the depth camera device to obtain the target three-dimensional coordinate data of the center hole includes: performing image acquisition processing on the location of the center hole of the motor shaft to be processed based on the depth camera device to obtain the depth image data corresponding to the motor shaft to be processed and the camera intrinsic parameters corresponding to the depth camera device; calling an OpenCV model to read the depth image data, and using the camera intrinsic parameters in the OpenCV model to convert each pixel value in the depth image data into corresponding three-dimensional coordinate data; extracting the target segmentation image of the motor shaft to be processed from the depth image data based on the target extraction model, and using the target segmentation image to match the 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.

[0022] 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.

[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 internal hole cutting tool to perform cutting operations on the center hole according to the preset cutting parameter range based on the target three-dimensional coordinate data; In a specific implementation of the present invention, the controller controls the internal hole cutting tool to perform cutting operations on the center hole according to a preset cutting parameter range based on the target three-dimensional coordinate data, including: the controller converts the target three-dimensional coordinate data to the same first coordinate system as the internal hole cutting tool, forming corresponding positioning three-dimensional coordinate data in the first coordinate system; the controller controls the internal hole cutting tool to perform cutting operations 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 feed rate range of the internal hole cutting tool.

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

[0026] Specifically, after the controller obtains the target's three-dimensional coordinate data, in order to use the target's three-dimensional coordinate data for positioning, it needs to be transformed into the same first coordinate system as the internal hole cutting tool. This will form the corresponding positioning three-dimensional coordinate data in the first coordinate system. At this point, the cutting operation can be executed. That is, the controller will use the positioning three-dimensional coordinate data to control the internal hole cutting tool to perform cutting operations on the center hole according to the preset cutting parameter range. In other words, the internal hole cutting tool is adjusted according to the positioning three-dimensional coordinate data, and the adjusted internal hole cutting tool is controlled to perform cutting operations through the preset cutting parameter range. The preset cutting parameter range is the spindle speed range and feed rate range of the internal hole cutting tool. Setting the range can better protect the tool and extend its service life during cutting operations.

[0027] The controller adjusts the cutting posture of the internal hole cutting tool according to the preset internal 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 internal hole cutting tool to perform cutting operations on the center hole through the cutting control signal.

[0028] S104: When performing the cutting operation of the center hole, the runout data of the two ends of the motor shaft to be processed is collected and processed based on the runout meter set on the tooling table to obtain the runout data corresponding to the two ends; In a specific implementation of the present invention, the step of collecting and processing the runout data of the two ends of the motor shaft to be processed based on the runout meter set on the tooling table to obtain the runout data corresponding to the two ends includes: collecting and processing the runout data of the two ends of the motor shaft to be processed during the cutting operation according to a predetermined collection frequency based on the runout meter set on the tooling table to obtain the runout data corresponding to the two ends.

[0029] Specifically, a runout meter is installed on the tooling table. This runout meter is mainly used to collect the runout of the motor shaft to be processed during the cutting operation. This is to prevent the cutting accuracy from being greatly affected by the excessive runout during subsequent cutting operations, thereby reducing the accuracy of the cutting operation and increasing the scrap rate of the motor shaft to be processed during the cutting operation.

[0030] Therefore, when performing a cutting operation, the runout meter set on the tooling table will be activated to collect and process the runout data of the two ends of the motor shaft to be processed during the cutting operation at a predetermined collection frequency, so as to obtain the runout data corresponding to the two ends.

[0031] S105: The controller adaptively adjusts the spindle speed and feed rate of the internal cutting tool for cutting the center hole within the preset cutting parameter range based on the runout data corresponding to both ends, so that the difference between the runout data corresponding to both ends is within the preset range.

[0032] In a specific implementation of this invention, the controller adaptively adjusts the spindle speed and feed rate of the internal cutting tool for machining the center hole within the preset cutting parameter range based on the runout data corresponding to both ends, so that the difference between the runout data corresponding to both ends is within the preset range. This includes: the controller performing subtraction processing on the runout data corresponding to both ends to obtain difference data, and determining whether the difference data is within the 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 the feed rate upward by a second adjustment step within the preset cutting parameter range, and generates an updated cutting control signal, and controls the internal cutting tool based on the updated cutting control signal. The process involves an internal cutting tool performing a cutting operation on the center hole, and then returning to the step of collecting and processing runout data from both ends of the motor shaft to be processed based on the runout meter set on the tooling table. When the difference data is not within the range of the standard required data, the controller adjusts the spindle speed downward by a first adjustment step and the feed rate downward by a second adjustment step within the preset cutting parameter range, and generates an updated cutting control signal. Based on the updated cutting control signal, the controller controls the internal cutting tool to perform a cutting operation on the center hole, and then returns to the step of collecting and processing runout data from both ends of the motor shaft to be processed based on the runout meter set on the tooling table, until the difference between the runout data corresponding to the two ends is within the preset range.

[0033] Specifically, after obtaining the runout data of the two ends of the motor shaft to be processed during the cutting operation, the controller performs subtraction processing on the runout data at both ends to obtain the difference data between the two ends; then, it uses the difference data to determine whether the difference data is within the standard requirement data range; then, depending on whether it is within the standard requirement data range, different adjustment processes are performed to ensure the cutting accuracy of the motor shaft to be processed during the cutting operation, while ensuring the cutting speed and the service life of the cutting tool.

[0034] When the difference data is within the standard requirement range, the spindle speed and feed rate of the cutting operation can be adjusted appropriately to increase the cutting speed. Therefore, the controller needs to adjust the spindle speed upward according to the first adjustment step and the feed rate upward according to the second adjustment step within the preset cutting parameter range, and generate an updated cutting control signal. Finally, the internal cutting tool will be controlled to perform cutting operation on the center hole according to the updated cutting control signal, and the process will return to the step of collecting and processing the runout data of the two ends of the motor shaft to be processed based on the runout meter set on the tooling table.

[0035] When the difference data is not within the standard requirement range, the controller adjusts the spindle speed downward by a first adjustment step and the feed rate downward by a second adjustment step within the preset cutting parameter range, and generates an updated cutting control signal. Then, based on the updated cutting control signal, it controls the internal cutting tool to perform cutting operations on the center hole, and returns to the step of collecting and processing the runout data of the two ends of the motor shaft to be processed based on the runout meter set on the tooling table. Finally, the difference between the runout data corresponding to the two ends needs to be within the preset range, so as to ensure the machining accuracy of the cutting operation of the motor shaft to be processed. Adjusting the spindle speed and feed rate within the preset cutting parameter range can effectively adjust the cutting speed and the runout data of the two ends of the motor shaft to be processed during the cutting operation.

[0036] In this embodiment of the invention, the motor shaft to be processed is fixed on a tooling table. The three-dimensional coordinate data of the center hole of the motor shaft to be processed on the tooling table is extracted. Then, the internal hole cutting tool is controlled to perform cutting operations on the center hole according to the target three-dimensional coordinate data and the cutting parameters are preset. During the cutting operation, the runout data of the two ends of the motor shaft to be processed needs to be collected, and the spindle speed and feed rate during the cutting operation are adaptively adjusted so that the difference between the runout data at the two ends is within a preset range. This can achieve high-precision cutting of the motor shaft to be processed. At the same time, the processing speed during the cutting process can be adjusted to improve the processing efficiency. Furthermore, by adjusting the speed and feed rate, the tool life during the cutting process is effectively guaranteed.

[0037] Example 2, please refer to Figure 2 , Figure 2 This is a flowchart illustrating a method for precision machining of the center hole of a motor shaft according to another embodiment of the present invention.

[0038] like Figure 2 As shown, a method for precision machining of the center hole of a motor shaft is provided, the method comprising: S201: Place the motor shaft to be processed on the tooling table, and fix the motor shaft to be processed on the tooling table by controlling the clamping position and support position based on the controller on the tooling table; S202: Start the depth camera device on the tooling table, and perform image acquisition processing on the location of the center hole of the motor shaft to be processed based on the depth camera device to obtain the depth image data corresponding to the motor shaft to be processed and the camera intrinsic parameters corresponding to the depth camera device; S203: Call the OpenCV model to read the depth image data, and use the camera intrinsics in the OpenCV model to convert each pixel value in the depth image data into corresponding three-dimensional coordinate data; S204: Based on the target extraction model, extract the target segmentation image of the motor shaft to be processed from the depth image data, and use the target segmentation image to match the 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; S205: The controller converts the target three-dimensional coordinate data to the same first coordinate system as the internal hole cutting tool, forming the 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 based on the cutting posture and according to the preset cutting parameter range, and controls the internal cutting tool to perform cutting operations on the center hole based on the cutting control signal; S208: When performing the cutting operation of the center hole, the runout data of the two ends of the motor shaft to be processed is collected and processed based on the runout meter set on the tooling table to obtain the runout data corresponding to the two ends; S209: The controller adaptively adjusts the spindle speed and feed rate of the internal hole cutting tool for cutting the center hole within the preset cutting parameter range based on the runout data corresponding to both ends, so that the difference between the runout data corresponding to both ends is within the preset range.

[0039] The specific implementation method of Example 2 can be found in Example 1, and will not be repeated here.

[0040] Example 3, please refer to Figure 3 , Figure 3 This is a schematic diagram of the structural composition of the precision cutting device for the center hole of the motor shaft in an embodiment of the present invention.

[0041] like Figure 3 As shown, a precision machining device for the center hole of a motor shaft is provided, the device comprising: Fixing module 301: used to place the motor shaft to be processed on the tooling table, and fix the motor shaft to be processed on the tooling table based on the clamping position and support position controlled by the controller on the tooling table; In a specific implementation of the present invention, the step of placing the motor shaft to be processed on a tooling table and fixing the motor shaft to be processed on the tooling table by controlling the clamping position and the support position based on the controller on the tooling table includes: using a gripping device provided on the tooling table to grip and place the motor shaft to be processed at a preset position on the tooling table; when the gravity sensor provided on the tooling table detects that the motor shaft to be processed is placed at the preset position, the controller controls the clamping position and the support 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, a gripping device, typically a robotic arm with gripping capabilities, is installed on the fixture table. This robotic arm grips the motor shaft to be processed and places it in a fixed posture at a designated position on the fixture table. After the motor shaft is placed on the fixture table, the fixture table performs a fixing operation. This requires fixing using clamping and support positions. The fixture table has multiple clamping and support positions, and a controller controls these positions to fix the motor shaft to be processed on the fixture table. First, the controller uses pre-configured model parameters of the motor shaft to be processed to index the required clamping and support positions, as well as the required clamping and support forces. Then, the motor shaft is fixed on the fixture table according to the indexed clamping and support positions and the required clamping and support forces.

[0043] 3D extraction module 302: used to start the depth camera device on the tooling table, and perform 3D coordinate extraction processing on the center hole of the motor shaft to be processed based on the depth camera device to obtain the target 3D coordinate data of the center hole; In a specific implementation of this invention, the step of extracting the three-dimensional coordinates of the center hole of the motor shaft to be processed based on the depth camera device to obtain the target three-dimensional coordinate data of the center hole includes: performing image acquisition processing on the location of the center hole of the motor shaft to be processed based on the depth camera device to obtain the depth image data corresponding to the motor shaft to be processed and the camera intrinsic parameters corresponding to the depth camera device; calling an OpenCV model to read the depth image data, and using the camera intrinsic parameters in the OpenCV model to convert each pixel value in the depth image data into corresponding three-dimensional coordinate data; extracting the target segmentation image of the motor shaft to be processed from the depth image data based on the target extraction model, and using the target segmentation image to match the 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.

[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 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.

[0046] Cutting operation module 303: used by the controller to control the internal hole cutting tool to perform cutting operation on the center hole according to the preset cutting parameter range based on the target three-dimensional coordinate data; In a specific implementation of the present invention, the controller controls the internal hole cutting tool to perform cutting operations on the center hole according to a preset cutting parameter range based on the target three-dimensional coordinate data, including: the controller converts the target three-dimensional coordinate data to the same first coordinate system as the internal hole cutting tool, forming corresponding positioning three-dimensional coordinate data in the first coordinate system; the controller controls the internal hole cutting tool to perform cutting operations 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 feed rate range of the internal hole cutting tool.

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

[0048] Specifically, after the controller obtains the target's three-dimensional coordinate data, in order to use the target's three-dimensional coordinate data for positioning, it needs to be transformed into the same first coordinate system as the internal hole cutting tool. This will form the corresponding positioning three-dimensional coordinate data in the first coordinate system. At this point, the cutting operation can be executed. That is, the controller will use the positioning three-dimensional coordinate data to control the internal hole cutting tool to perform cutting operations on the center hole according to the preset cutting parameter range. In other words, the internal hole cutting tool is adjusted according to the positioning three-dimensional coordinate data, and the adjusted internal hole cutting tool is controlled to perform cutting operations through the preset cutting parameter range. The preset cutting parameter range is the spindle speed range and feed rate range of the internal hole cutting tool. Setting the range can better protect the tool and extend its service life during cutting operations.

[0049] The controller adjusts the cutting posture of the internal hole cutting tool according to the preset internal 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 internal hole cutting tool to perform cutting operations on the center hole through the cutting control signal.

[0050] Data acquisition module 304: When performing the cutting operation of the center hole, it is used to collect and process the runout data of the two ends of the motor shaft to be processed based on the runout meter set on the tooling table, and obtain the runout data corresponding to the two ends; In a specific implementation of the present invention, the step of collecting and processing the runout data of the two ends of the motor shaft to be processed based on the runout meter set on the tooling table to obtain the runout data corresponding to the two ends includes: collecting and processing the runout data of the two ends of the motor shaft to be processed during the cutting operation according to a predetermined collection frequency based on the runout meter set on the tooling table to obtain the runout data corresponding to the two ends.

[0051] Specifically, a runout meter is installed on the tooling table. This runout meter is mainly used to collect the runout of the motor shaft to be processed during the cutting operation. This is to prevent the cutting accuracy from being greatly affected by the excessive runout during subsequent cutting operations, thereby reducing the accuracy of the cutting operation and increasing the scrap rate of the motor shaft to be processed during the cutting operation.

[0052] Therefore, when performing a cutting operation, the runout meter set on the tooling table will be activated to collect and process the runout data of the two ends of the motor shaft to be processed during the cutting operation at a predetermined collection frequency, so as to obtain the runout data corresponding to the two ends.

[0053] Cutting operation adjustment module 305: used by the controller to adaptively adjust the spindle speed and feed rate of the internal hole cutting tool for the cutting operation of the center hole within the preset cutting parameter range based on the runout data corresponding to both ends, so that the difference between the runout data corresponding to both ends is within the preset range.

[0054] In a specific implementation of this invention, the controller adaptively adjusts the spindle speed and feed rate of the internal cutting tool for machining the center hole within the preset cutting parameter range based on the runout data corresponding to both ends, so that the difference between the runout data corresponding to both ends is within the preset range. This includes: the controller performing subtraction processing on the runout data corresponding to both ends to obtain difference data, and determining whether the difference data is within the 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 the feed rate upward by a second adjustment step within the preset cutting parameter range, and generates an updated cutting control signal, and controls the internal cutting tool based on the updated cutting control signal. The process involves an internal cutting tool performing a cutting operation on the center hole, and then returning to the step of collecting and processing runout data from both ends of the motor shaft to be processed based on the runout meter set on the tooling table. When the difference data is not within the range of the standard required data, the controller adjusts the spindle speed downward by a first adjustment step and the feed rate downward by a second adjustment step within the preset cutting parameter range, and generates an updated cutting control signal. Based on the updated cutting control signal, the controller controls the internal cutting tool to perform a cutting operation on the center hole, and then returns to the step of collecting and processing runout data from both ends of the motor shaft to be processed based on the runout meter set on the tooling table, until the difference between the runout data corresponding to the two ends is within the preset range.

[0055] Specifically, after obtaining the runout data of the two ends of the motor shaft to be processed during the cutting operation, the controller performs subtraction processing on the runout data at both ends to obtain the difference data between the two ends; then, it uses the difference data to determine whether the difference data is within the standard requirement data range; then, depending on whether it is within the standard requirement data range, different adjustment processes are performed to ensure the cutting accuracy of the motor shaft to be processed during the cutting operation, while ensuring the cutting speed and the service life of the cutting tool.

[0056] When the difference data is within the standard requirement range, the spindle speed and feed rate of the cutting operation can be adjusted appropriately to increase the cutting speed. Therefore, the controller needs to adjust the spindle speed upward according to the first adjustment step and the feed rate upward according to the second adjustment step within the preset cutting parameter range, and generate an updated cutting control signal. Finally, the internal cutting tool will be controlled to perform cutting operation on the center hole according to the updated cutting control signal, and the process will return to the step of collecting and processing the runout data of the two ends of the motor shaft to be processed based on the runout meter set on the tooling table.

[0057] When the difference data is not within the standard requirement range, the controller adjusts the spindle speed downward by a first adjustment step and the feed rate downward by a second adjustment step within the preset cutting parameter range, and generates an updated cutting control signal. Then, based on the updated cutting control signal, it controls the internal cutting tool to perform cutting operations on the center hole, and returns to the step of collecting and processing the runout data of the two ends of the motor shaft to be processed based on the runout meter set on the tooling table. Finally, the difference between the runout data corresponding to the two ends needs to be within the preset range, so as to ensure the machining accuracy of the cutting operation of the motor shaft to be processed. Adjusting the spindle speed and feed rate within the preset cutting parameter range can effectively adjust the cutting speed and the runout data of the two ends of the motor shaft to be processed during the cutting operation.

[0058] In this embodiment of the invention, the motor shaft to be processed is fixed on a tooling table. The three-dimensional coordinate data of the center hole of the motor shaft to be processed on the tooling table is extracted. Then, the internal hole cutting tool is controlled to perform cutting operations on the center hole according to the target three-dimensional coordinate data and the cutting parameters are preset. During the cutting operation, the runout data of the two ends of the motor shaft to be processed needs to be collected, and the spindle speed and feed rate during the cutting operation are adaptively adjusted so that the difference between the runout data at the two ends is within a preset range. This can achieve high-precision cutting of the motor shaft to be processed. At the same time, the processing speed during the cutting process can be adjusted to improve the processing efficiency. Furthermore, by adjusting the speed and feed rate, the tool life during the cutting process is effectively guaranteed.

[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 perform the center hole precision cutting machining method of any of the above embodiments.

[0061] also, Figure 4 This is a schematic diagram of the structure 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] Input unit 404 is used to receive signal input and user-input keywords. Input unit 404 may include a touch panel and other input devices. The touch panel can collect user touch operations on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel) and drive the corresponding connection device according to a pre-set program; other input devices may include, but are not limited to, one or more of physical keyboards, function keys (such as play control buttons, power buttons, etc.), trackballs, mice, joysticks, etc. Display unit 405 can be used to display user-input information or information provided to the user, as well as various menus of the terminal device. Display unit 405 may be in the form of a liquid crystal display, organic light-emitting diode, etc. Processor 402 is the control center of the terminal device, connecting various parts of the entire device through various interfaces and lines, performing various functions and processing data by running or executing software programs and / or modules stored in memory 403, and calling data stored in memory.

[0064] As one embodiment, the controller includes: 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 center hole precision cutting machining method corresponding to any of the above embodiments.

[0065] In this embodiment of the invention, the motor shaft to be processed is fixed on a tooling table. The three-dimensional coordinate data of the center hole of the motor shaft to be processed on the tooling table is extracted. Then, the internal hole cutting tool is controlled to perform cutting operations on the center hole according to the target three-dimensional coordinate data and the cutting parameters are preset. During the cutting operation, the runout data of the two ends of the motor shaft to be processed needs to be collected, and the spindle speed and feed rate during the cutting operation are adaptively adjusted so that the difference between the runout data at the two ends is within a preset range. This can achieve high-precision cutting of the motor shaft to be processed. At the same time, the processing speed during the cutting process can be adjusted to improve the processing efficiency. Furthermore, by adjusting the speed and feed rate, the tool life during the cutting process is effectively guaranteed.

[0066] Furthermore, the above provides a detailed description of a method and related apparatus for precision machining of the center hole of a motor shaft provided by the embodiments of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for precision machining of the center hole of a motor shaft, characterized in that, The method includes: The motor shaft to be processed is placed on the tooling table, and the clamping position and support position are controlled by the controller on the tooling table to fix the motor shaft to be processed on the tooling table. 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 the target three-dimensional coordinate data of the center hole; The controller controls the internal cutting tool to perform cutting operations on the center hole according to a preset cutting parameter range based on the target three-dimensional coordinate data. When performing the cutting operation of the center hole, the runout data of the two ends of the motor shaft to be processed is collected and processed based on the runout meter set on the tooling table to obtain the runout data corresponding to the two ends; The controller adaptively adjusts the spindle speed and feed rate of the internal cutting tool for cutting the center hole within the preset cutting parameter range based on the runout data corresponding to both ends, so that the difference between the runout data corresponding to both ends is within the preset range; The controller adaptively adjusts the spindle speed and feed rate of the internal cutting tool for the center hole cutting operation within the preset cutting parameter range based on the runout data corresponding to both ends, so that the difference between the runout data corresponding to both ends is within the preset range, including: The controller performs subtraction on the fluctuation data corresponding to both ends to obtain the difference data, and determines whether the difference data is within the 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 the feed rate upward by a second adjustment step within the preset cutting parameter range, and generates an updated cutting control signal. Based on the updated cutting control signal, the controller controls the internal cutting tool to perform cutting operations on the center hole, and returns to the step of collecting and processing the runout data of both ends of the motor shaft to be processed based on the runout meter set on the tooling table. When the difference data is not within the range of the standard requirement data, the controller adjusts the spindle speed downward by a first adjustment step and the feed rate downward by a second adjustment step within the preset cutting parameter range, and generates an updated cutting control signal. Based on the updated cutting control signal, the controller controls the internal cutting tool to perform cutting operations on the center hole, and returns to the step of collecting and processing the runout data of the two ends of the motor shaft to be processed based on the runout meter set on the tooling table, until the difference between the runout data corresponding to the two ends is within the preset range.

2. The center hole precision machining method according to claim 1, characterized in that, The step of placing the motor shaft to be processed on the tooling table and fixing the motor shaft to be processed on the tooling table by controlling the clamping position and support position based on the controller on the tooling table includes: The gripping device on the tooling table grips the motor shaft to be processed and places it at a preset position on the tooling table. When the gravity sensor on the tooling table detects that the motor shaft to be processed is placed in 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.

3. The center hole precision machining method according to claim 1, characterized in that, The step of extracting the three-dimensional coordinates of the center hole of the motor shaft to be processed based on the depth camera device to obtain the target three-dimensional coordinate data of the center hole includes: Based on the image acquisition processing performed by the depth camera device on the location of the center hole of the motor shaft to be processed, the depth image data corresponding to the motor shaft to be processed and the camera intrinsic parameters corresponding to the depth camera device are obtained; The OpenCV model is invoked to read the depth image data, and the camera intrinsics are used in the OpenCV model to convert each pixel value in the depth image data into corresponding three-dimensional coordinate data. Based on the target extraction model, the target segmentation image of the motor shaft to be processed is extracted from the depth image data, and the target segmentation image is used to match the 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.

4. The center hole precision machining method according to claim 1, characterized in that, The controller controls the internal hole cutting tool to perform cutting operations on the center hole according to a preset cutting parameter range based on the target three-dimensional coordinate data, including: The controller converts the target three-dimensional coordinate data into the same first coordinate system as the internal hole cutting tool, forming the corresponding positioning three-dimensional coordinate data in the first coordinate system; The controller controls the internal cutting tool to perform cutting operations 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 feed rate range of the internal cutting tool.

5. The center hole precision machining method according to claim 4, characterized in that, The controller, based on the positioning three-dimensional coordinate data and according to the preset cutting parameter range, controls the internal hole cutting tool to perform cutting operations on the center hole, 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 based on the cutting posture and the preset cutting parameter range, and controls the internal cutting tool to perform cutting operations on the center hole based on the cutting control signal.

6. The center hole precision machining method according to claim 1, characterized in that, The process of collecting and processing runout data at both ends of the motor shaft to be processed based on the runout meter set on the tooling table to obtain runout data corresponding to both ends includes: The runout data of the two ends of the motor shaft to be processed during the cutting operation is collected and processed by the runout meter set on the tooling table at a predetermined collection frequency to obtain the runout data corresponding to the two ends.

7. A precision machining device for the center hole of a motor shaft, characterized in that, The device includes: Fixing module: used to place the motor shaft to be processed on the tooling table, and fix the motor shaft to be processed on the tooling table based on the clamping position and support position controlled by the controller on the tooling table; 3D extraction module: used to start the depth camera device on the tooling table, and perform 3D coordinate extraction processing on the center hole of the motor shaft to be processed based on the depth camera device to obtain the target 3D coordinate data of the center hole; Cutting operation module: used by the controller to control the internal hole cutting tool to perform cutting operations on the center hole according to the preset cutting parameter range based on the target three-dimensional coordinate data; Data acquisition module: used to acquire and process the runout data of both ends of the motor shaft to be processed based on the runout meter set on the tooling table when performing the cutting operation of the center hole, and obtain the runout data corresponding to both ends; Cutting operation adjustment module: used by the controller to adaptively adjust the spindle speed and feed rate of the internal cutting tool for cutting the center hole within the preset cutting parameter range based on the runout data corresponding to both ends, so that the difference between the runout data corresponding to both ends is within the preset range; The controller adaptively adjusts the spindle speed and feed rate of the internal cutting tool for the center hole cutting operation within the preset cutting parameter range based on the runout data corresponding to both ends, so that the difference between the runout data corresponding to both ends is within the preset range, including: The controller performs subtraction on the fluctuation data corresponding to both ends to obtain the difference data, and determines whether the difference data is within the 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 the feed rate upward by a second adjustment step within the preset cutting parameter range, and generates an updated cutting control signal. Based on the updated cutting control signal, the controller controls the internal cutting tool to perform cutting operations on the center hole, and returns to the step of collecting and processing the runout data of both ends of the motor shaft to be processed based on the runout meter set on the tooling table. When the difference data is not within the range of the standard requirement data, the controller adjusts the spindle speed downward by a first adjustment step and the feed rate downward by a second adjustment step within the preset cutting parameter range, and generates an updated cutting control signal. Based on the updated cutting control signal, the controller controls the internal cutting tool to perform cutting operations on the center hole, and returns to the step of collecting and processing the runout data of the two ends of the motor shaft to be processed based on the runout meter set on the tooling table, until the difference between the runout data corresponding to the two ends is within the preset range.

8. A controller, comprising a processor and a memory, characterized in that, The processor runs a computer program or code stored in the memory to implement the center hole precision cutting machining method as described in any one of claims 1 to 6.

9. A computer-readable storage medium for storing computer programs or code, characterized in that, When the computer program or code is executed by a processor, the center hole precision cutting method as described in any one of claims 1 to 6 is implemented.

Images