Submersible pump head machining clamping control method, clamping device and equipment

Abstract

The application relates to the technical field of submersible pump processing, and provides a submersible pump head processing clamping control method, a clamping device and equipment. The submersible pump head processing clamping control method comprises the following steps: obtaining an original part model and process data; obtaining a processing sequence based on the original part model and the process data; wherein the processing sequence comprises at least one processing posture, a clamping position corresponding to each processing posture and at least one drilling axis corresponding to each processing posture; and the submersible pump head clamping device is controlled based on the processing sequence. The submersible pump head processing clamping control method provided by the application can improve the technical problems in the related art that, in the process of processing drilling, obvious ripples, spiral lines or burrs appear on the hole wall due to cutting vibration or poor chip removal, or precision deviation occurs due to the movement of a tool bit during drilling because the hardness of the submersible pump head is relatively large, thereby affecting the quality of the submersible pump head.

Description

Technical Field

[0001] This application relates to the field of submersible pump processing technology, and in particular to a method, clamping device and equipment for clamping and controlling the processing of submersible pump heads. Background Technology

[0002] A submersible pump is a specially designed type of pump. Its core feature is that the pump body and motor are directly immersed in a liquid (such as oil, water, or other fluids) for operation, achieving efficient and safe liquid delivery through a sealed structure. The submersible pump head refers to the outlet section of the submersible pump and is a key component connecting the pump body and the outlet pipeline. The submersible pump head is a functional component.

[0003] Generally speaking, submersible pump heads need to have various holes to achieve their functions such as connection, pressure measurement, venting and sealing. However, during the drilling process of submersible pump heads, obvious ripples, spiral marks or burrs may appear on the hole wall due to cutting vibration or poor chip removal. Or, due to the high hardness of the submersible pump head itself, the accuracy deviation may occur due to the movement of the cutting head during drilling, thus affecting the quality of the submersible pump head. Summary of the Invention

[0004] This application provides a method, clamping device, and equipment for controlling the machining of submersible pump heads. It can improve the technical problems existing in the related art, such as obvious ripples, spiral marks, or burrs on the hole wall due to cutting vibration or poor chip removal during the drilling process, or the high hardness of the submersible pump head itself causing accuracy deviations due to the movement of the cutting head during drilling, thereby affecting the quality of the submersible pump head.

[0005] In a first aspect, embodiments of this application provide a method for controlling the machining and clamping of a submersible pump head, applied to a submersible pump head clamping device, the method comprising:

[0006] Obtain the original part model and process data; wherein, the original part model is a three-dimensional model reflecting the physical structure of the submersible pump head to be processed, and the process data includes the processing areas marked on the original part model, reflecting the processing areas to be processed on the submersible pump head and the processing parameters corresponding to each processing area;

[0007] A processing sequence is obtained based on the original model and the process data; wherein, the processing sequence includes at least one processing posture, a clamping position corresponding to each processing posture, and at least one drilling axis corresponding to each processing posture;

[0008] The submersible pump head clamping device is controlled based on the processing sequence.

[0009] The technical solutions described in this application embodiment have at least the following technical effects:

[0010] The submersible pump head machining clamping control method provided in this application obtains a three-dimensional model of the original part reflecting the physical structure of the submersible pump head to be machined and process data reflecting the drilling process, clarifying the physical characteristics and machining requirements of the object to be machined, and providing a basis for subsequent steps. Based on the original part model and process data, a machining sequence is obtained, including at least one machining posture, a clamping position corresponding to each machining posture, and at least one drilling axis corresponding to each machining posture. The position and posture of the pump head during machining are defined, ensuring that the drilling axis matches the feed direction, thereby reducing force fluctuations on the tool head and thus reducing burrs on the hole wall caused by force fluctuations. Simultaneously, it ensures that the chip removal direction is consistent with the feed direction, reducing the possibility of chip accumulation in the hole and scratching the hole wall due to poor chip removal. Furthermore, it positions and fixes the clamping position when the pump head is fixed, enhancing the stability of the pump head and reducing pump head shaking caused by cutting forces during machining. By controlling the submersible pump head clamping device based on the machining sequence, the machining sequence is transformed into specific actions of the clamping device (adjusting posture, translation, and fixing). At the same time, each drilling step meets the results obtained from the previous steps, ensuring that the size and position of the hole meet the design requirements and reducing the possibility of quality problems caused by chaotic operation or process errors.

[0011] Secondly, embodiments of this application provide a submersible pump head clamping device for implementing the submersible pump head machining clamping control method described in the first aspect. The submersible pump head clamping device includes:

[0012] A rotating part having a rotating surface for driving the rotating surface to rotate along a rotation axis;

[0013] A displacement unit, disposed on the rotating surface, has a displacement surface for driving the displacement surface to move; and

[0014] A fixing part is disposed on the displacement surface and has a clamping surface for contacting the submersible pump head. The fixing part is used to fix the submersible pump head that is in contact with the clamping surface, so that the relative position of the submersible pump head and the clamping surface is fixed.

[0015] The rotating part is used to drive the displacement part to rotate, thereby driving the fixed part to rotate, and then driving the submersible pump head to rotate. The displacement part is used to drive the fixed part to move in a direction perpendicular to the rotation axis, so that the drilling axis on the submersible pump head is collinear with the rotation axis.

[0016] The technical solutions described in this application embodiment have at least the following technical effects:

[0017] The pump head is fixed in place by a fixing part, ensuring its relative position remains constant during machining. This reduces the possibility of the cutting head shifting due to pump head wobbling, thus minimizing defects such as burrs and ripples on the hole wall. A rotating part drives the pump head, fixed to the fixing part, to rotate during machining, preventing excessive force on one side due to tilted feed, thereby reducing the probability of ripples and spiral marks on the hole wall. A displacement part drives the pump head, ensuring that the drilling axis at the desired drilling location is collinear with the rotation axis and the feed direction. This allows the cutting head to feed along the positive direction of the drilling axis, reducing accuracy issues such as oversized holes and hole position misalignment caused by axis misalignment.

[0018] Thirdly, embodiments of this application provide a submersible pump head processing equipment for implementing the submersible pump head processing clamping control method described in the first aspect. The submersible pump head processing equipment includes the submersible pump head clamping device described in the second aspect, and further includes:

[0019] The cutting section includes a cutting head for driving the cutting head along the feed direction to approach the submersible pump head fixed to the clamping surface to cut the submersible pump head and thus drill a hole; and

[0020] The control unit is communicatively connected to both the submersible pump head clamping device and the cutting unit.

[0021] The feed direction is collinear with the rotation axis of the submersible pump head. The control unit is used to control the submersible pump head clamping device to adjust the position and orientation of the submersible pump head, and to control the cutting unit to drive the cutting tool head to move closer to or away from the submersible pump head along the feed direction. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A schematic flowchart illustrating the submersible pump head machining clamping control method provided in this application embodiment;

[0024] Figure 2 A flowchart illustrating step S200 in the submersible pump head machining clamping control method provided in this application embodiment;

[0025] Figure 3 A flowchart illustrating step S250 in the submersible pump head machining clamping control method provided in this application embodiment;

[0026] Figure 4 A flowchart illustrating step S300 in the submersible pump head machining clamping control method provided in this application embodiment;

[0027] Figure 5 This application provides a schematic diagram of the structure of a submersible pump head clamping device.

[0028] The following are the labeling elements in the figure:

[0029] 100. Submersible pump head clamping device; 10. Rotating part; 20. Displacement part; 30. Fixing part. Detailed Implementation

[0030] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application. The terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0032] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0033] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0035] In this application, "and / or" is merely a way of describing the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0036] It should be noted that in this application, the words "in some embodiments," "exemplarily," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "in some embodiments," "exemplarily," or "for example" should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of words such as "in some embodiments," "exemplarily," and "for example" is intended to present related concepts in a specific manner, meaning that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of this application. The appearance of the above words in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0037] A submersible pump is a specially designed type of pump. Its core feature is that the pump body and motor are directly immersed in a liquid (such as oil, water, or other fluids) for operation, achieving efficient and safe liquid delivery through a sealed structure. The submersible pump head refers to the outlet section of the submersible pump and is a key component connecting the pump body and the outlet pipeline. The submersible pump head is a functional component.

[0038] Generally speaking, submersible pump heads need to have various holes to achieve their functions such as connection, pressure measurement, venting and sealing. However, during the drilling process of submersible pump heads, obvious ripples, spiral marks or burrs may appear on the hole wall due to cutting vibration or poor chip removal. Or, due to the high hardness of the submersible pump head itself, the accuracy deviation may occur due to the movement of the cutting head during drilling, thus affecting the quality of the submersible pump head.

[0039] Based on this, in order to improve the technical problems existing in the related technology, such as obvious ripples, spiral marks or burrs on the hole wall due to cutting vibration or poor chip removal during the drilling process, or the high hardness of the submersible pump head itself causing accuracy deviation due to the movement of the cutting head during drilling, thereby affecting the quality of the submersible pump head, the embodiments of this application provide the following solutions.

[0040] This application provides a method for clamping and controlling the machining of a submersible pump head, the method comprising:

[0041] Obtain the original part model and process data; the original part model is a three-dimensional model reflecting the physical structure of the submersible pump head that needs to be processed, and the process data includes the processing areas marked on the original part model, reflecting the processing areas that need to be processed on the submersible pump head and the processing parameters corresponding to each processing area.

[0042] The machining sequence is obtained based on the original model and process data; wherein, the machining sequence includes at least one machining posture, a clamping position corresponding to each machining posture, and at least one drilling axis corresponding to each machining posture;

[0043] A submersible pump head clamping device based on processing sequence control.

[0044] As can be seen from the above, the submersible pump head machining clamping control method provided in this application obtains the original model of the three-dimensional model reflecting the physical structure of the submersible pump head to be machined and the process data reflecting the drilling process, clarifying the physical characteristics and machining requirements of the machining object, and providing a basis for subsequent steps. Based on the original model and process data, a machining sequence is obtained including at least one machining posture, a clamping position corresponding to each machining posture, and at least one drilling axis corresponding to each machining posture. The position and posture of the pump head during machining are defined, ensuring that the drilling axis matches the feed direction, thereby reducing force fluctuations on the tool head and thus reducing burrs on the hole wall caused by force fluctuations. Simultaneously, it ensures that the chip removal direction is consistent with the feed direction, reducing the possibility of chip accumulation in the hole and scratching the hole wall due to poor chip removal; and it positions and fixes the clamping position when the pump head is fixed, enhancing the stability of the pump head and reducing pump head shaking caused by cutting forces during machining. By controlling the submersible pump head clamping device based on the machining sequence, the machining sequence is transformed into specific actions of the clamping device (adjusting posture, translation, and fixing). At the same time, each drilling step meets the results obtained from the previous steps, ensuring that the size and position of the hole meet the design requirements and reducing the possibility of quality problems caused by chaotic operation or process errors.

[0045] To better understand the submersible pump head machining clamping control method provided in the embodiments of this application, the specific implementation process of the submersible pump head machining clamping control method provided in the embodiments of this application will be described by way of example below.

[0046] Figure 1 A schematic flowchart of a submersible pump head machining clamping control method provided in an embodiment of this application is shown. The submersible pump head machining clamping control method includes:

[0047] S100, acquire the original part model and process data; wherein, the original part model is a three-dimensional model reflecting the physical structure of the submersible pump head that needs to be processed, and the process data includes the processing areas marked on the original part model, reflecting the processing areas that need to be processed on the submersible pump head and the processing parameters corresponding to each processing area.

[0048] It is understandable that the methods for obtaining the original part model and process data can include receiving model data and process data transmitted by the user (e.g., hole depth 10mm, hole diameter 5mm, etc.), or retrieving the corresponding model data and process data from a preset database using the model number of the submersible pump head to be processed as an index, but are not limited to these methods. Obtaining the original part model and process data can clarify the physical characteristics and processing requirements of the object to be processed, providing a basis for subsequent steps.

[0049] In one possible implementation, S100, acquiring the original part model and process data, including:

[0050] The machining area is a cylindrical area that reflects the area where drilling is required on the submersible pump head. The machining parameters include drilling depth and drilling diameter.

[0051] It is understandable that the cylindrical area allows the machining range to match the shape of the final hole, providing a basis for the spatial positioning of the drilling. The drilling diameter matches the specifications of the cutting tool (for example, if an 8mm diameter hole needs to be drilled, an 8mm cutting tool is selected), and the drilling depth determines the maximum feed distance of the cutting tool (for example, if the drilling depth is set to 20mm, the tool will feed 20mm from the starting position and then stop, avoiding the hole being too deep and penetrating the internal structure of the pump head or too shallow and unable to meet subsequent assembly requirements). For example, the drilling depth can also provide a reference for chip removal strategies. For instance, when the drilling depth is shallow (≤10mm), chips can be removed in one pass, while when the drilling depth is deep (>15mm), segmented feed is used (retracting the tool every 5mm) to prevent chips from accumulating in the hole and scratching the hole wall or causing the cutting tool to jam.

[0052] S200, a machining sequence is obtained based on the original model and process data; wherein, the machining sequence includes at least one machining posture, a clamping position corresponding to each machining posture, and at least one drilling axis corresponding to each machining posture.

[0053] It is understandable that the method of obtaining the machining sequence based on the original model and process data can be as follows: First, input the original model into the machining simulation software, bind the machining parameters (drilling depth, diameter) corresponding to each machining area (cylindrical drilling area) in the process data, and then receive the machining model containing the drilling area and positioning points output by the software; then, confirm the central axis of each drilling area as the reference axis; subsequently, establish a machining coordinate system containing the submersible pump head clamping device, clamping surface, and machining model based on the machining model and the reference axis, ensuring that the posture of the machining model corresponds to the actual posture of the pump head; then, obtain the feed direction, rotate the model with the center of gravity of the machining model as the rotation center, so that the reference axis is parallel to the feed direction, at which point the model posture is... The machining posture is determined, and the reference axis parallel to the feed direction and only in contact with the corresponding drilling area is identified as the drilling axis. The current reference axis mark is removed, and this operation is repeated for the remaining reference axes. Then, the jaw movement area is obtained based on the machining coordinate system. The clamping area when the machining model is in contact with the clamping surface under each machining posture is analyzed. Dangerous areas in contact with the drilling area are eliminated, and clamping surfaces that do not contact dangerous areas and have a consistent and larger thickness at the contact point are selected as clamping positions. Finally, all machining postures, the clamping positions corresponding to each posture, and the drilling axis are integrated to confirm the machining sequence. Alternatively, the original model and process data can be sent to the user and then the user's transmitted data can be received, but this is not limited to these methods. Based on the original model and process data, the machining sequence can define the position and orientation of the pump head during machining, matching the drilling axis with the feed direction and making the axis of the target drilled hole parallel to the feed direction. This reduces the force fluctuation of the tool head, thereby reducing burrs on the hole wall caused by the force fluctuation. At the same time, it ensures that the chip removal direction is consistent with the feed direction, reducing the possibility of chip accumulation in the hole and scratching the hole wall due to poor chip removal. It also positions and fixes the clamping position of the pump head, enhancing the stability of the pump head, reducing pump head shaking caused by cutting force during machining, and avoiding pump head deformation due to weak clamping areas.

[0054] In one possible implementation, please refer to Figure 2 S200, based on the original model and process data, yields a processing sequence, including:

[0055] S210, a machining model is obtained based on the original model and process data; wherein, the machining model is a three-dimensional model reflecting the physical structure of the machined submersible pump head, and the machining model includes at least one drilling area and at least three positioning points, and the drilling area reflects the area range formed after drilling on the machining model.

[0056] It is understandable that obtaining a machining model based on the original part model and process data can be achieved by first inputting the original part model into the machining simulation software, binding the machining parameters (drilling depth, diameter) corresponding to each machining area (cylindrical drilling area) in the process data, and then receiving the machining model containing the drilling area and positioning points output by the software. Alternatively, it can involve sending the original part model and process data to the user and then receiving the data transmitted by the user, etc., but is not limited to these methods. Obtaining a machining model based on the original part model and process data can generate a virtual state model of the completed pump head, providing a basis for users to identify and correct unreasonable aspects in the process data and subsequent steps in advance, reducing the risk of scrap during physical machining.

[0057] In one possible implementation, please refer to Figure 2 S210, a machining model is obtained based on the original model and process data, including:

[0058] After inputting the original model into the machining simulation software, the corresponding machining parameters are bound to each machining area. Then, the machining simulation software outputs the machining model after performing machining simulation based on the process data, as well as at least three positioning points marked on the machining model.

[0059] It is understandable that machining simulation software can be VERICUT, CIMCO Edit, etc., but is not limited to these. After the original part model is input into the machining simulation software, the corresponding machining parameters are bound to each machining area. Then, the machining simulation software outputs a machining model after performing machining simulation based on the process data. This model can transform the state to be processed and the processing requirements into a virtual finished product, providing a basis for subsequent steps.

[0060] S220, the central axis of each drilling area is identified as the reference axis; wherein, the relative position of the reference axis and the drilling area is fixed, the reference axis includes two reference endpoints located at both ends of the reference axis, and positioning information corresponding to the reference endpoints reflecting the distance between the reference endpoints and each positioning point, one of the reference endpoints is located at the center of one end of the drilling area, and the other reference endpoint is located at the center of the other end of the drilling area.

[0061] It is understandable that binding the spatial position of the reference axis to the drilling area (e.g., when the drilling area is translated on the machining model, the reference axis is translated synchronously) ensures that the extracted axis parameters (such as direction and position) will not be distorted due to model operations (such as rotation and scaling), providing stability for subsequent steps. The spatial range and direction of the axis are defined by the reference endpoints and positioning information, and the relationship between the reference axis and the positioning points of the machining model is established. Identifying the central axis of each drilling area as the reference axis allows for the clear definition of the axis's spatial position, endpoint coordinates, and relationship with the positioning points, providing a reference for subsequent machining coordinate system establishment and machining posture planning.

[0062] S230, a machining coordinate system is established based on the machining model and each reference axis; wherein, the machining coordinate system includes the submersible pump head clamping device and the machining model located on the clamping surface of the submersible pump head clamping device, and the posture of the machining model in the machining coordinate system corresponds to the posture of the submersible pump head.

[0063] It is understandable that establishing a machining coordinate system based on the machining model and various reference axes can clarify the spatial relationship between the machining model and the clamping device by constructing a coordinate system relating the virtual machining model and the actual clamping device, thus ensuring that the posture adjustment and position calculation in the virtual environment can be directly mapped to the actual machining scene.

[0064] S240, based on the machining coordinate system and various reference axes, the machining posture and drilling axis are obtained; whereby, the machining posture reflects the position and posture of the submersible pump head when it is being machined, and the drilling axis reflects the axis of the hole to be drilled.

[0065] It is understandable that the method of obtaining the machining posture and drilling axis based on the machining coordinate system and various reference axes can be as follows: first, obtain the feed direction marked on the machining coordinate system, reflecting the movement path of the cutting head, and then perform the following steps: first, mark any reference axis as the cutting axis; rotate the model in the machining coordinate system with the center of gravity of the machining model as the rotation center, so that the cutting axis approaches and eventually becomes parallel to the feed direction. At this time, the posture of the model is the corresponding machining posture. At the same time, select the reference axis that is parallel to the feed direction and only contacts the corresponding drilling area when moving in the feed direction perpendicular to the feed direction as the drilling axis of the machining posture. Then, remove the current cutting axis mark, remark the unmarked reference axis as the cutting axis, and repeat the above rotation, posture determination, and axis filtering operations until all reference axes have been marked. Finally, all machining postures and the corresponding drilling axes of each posture are obtained. Alternatively, the machining coordinate system and various reference axes can be sent to the user and the data transmitted by the user can be received, but it is not limited to these methods. Rotating the model within the coordinate system with its center of gravity as the rotation center allows the target reference axis to gradually approach and eventually become parallel to the feed direction by adjusting the rotation angle. The spatial posture of the machining model at this point corresponds to the machining posture of that reference axis. If multiple reference axes exist, repeated rotation adjustments can yield multiple sets of machining postures for different reference axes. The axes parallel to the feed direction and only in contact with the corresponding drilling area are selected as drilling axes to ensure the adaptability of the machining posture. For axes only in contact with the corresponding drilling area, spatial collision detection within the coordinate system eliminates reference axes that, while parallel to the feed direction, would extend and touch other structures of the pump head, reducing the risk of mis-drilling. If multiple reference axes are parallel to the same feed direction, multiple sets of drilling axes can be adapted simultaneously with a single posture adjustment (for example, if three reference axes are parallel to the feed direction in a certain machining posture, all three can be identified as drilling axes, eliminating the need for repeated posture adjustments, reducing the number of rotations of the clamping device, and minimizing the accumulation of positioning errors caused by posture adjustments). Based on the machining coordinate system and various reference axes, the machining posture and drilling axis can be obtained. Under a unified spatial reference (machining coordinate system), the core positioning reference (reference axis) of the drilling can be transformed into the fixed posture of the pump head and the feed parameters of the cutter head. This clarifies how the pump head should be fixed to achieve accurate drilling and which line the cutter head should follow to meet the requirements, providing a basis for subsequent clamping position planning.

[0066] In one possible implementation, please refer to Figure 2 S240, based on the machining coordinate system and various reference axes, obtains the machining posture and drilling axis, including:

[0067] S241, obtain the feed direction; where the feed direction is marked on the machining coordinate system and reflects the movement path of the cutting head during machining. The cutting head is used to cut the submersible pump head.

[0068] It can be understood that the feed direction is the direction of the cutting head's movement from its starting position to the drilling area of ​​the pump head, and it is directly related to the cutting head's running trajectory. Obtaining the feed direction can provide a reference for subsequent pump head attitude adjustment and confirmation of the drilling axis.

[0069] S242, step a, mark one of the various reference axes as the cutting axis.

[0070] It is understandable that marking one of the various reference axes as the cutting axis can provide a basis for subsequent steps.

[0071] S243, step b: In the machining coordinate system, rotate the machining model with the center of gravity of the machining model as the rotation center so that the cutting axis is close to the feed direction and the cutting axis is parallel to the feed direction. Then, confirm the posture of the machining model as the machining posture, and confirm the reference axis that is parallel to the feed direction and can contact the feed direction when it moves in a direction perpendicular to the feed direction, and can only contact the drilling area in the feed direction, as the drilling axis corresponding to the machining posture.

[0072] It is understandable that the center of gravity of the machining model can be determined through geometric decomposition, automatic calculation by machining simulation software, etc., but is not limited to these methods. The center of gravity of the machining model is the center of its mass distribution. When rotating around this center of gravity, the model will not tilt due to a shift in the center of gravity, ensuring the force balance of the pump head after posture adjustment. The cutting axis is the reference axis to be machined (the central axis of the drilling area). Making the cutting axis parallel to the feed direction (the tool head movement path marked in the machining coordinate system) allows the cutting tool head to cut along the positive direction of the axis, resulting in a uniform contact area between the tool head and the hole wall, stable cutting force, and reducing the possibility of the tool head squeezing the hole wall on one side due to tilted feed, thereby reducing the generation of hole wall ripples, spiral marks, or burrs. Only a reference axis parallel to the feed direction can match the current machining posture of the machining model. If a reference axis is not parallel to the feed direction, even if the pump head posture is adjusted, the tool head will still perform oblique cutting during feed, resulting in hole diameter deviation or hole wall scratches. If the cutter head only contacts the drilling area during its movement, it means that the cutter head will not touch other structures of the pump head during drilling, which will lead to the pump head being scrapped or the cutter head being damaged.

[0073] S244, step c: After removing the cutting axis mark of the reference axis, mark another unmarked reference axis as the cutting axis and repeat step b until all reference axes have been marked.

[0074] It is understandable that after removing the cutting axis mark of the reference axis, another unmarked reference axis is marked as the cutting axis and step b is repeated until all reference axes are marked. The essence is to ensure that each reference axis (corresponding to the drilling requirement) can be processed by adjusting the posture and screening the axis through the logic of demarking, remarking and repeating, so as to avoid omissions or repetitions, and finally form a machining plan that covers all drilling requirements.

[0075] S250, the clamping position is obtained based on the machining coordinate system and machining posture; wherein, the clamping position reflects the position of the submersible pump head clamping device clamping the submersible pump head when the submersible pump head is being machined.

[0076] It is understandable that obtaining the clamping position based on the machining coordinate system and machining posture can be achieved by first obtaining the jaw movement area reflecting the moving area of ​​the fixed jaw of the submersible pump head clamping device based on the machining coordinate system; then analyzing each machining posture separately, when the machining model in that posture is in contact with the clamping surface of the clamping device, the area in contact between the jaw movement area and the surface of the machining model is identified as a clampable area composed of at least one clamping surface (reflecting the contact surface between the fixed jaw at a certain position in the jaw movement area and the surface of the machining model); then obtaining the thickness information reflecting the thickness of the machining model in the clampable area, and identifying the area formed by the clamping surface in contact with the drilling area on the clampable area as a danger area; finally analyzing each clamping surface in the clampable area, filtering out the clamping surfaces that do not contact the danger area, have the same thickness as the machining model in contact with the clamping surface, and whose thickness is greater than or equal to the thickness of the machining model in contact with other clamping surfaces, and identifying the clamping surface as the clamping position corresponding to the corresponding machining posture; or sending the machining coordinate system and machining posture to the user and receiving the data transmitted by the user, etc., but not limited to these methods. The clamping position, determined by the machining coordinate system and machining posture, can be converted into specific coordinate parameters through the quantization function of the coordinate system. This provides a basis for controlling the clamping of the submersible pump head by the clamping device. Obtaining the clamping position through the machining coordinate system and machining posture reduces the possibility of pump head deformation caused by clamping thin-walled or machined areas, which could lead to defects such as tool head misalignment and hole wall ripples.

[0077] In one possible implementation, please refer to Figure 3 S250, based on the machining coordinate system and machining posture, obtains the clamping position, including:

[0078] S251, at least one jaw movement area is obtained based on the machining coordinate system; wherein, the jaw movement area reflects the active area of ​​the fixed jaw of the submersible pump head clamping device, and the fixed jaw is used to fix the submersible pump head.

[0079] It is understandable that obtaining at least one gripper movement area based on the machining coordinate system can transform the physical range of motion of the fixed gripper into quantifiable spatial region parameters, providing a clear boundary for selecting the optimal gripping position from the range of motion, and preventing the gripper from moving beyond the boundary or the gripping position from deviating from the equipment's capabilities.

[0080] For example, the fixing jaws can be pneumatic two-finger jaws, electric three-finger jaws, or flexible abutment components driven by a motor or cylinder, but are not limited to these. The fixing jaws can fix the pump head by approaching and abutting against the pump head, or release the pump head by moving away from the pump head. The pump head can be fixed by at least two fixing jaws abutting against each other simultaneously.

[0081] S252, each machining posture is analyzed. When the machining model in the machining posture is in contact with the clamping surface, the area in contact between the jaw movement area and the surface of the machining model is identified as the clampable area, and the clampable area corresponding to each machining posture is obtained. The clampable area consists of at least one clamping surface, which reflects the contact surface between the fixed jaw and the surface of the machining model when the jaw moves to a certain position in the jaw movement area.

[0082] It is understandable that by assuming the machining model is in contact with the clamping surface, situations where it cannot be stably supported due to suspension are eliminated, ensuring that subsequent clamping has a physical basis. By defining the range of the intersection between the moving area of ​​the gripper and the surface of the machining model, areas that the gripper cannot reach are eliminated, thus accurately delineating the physically accessible clamping area. This area is composed of clamping surfaces that reflect the contact patterns between the fixed gripper at different moving positions and the model surface. This allows for narrowing down the effective range and eliminating invalid options when selecting the optimal clamping position. It avoids fixation failure due to areas that the planned gripper cannot reach or are unsupported, and it can generate specific candidate clamping positions to adapt to different machining postures. At the same time, the unitized representation of the clamping surfaces provides a basis for subsequent analysis of the stability of the clamping position, improving the accuracy and efficiency of clamping position planning and ensuring the feasibility and stability of subsequent clamping operations.

[0083] S253, the clamping position is obtained based on the clampable area.

[0084] It is understandable that the method of obtaining the clamping position based on the clampable area could be as follows: first, obtain the thickness information reflecting the thickness of the machining model within the clampable area, clarify the rigid foundation of each part of the structure, then identify the area formed by the clamping surface in the clampable area that contacts the drilling area as the danger zone (to avoid clamping interference with drilling or causing deformation of the hole area), and finally analyze and screen all clamping surfaces within the clampable area one by one, selecting the clamping surface that does not contact the danger zone and has the same thickness as the machining model in contact with the clamping surface, and whose thickness is greater than or equal to the thickness of the machining model in contact with other clamping surfaces, and confirm the selected clamping surface as the clamping position. Alternatively, the clampable area could be sent to the user and then the data transmitted by the user could be received, but it is not limited to these methods. The clamping position, determined by the clamping area, can be optimized by eliminating dangerous areas that come into contact with the drilling area, prioritizing clamping surfaces that do not come into contact with dangerous areas and have a consistent or thicker machining model. This ensures that the final clamping position will not interfere with the drilling process (e.g., avoid the jaws blocking the tool path or squeezing the drilling area, which could cause deformation) or damage the pump head structure. The high-rigidity, thick-walled clamping surface enhances the fixing effect and effectively combats cutting vibration (especially suitable for machining high-hardness materials in submersible pump heads), preventing hole position deviations and hole wall burrs caused by pump head shaking. It also provides a clear operating target for the clamping device, preventing jaw misalignment or ineffective movement.

[0085] In one possible implementation, please refer to Figure 3 S253, obtaining the clamping position based on the clampable area, including:

[0086] S2531, Obtain thickness information; wherein, the thickness information reflects the thickness of the machining model within the clamping area.

[0087] It is understandable that thickness information can be obtained through automatic measurement using machining simulation software, or by acquiring thickness data transmitted by the user, but it is not limited to these methods. Obtaining thickness information can provide a basis for rigidity judgment when selecting qualified clamping surfaces within the clamping area.

[0088] S2532, the area formed by the clamping surface that comes into contact with the drilled area on the clampable area is identified as a danger zone.

[0089] It is understandable that identifying the area formed by the clamping surface that contacts the drilling area on the clamping area as a danger zone can help identify and eliminate risk areas where clamping operations conflict with drilling in advance (because the clamping surface is in direct contact with the drilling area, if used as a clamping position, the jaws may block the tool tip's feed path, preventing normal drilling, or the clamping force may squeeze the drilling area, causing hole wall deformation and hole diameter deviation). This narrows the selection range of clamping positions, avoids ineffective analysis of conflict areas in the future, improves the efficiency of clamping position planning, and reduces the risk of processing failure caused by the conflict between clamping and drilling.

[0090] S2533, each clamping surface on the clampable area is analyzed. If there is a clamping surface that does not contact the danger zone, and the thickness of the machining model that contacts the clamping surface is the same, and the thickness of the machining model that contacts the clamping surface is greater than or equal to the thickness of the machining model that contacts other clamping surfaces, then the clamping surface is identified as the clamping position.

[0091] It is understandable that analyzing each clamping surface in the clamping area one by one, and selecting and confirming the optimal clamping position from the candidate clamping surfaces based on the criteria of "not contacting dangerous areas, consistent thickness of the machining model at the contact points, and thickness greater than or equal to other clamping surfaces," can ensure that there is no machining interference, stable force, and sufficient rigidity. Not contacting dangerous areas can avoid clamping interference with drilling (such as the jaws blocking the cutting head or squeezing the hole area, causing deformation). Consistent thickness can ensure that the pump head is subjected to uniform force during clamping (preventing structural deformation caused by local stress concentration). Thickness not less than other clamping surfaces ensures that the area has the strongest rigidity (effectively resisting cutting vibration, especially suitable for the high hardness material machining requirements of submersible pump heads, avoiding hole position deviation and hole wall burrs caused by vibration), ensuring safe and reliable clamping operation, improving drilling accuracy and hole wall quality, and increasing machining efficiency.

[0092] S260, the machining posture, clamping position and drilling axis are identified as the machining sequence.

[0093] It is understandable that defining the machining posture, clamping position, and drilling axis as a machining sequence can integrate the machining posture, clamping position, and drilling axis into a coherent, standardized, and executable process, providing a logical reference and parameter basis for the actions of the clamping device.

[0094] S300, a submersible pump head clamping device based on processing sequence control.

[0095] It is understandable that the submersible pump head clamping device based on the processing sequence control can convert the clearly defined processing posture (pump head placement angle) and clamping position (clamping jaw fixing point) parameters in the processing sequence into specific action instructions for the clamping device, ensuring that the device action meets the processing requirements and avoiding processing deviations caused by unbased operation.

[0096] In one possible implementation, please refer to Figure 4 S300, a submersible pump head clamping device based on machining sequence control, comprising:

[0097] S310, arrange the various machining postures in the machining sequence according to the number of corresponding drilling axes from smallest to largest to obtain the sequence list.

[0098] It is understandable that arranging the various machining postures in the machining sequence according to the number of corresponding drilling axes from smallest to largest to obtain a sequence list can optimize the execution order of machining postures, allowing the machining process to gradually transition from simple operations to complex operations, avoiding increased operational difficulty or risk of errors due to facing complex postures with multiple axes in the initial stage.

[0099] S320, step d: After confirming the nth processing posture in the sequence list as the adjustment posture, first control information is obtained to instruct the submersible pump head clamping device to adjust the posture of the submersible pump head to the adjustment posture; wherein, the initial value of n is 1.

[0100] It is understandable that instructing the submersible pump head clamping device to adjust the pump head's posture could involve several methods. First, the clamping device releases the jaws, then sends a first prompt to the user to remove the pump head. After removal, the device moves each jaw to a position greater than 1mm and less than 2mm from its corresponding clamping position. A second prompt then prompts the user to place the pump head into the next machining posture between the jaws. After placement, the jaws move at the same speed to their corresponding clamping positions and engage with the pump head to secure it. Alternatively, the device could send a prompt to the user, who then controls the clamping device to adjust the pump head's posture. These methods are not limited to these approaches. Instructing the submersible pump head clamping device to adjust the pump head's posture clarifies the operational process and ensures the orderliness and stability of the overall machining process.

[0101] S330, step e: After the first control information is executed, one of the drilling axes corresponding to the adjusted posture is identified as the processing axis.

[0102] It is understandable that the pump head attitude has been adjusted to the adjustment attitude after the first control information is executed. Identifying one of the drilling axes corresponding to the adjustment attitude as the processing axis can clearly define the first specific drilling target, ensuring that the drilling area corresponding to each axis can be processed in an orderly manner and avoiding omissions.

[0103] S340, step f, obtain the second control information that instructs the submersible pump head clamping device to translate the submersible pump head in the adjustment posture and to make the processing axis collinear with the feed direction.

[0104] It is understandable that instructing the submersible pump head clamping device to translate the submersible pump head in its adjusted posture and align the processing axis with the feed direction can be achieved by controlling the displacement unit to move the pump head without changing its posture to align the processing axis with the feed direction. The second control information instructing the submersible pump head clamping device to translate the submersible pump head in its adjusted posture and align the processing axis with the feed direction can avoid problems such as tool head oblique cutting and hole position offset caused by deviation between the axis and the feed direction. This ensures drilling accuracy, achieves automated connection between posture adjustment and position alignment, improves processing efficiency, adapts to multiple processing axes under the same adjusted posture (when switching to other drilling axes, only translation is needed to align the new processing axis with the feed direction without readjusting the pump head posture), reduces device redundancy, and ensures the continuity and stability of the processing flow.

[0105] S350, step g: After drilling is completed in the processing area corresponding to the processing axis, if there are still drilling axes that have not been identified as processing axes in the drilling axes corresponding to the attitude adjustment, then the drilling axes that have not been identified as processing axes are identified as processing axes and steps f and g are repeated; if there are no drilling axes that have not been identified as processing axes in the drilling axes corresponding to the attitude adjustment, and there are still processing attitudes that have not been identified as adjustment attitudes in the sequence list, then the value of n is incremented by 1 and steps d, e, f and g are repeated; if there are no drilling axes that have not been identified as processing axes in the drilling axes corresponding to the attitude adjustment, and there are no processing attitudes that have not been identified as adjustment attitudes in the sequence list, then a prompt message indicating that processing is complete is obtained to the user.

[0106] It is understandable that step g enables the construction of a closed-loop management system for the entire submersible pump head machining process, ensuring that all machining postures and corresponding drilling axes in the machining sequence are processed completely and systematically, without overlooking any drilling requirements or repeating invalid operations. This allows for the repeated processing of incomplete drilling axes under the same adjusted posture, eliminating the need for repeated adjustments to the pump head posture, reducing redundant movements of the clamping device's rotating parts, lowering the risk of deviations caused by multiple posture adjustments, and saving debugging time, thus meeting the precision and efficiency requirements of pump head machining.

[0107] Please see Figure 5 This application embodiment also provides a submersible pump head clamping device 100, used to implement the submersible pump head machining clamping control method in any of the above embodiments. The submersible pump head clamping device 100 includes:

[0108] The rotating part 10 has a rotating surface for driving the rotating surface to rotate along the rotation axis;

[0109] Displacement part 20, disposed on the rotating surface, has a displacement surface for driving the displacement surface to move; and

[0110] The fixing part 30 is provided on the displacement surface and has a clamping surface for contacting the submersible pump head. The fixing part 30 is used to fix the submersible pump head that is in contact with the clamping surface so that the relative position of the submersible pump head and the clamping surface is fixed.

[0111] The rotating part 10 is used to drive the displacement part 20 to rotate, thereby driving the fixed part 30 to rotate, and then driving the submersible pump head to rotate. The displacement part 20 is used to drive the fixed part 30 to move in a direction perpendicular to the rotation axis, so that the drilling axis on the submersible pump head is collinear with the rotation axis.

[0112] It can be understood that the rotating part 10 is a device capable of driving the fixed part 30 to rotate. For example, the rotating part 10 may include a rotating drive (servo motor, stepper motor, etc.) and a rotating platform (aluminum plate structure, copper plate structure, etc.), the rotating platform is disposed on the rotating shaft of the rotating drive and has a rotating surface, the rotating drive is used to drive the rotating platform to rotate, and the displacement part 20 may be disposed on the rotating platform.

[0113] The displacement unit 20 is a device capable of driving the fixed unit 30 to move. For example, the displacement unit 20 may include a mounting frame (aluminum square frame, copper square frame, etc.), at least two displacement driving members (straight rod cylinder, double-acting cylinder, etc.) and a displacement platform (aluminum plate structure, copper plate structure, etc.). The displacement driving members are rotatably mounted on the mounting frame, and the drive shaft of the displacement driving member is rotatably connected to the displacement platform. The displacement platform has a displacement surface, and the fixed unit 30 can be mounted on the displacement platform. The displacement driving member is used to drive the displacement platform to move by changing the extension distance of the drive shaft.

[0114] The fixing part 30 is a device capable of fixing the submersible pump head. For example, the fixing part 30 may include a fixing platform (aluminum plate structure, copper plate structure, etc.) and at least two fixing devices (pneumatic two-finger gripper, electric three-finger gripper, etc.). The fixing platform has a clamping surface, and the fixing devices are rotatably mounted on the fixing platform. The fixing devices are used to fix the submersible pump head by contacting it.

[0115] As can be seen from the above, the submersible pump head clamping device 100 provided in this application embodiment fixes the pump head by fixing the fixed part 30, ensuring that the relative position of the pump head remains unchanged during processing, reducing the possibility of the cutting head shifting with the pump head due to pump head shaking, thereby reducing defects such as burrs and ripples on the hole wall. The rotating part 10 drives the pump head fixed on the fixed part 30 to rotate during processing, avoiding the problem of excessive force on one side due to tilted cutting, thereby reducing the probability of ripples and spiral marks on the hole wall. The displacement part 20 drives the pump head fixed on the fixed part 30 to move, so that the drilling axis of the position to be drilled is collinear with the rotation axis and collinear with the cutting direction, realizing that the cutting head feeds along the positive direction of the drilling axis, reducing accuracy problems such as excessive hole diameter and hole position shift caused by axis misalignment.

[0116] This application embodiment also provides a submersible pump head processing equipment for implementing the submersible pump head processing clamping control method in any of the above embodiments. The submersible pump head processing equipment includes the submersible pump head clamping device 100 in the above embodiments, and the submersible pump head processing equipment further includes:

[0117] The cutting section includes a cutting head for driving the cutting head along the feed direction to approach the submersible pump head fixed to the clamping surface to cut the submersible pump head and thus drill a hole; and

[0118] The control unit is communicatively connected to the submersible pump head clamping device and the cutting unit, respectively.

[0119] The feed direction is collinear with the rotation axis of the submersible pump head. The control unit is used to control the submersible pump head clamping device to adjust the position and posture of the submersible pump head, and to control the cutting unit to drive the cutting tool head to move closer to or away from the submersible pump head along the feed direction.

[0120] It is understood that the cutting unit may include a cutting drive unit (servo motor, double-acting cylinder, etc.) and a tool magazine (turning tool head, drilling tool head, etc.). The tool magazine is mounted on the drive shaft of the cutting drive unit and has a cutting tool head. The control unit is communicatively connected to the cutting drive unit and is used to control the cutting drive unit to drive the tool magazine to approach the submersible pump head along the feed direction to cut the submersible pump head.

[0121] The control unit can be a control box, a programmable logic controller, etc., but is not limited to these.

[0122] The submersible pump head processing equipment provided in this application embodiment has a control unit that may include at least one processor, at least one memory, and a computer program stored in at least one memory and capable of running on at least one processor. When the processor executes the computer program, it causes the submersible pump head clamping device 100 to perform the steps in any of the above-described embodiments of the submersible pump head processing clamping control method.

[0123] For example, a computer program can be divided into one or more modules / units, one or more of which are stored in memory and executed by a processor to complete this application. One or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the control unit.

[0124] The control unit can be a control box, desktop computer, laptop, handheld computer, cloud server, or other computing device. This control unit may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above embodiments are merely examples of control units and do not constitute a limitation on the control unit. It may include more or fewer components, or combine certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0125] The processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0126] In some embodiments, the memory may be an internal storage unit of the control unit, such as the hard disk or RAM of the control unit. In other embodiments, the memory may be an external storage device of the control unit, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the control unit. Furthermore, the memory may include both internal storage units and external storage devices of the control unit. The memory is used to store the operating system, applications, bootloader, data, and other programs, such as program code for computer programs. The memory can also be used to temporarily store data that has been output or will be output.

[0127] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in any of the above method embodiments.

[0128] This application provides a computer program product that, when run on a control unit, causes the control unit to implement the steps in any of the above-described method embodiments.

[0129] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to the control unit, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0130] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0131] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0132] In the embodiments provided in this application, it should be understood that the disclosed submersible pump head machining clamping control method, clamping device, and equipment can be implemented in other ways. For example, the embodiments of the submersible pump head machining clamping control method, clamping device, and equipment described above are merely illustrative. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0133] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0134] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A submersible pump head machining clamping control method, characterized by, The application is applied to a submersible pump head clamping device, and a submersible pump head machining clamping control method comprises the following steps: Obtaining a prototype model and process data; wherein the prototype model is a three-dimensional model reflecting the physical structure of a submersible pump head to be machined, and the process data includes marking on the prototype model, reflecting a machining area to be machined on the submersible pump head and machining parameters corresponding to each machining area; Obtaining a machining sequence based on the prototype model and the process data; wherein the machining sequence includes at least one machining posture, a clamping position corresponding to each machining posture and at least one drilling axis corresponding to each machining posture; The step of obtaining a machining sequence based on the prototype model and the process data comprises the following steps: Obtaining a machining model based on the prototype model and process data; wherein the machining model is a three-dimensional model reflecting the physical structure of the submersible pump head after machining, and the machining model includes at least one drilling area and at least three positioning points, and the drilling area reflects the range of the area formed after drilling on the machining model; Confirming the center axis of each drilling area as a reference axis; wherein the relative position of the reference axis to the drilling area is fixed, the reference axis includes two reference end points respectively located at both ends of the reference axis, and positioning information corresponding to the reference end points reflecting the distance between the reference end points and each positioning point, one of the reference end points is located at the center of one end of the drilling area, and the other reference end point is located at the center of the other end of the drilling area; Establishing a machining coordinate system based on the machining model and each reference axis; wherein the machining coordinate system includes the submersible pump head clamping device and the machining model on the clamping surface of the submersible pump head clamping device, and the posture of the machining model on the machining coordinate system corresponds to the posture of the submersible pump head; Obtaining the machining posture and the drilling axis based on the machining coordinate system and each reference axis; wherein the machining posture reflects the position posture of the submersible pump head when being machined, and the drilling axis reflects the axis of the hole to be drilled; Obtaining the clamping position based on the machining coordinate system and the machining posture; wherein the clamping position reflects the position of the submersible pump head clamping device clamping the submersible pump head when the submersible pump head is machined; Confirming the machining posture, the clamping position and the drilling axis as the machining sequence; Controlling the submersible pump head clamping device based on the machining sequence.

2. The ESP head machining clamping control method of claim 1, wherein, The machining area is a cylindrical area, reflecting the area to be drilled on the submersible pump head, and the machining parameter includes drilling depth and drilling diameter.

3. The ESP head machining clamping control method of claim 1, wherein, The step of obtaining a machining model based on the prototype model and process data comprises the following steps: The original model is input into the machining simulation software, each machining area is bound with corresponding machining parameters, and the machining model output by the machining simulation software according to the process data and at least three positioning points marked on the machining model are received.

4. The ESP head machining clamping control method of claim 1, wherein, The machining posture and the drilling axis are obtained based on the machining coordinate system and each reference axis, and the method comprises the following steps: An advancing direction is obtained, wherein the advancing direction is marked on the machining coordinate system and reflects the moving path of a cutting tool head during machining, and the cutting tool head is used for cutting the pump head of the submersible pump; In step a, one of the reference axes is marked as a cutting axis; In step b, the machining model is rotated in the machining coordinate system with the center of gravity of the machining model as the rotation center to make the cutting axis close to the advancing direction and parallel to the advancing direction, the posture of the machining model is confirmed as the machining posture, and the reference axis parallel to the advancing direction and capable of contacting the advancing direction only when the advancing direction is in contact with the drilling area in the direction perpendicular to the advancing direction is confirmed as the drilling axis corresponding to the machining posture; In step c, the cutting axis mark of the reference axis is removed, another reference axis that has not been marked is marked as the cutting axis, and step b is repeated until all the reference axes are marked.

5. The ESP head machining clamping control method of claim 1, wherein, The clamping position is obtained based on the machining coordinate system and the machining posture, and the method comprises the following steps: At least one clamping jaw moving area is obtained based on the machining coordinate system, wherein the clamping jaw moving area reflects the moving area of a fixed clamping jaw of a pump head clamping device of the submersible pump, and the fixed clamping jaw is used for fixing the pump head of the submersible pump; Each machining posture is analyzed respectively, when the machining model in the machining posture is in contact with the clamping surface, the area where the clamping jaw moving area is in contact with the surface of the machining model is confirmed as a clippable area, and the clippable area corresponding to each machining posture is obtained; wherein the clippable area is composed of at least one clamping surface, and the clamping surface reflects the contact surface between the fixed clamping jaw and the surface of the machining model when the fixed clamping jaw moves to a certain position in the clamping jaw moving area; The clamping position is obtained based on the clippable area.

6. The method of claim 5, wherein the step of controlling the clamping of the oil pump head is performed by a computer. The clamping position is obtained based on the clippable area, and the method comprises the following steps: Thickness information is obtained, wherein the thickness information reflects the thickness of the machining model in the clippable area; An area formed by the clamping surface in contact with the drilling area on the clippable area is confirmed as a dangerous area; Respectively analyze each of the clamping surfaces on the clippable region, if there is a clamping surface not in contact with the dangerous region, and the thickness of the machining model in contact with the clamping surface is consistent, and the thickness of the machining model in contact with the clamping surface is greater than or equal to the thickness of the machining model in contact with other clamping surfaces, the clamping surface is confirmed as the clamping position.

7. The ESP head machining clamping control method of claim 1, wherein, The machining sequence is used to control the submersible pump head clamping device, and the machining sequence includes: Step d: arranging each of the machining postures in the machining sequence according to the number of corresponding drilling axes from small to large to obtain a sequence table; Step d: arranging each of the machining postures in the machining sequence according to the number of corresponding drilling axes from small to large to obtain a sequence table; Step d: arranging each of the machining postures in the machining sequence according to the number of corresponding drilling axes from small to large to obtain a sequence table; Step d: arranging each of the machining postures in the machining sequence according to the number of corresponding drilling axes from small to large to obtain a sequence table; Step e: after the first control information is executed, one of the drilling axes corresponding to the adjustment posture is confirmed as a processing axis; 8. A submersible pump head clamp apparatus, characterized by, Step f: obtaining second control information indicating that the submersible pump head clamping device translates the submersible pump head in the adjustment posture, and the processing axis is collinear with the feed direction; Step g: after the processing axis corresponding machining region drilling is completed, if there is still a drilling axis in the adjustment posture corresponding drilling axis which has not been confirmed as the processing axis, the step f and the step g are repeated after the drilling axis which has not been confirmed as the processing axis is confirmed as the processing axis; if there is no drilling axis in the adjustment posture corresponding drilling axis which has not been confirmed as the processing axis, and there is still a machining posture in the sequence table which has not been confirmed as the adjustment posture, the value of n is increased by 1, and the steps d, e, f and g are repeated; if there is no drilling axis in the adjustment posture corresponding drilling axis which has not been confirmed as the processing axis, and there is no machining posture in the sequence table which has not been confirmed as the adjustment posture, prompt information prompting the user that the machining is completed is obtained. The submersible pump head machining clamping control method for realizing any one of claims 1 to 7, the submersible pump head clamping device comprises: A rotating part having a rotating surface for driving the rotating surface to rotate along a rotating axis; A displacement part provided on the rotating surface and having a displacement surface for driving the displacement surface to move; and A fixing part provided on the displacement surface and having a clamping surface for contacting the submersible pump head, the fixing part is used to fix the submersible pump head in contact with the clamping surface, so that the relative position of the submersible pump head and the clamping surface is fixed; A fixing part provided on the displacement surface and having a clamping surface for contacting the submersible pump head, the fixing part is used to fix the submersible pump head in contact with the clamping surface, so that the relative position of the submersible pump head and the clamping surface is fixed; The rotating part is used to drive the displacement part to rotate, so as to drive the fixed part to rotate, and further drive the oil pump head to rotate. The displacement part is used to drive the fixed part to move along a direction perpendicular to the rotating axis, so as to make the drilling axis on the oil pump head and the rotating axis collinear.

9. A device for machining a submersible pump head, characterized in that The oil pump head machining device comprises the oil pump head clamping device of claim 8, and further comprises: The cutting part has a cutting tool head, and is used to drive the cutting tool head to approach the oil pump head fixed with the clamping surface along a feed direction to cut the oil pump head so as to drill a hole; The control part is in communication connection with the oil pump head clamping device and the cutting part respectively; The feed direction is collinear with the rotating axis of the oil pump head, and the control part is used to control the oil pump head clamping device to adjust the position and posture of the oil pump head, and control the cutting part to drive the cutting tool head to approach or move away from the oil pump head along the feed direction.

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