Motor stator and rotor machining equipment and machining control method thereof

Abstract

The invention provides motor stator and rotor machining equipment and a machining control method thereof, and relates to the technical field of self-adaptive control systems. The method comprises the following steps: acquiring wear compensation information of a cutter; determining the easy-to-wear degree based on the machining duration and the compensation times and the compensation amount of the different positions of the cutter; for any compensation at any position of the tool, a target area is determined based on the easy-to-wear degree, the target time interval between the easy-to-wear degree and the previous compensation, the compensation amount difference and the number of rotation turns of the tool, and the target area is the area where cutting does not meet the requirement; a preset cutting path is obtained, a preset tool path point corresponding to the target area is marked in the preset cutting path, and an actual tool path point corresponding to the target area is determined based on the position information of the preset tool path point and the moving speed of the tool passing through the preset tool path point; and determining adjustment times based on the distance between the adjacent preset tool path points and the adjacent actual tool path points, and adjusting the positions of the actual tool path points according to the adjustment times. The stator and rotor machining precision can be improved.

Description

Technical Field

[0001] This application relates to the field of adaptive control system technology, specifically to a motor stator and rotor processing equipment and its processing control method. Background Technology

[0002] In the field of motor stator and rotor machining, key components such as rotor shafts and stator shafts typically require high-precision external cylindrical grinding and internal hole machining to ensure dimensional accuracy and coaxiality. During the machining of stator and rotor workpieces using a Computer Numerical Control Machining (CNC) system, tool wear is a core factor affecting machining accuracy. If tool wear is not properly controlled, it can lead to a difference between the actual cutting position and the preset path, and may even cause tool damage due to a sudden increase in the cutting range. Properly adjusting the toolpath can extend tool life, reduce the risk of chipping, and improve machining stability and surface quality.

[0003] In related technologies, the actual cutting trajectory of the stator and rotor workpiece is usually adjusted based on the wear compensation amount at different positions of the tool, in order to adjust the toolpath point accordingly. However, the above method only adjusts the toolpath point through the wear compensation amount, without fully considering the gradual nature of tool wear and the influence of different cutting trajectories (such as the mechanical impact of complex paths) on tool wear. It cannot accurately calculate the actual cutting position of the tool acting on the stator and rotor, affecting the machining accuracy of the stator and rotor and the service life of the machining tool. Summary of the Invention

[0004] To address the problem in related technologies that the actual cutting position of the tool acting on the stator and rotor cannot be accurately calculated, thus affecting the machining accuracy of the stator and rotor and the tool's service life, this application provides a method for controlling the machining of motor stator and rotor. The specific technical solution adopted is as follows: Vibration signals are collected during the machining of stator and rotor workpieces, and wear compensation information for the machining tool is determined based on the vibration signals; the wear compensation information includes the number of compensations at different positions of the machining tool and the compensation amount for each compensation; The wear level of the machining tool is determined based on the machining time, the number of compensations at different positions of the machining tool, and the amount of compensation. For any compensation at any position of the machining tool, a target area is determined based on the wear degree, the target time interval between the compensation and the previous compensation, the difference in compensation amount, and the number of rotations of the machining tool; the target area is the area where the cutting of the stator and rotor workpiece does not meet the requirements. Obtain a preset cutting path for machining the stator and rotor workpiece, and mark the preset toolpath points corresponding to the target area in the preset cutting path. Determine the actual toolpath points corresponding to the target area based on the position information of the preset toolpath points and the moving speed of the machining tool when passing the preset toolpath points. The number of adjustments is determined based on the first distance between adjacent preset toolpath points and the second distance between adjacent actual toolpath points, and the machining tool is controlled to move from the actual toolpath point to the corresponding preset toolpath point in the number of adjustments.

[0005] For example, determining the wear susceptibility of the machining tool based on the machining time, the number of compensations at different positions of the machining tool, and the compensation amount includes: determining the time elapsed between the current moment and the start time of machining the stator and rotor workpiece, denoted as the machining time; obtaining the maximum number of compensations at different positions of the machining tool within the machining time, and determining a first wear factor based on the maximum number of compensations and the machining time; obtaining the initial compensation amount of the machining tool corresponding to the start time of machining, and calculating the change in the compensation amount at different positions of the machining tool in each compensation relative to the initial compensation amount, denoted as the maximum change amount as a second wear factor; and determining the wear susceptibility based on the first wear factor and the second wear factor.

[0006] For example, the wear compensation information also includes the compensation start time of each compensation at different positions of the machining tool; the determination of the target area for any compensation at any position of the machining tool based on the wear susceptibility, the target time interval between the compensation and the previous compensation, the difference in compensation amount, and the number of rotations of the machining tool includes: for any compensation at any position of the machining tool, determining the interval between the compensation start time of the compensation and the compensation start time of the previous compensation, denoted as the target time interval; within the target time interval, determining the difference in compensation amount between the compensation and the previous compensation at any position of the machining tool, denoted as the target compensation amount difference; determining the machining range coefficient based on the target time interval, the target compensation amount difference, and the wear susceptibility; obtaining the number of rotations of the machining tool within the target time interval, and determining the target area based on the number of rotations of the machining tool within the target time interval and the machining range coefficient.

[0007] For example, determining the target region based on the number of rotations of the machining tool within the target time interval and the machining range coefficient includes: normalizing the machining range coefficient; calculating the product of the normalized machining range coefficient and the number of rotations of the machining tool within the target time interval, and recording it as the target number of rotations; taking the first cutting position of the machining tool on the stator and rotor workpiece at any compensation as the starting point, tracing back the target number of rotations, and recording the workpiece positions cut by the machining tool in the stator and rotor workpiece within the target number of rotations as the target region; the first cutting position is the real-time cutting position of the machining tool when the arbitrary compensation occurs.

[0008] For example, determining the actual toolpath point corresponding to the target area based on the position information of the preset toolpath point and the moving speed of the machining tool when passing the preset toolpath point includes: for any preset toolpath point, determining the previous preset toolpath point of the preset toolpath point on the preset cutting path, denoted as the first preset toolpath point; determining the distance between the preset toolpath point and the first preset toolpath point, denoted as the first path restoration factor; obtaining the moving speed of the machining tool when passing the first preset toolpath point, denoted as the second path restoration factor; and determining the actual toolpath point of the target area on the preset cutting path based on the position information of the preset toolpath point and the moving speed of the machining tool when passing the first preset toolpath point. The previous preset toolpath point on the path is designated as the second preset toolpath point. The slope of the first line connecting the first and second preset toolpath points, and the slope of the second line connecting the first and second preset toolpath points are calculated. The absolute value of the difference between the first and second slopes is calculated and designated as the third path restoration factor. Based on the first, second, and third path restoration factors, the path restoration factor between each preset toolpath point is determined. Based on the path restoration factors, the actual toolpath point corresponding to the target area is determined.

[0009] For example, determining the actual toolpath point corresponding to the target area based on the path restoration factor includes: determining the sum of the path restoration factors among the preset toolpath points within the target area, and calculating the target proportion of each path restoration factor in the sum of the path restoration factors; determining the difference in the compensation amount between any position of the machining tool in any compensation and the previous compensation, denoted as the target compensation amount difference; determining the deviation increase value among the preset toolpath points within the target area based on the target proportion of each path restoration factor and the target compensation amount difference; and determining the actual toolpath point corresponding to the target area based on the deviation increase value.

[0010] For example, determining the number of adjustments based on a first distance between adjacent preset toolpath points and a second distance between adjacent actual toolpath points includes: for each preset toolpath point in the target area, calculating the Euclidean distance between the preset toolpath point and its adjacent preset toolpath points, denoted as the first distance, and calculating the average value of the first distance; for each actual toolpath point in the target area, calculating the Euclidean distance between the actual toolpath point and its adjacent actual toolpath points, denoted as the second distance, and calculating the average value of the second distance; determining the wear sharing degree based on the average value of the first distance and the average value of the second distance; and determining the number of adjustments based on the wear sharing degree.

[0011] For example, determining the number of adjustments based on the wear sharing degree includes: normalizing the wear sharing degree; calculating the reciprocal of the normalized wear sharing degree and rounding it down to obtain the number of adjustments.

[0012] For example, controlling the machining tool to move from the actual toolpath point to the corresponding preset toolpath point in stages according to the number of adjustments includes: controlling the actual toolpath point to move uniformly in segments to the preset toolpath point in stages according to the number of adjustments.

[0013] For example, the method further includes: acquiring position adjustment information for each of the actual toolpath points and visually displaying the position adjustment information; the position adjustment information includes the number of the actual toolpath point and the adjusted position information; generating control commands based on the position adjustment information and sending the control commands to the machining tool control system to control the machining tool to machine the stator and rotor workpieces with the adjusted target cutting path; the target cutting path is composed of the adjusted actual toolpath points.

[0014] Correspondingly, this application also provides an electric motor stator and rotor processing device, including: The acquisition module is used to collect vibration signals during the machining of stator and rotor workpieces, and determine the wear compensation information of the machining tool based on the vibration signals; the wear compensation information includes the number of compensations at different positions of the machining tool and the compensation amount of each compensation; The processing module is used to determine the wear degree of the machining tool based on the machining time, the number of compensations at different positions of the machining tool, and the amount of compensation. The processing module is further configured to determine a target area for any compensation at any position of the machining tool, based on the wear level, the target time interval between the compensation and the previous compensation, the difference in compensation amount, and the number of rotations of the machining tool; the target area is the area where the cutting of the stator and rotor workpiece does not meet the requirements. The processing module is further configured to acquire a preset cutting path for machining the stator and rotor workpiece, mark a preset toolpath point corresponding to the target area in the preset cutting path, and determine the actual toolpath point corresponding to the target area based on the position information of the preset toolpath point and the moving speed of the machining tool when passing the preset toolpath point. The control module is used to determine the number of adjustments based on the first distance between adjacent preset toolpath points and the second distance between adjacent actual toolpath points, and to control the machining tool to move from the actual toolpath point to the corresponding preset toolpath point in the number of adjustments.

[0015] This application may have some or all of the following beneficial effects: In the motor stator and rotor machining control method provided in this application, the target area (the area where cutting does not meet requirements due to tool wear) is divided by the degree of wear, the target time interval between adjacent compensation times, the difference in compensation amount, and the number of rotations of the machining tool. Combined with the preset cutting path, the actual toolpath point of the stator and rotor workpiece in the target area is calculated, which improves the accuracy of the actual cutting position calculation. Furthermore, the adjustment requirements for the toolpath point are quantified based on the distance difference between adjacent preset toolpath points and their corresponding adjacent actual toolpath points in the target area, ensuring that the toolpath point adjustment can accurately match the preset cutting path and reduce the dimensional deviation of the stator and rotor workpiece caused by the wear of the machining tool. In addition, this application distributes the difference in cutting amount caused by tool wear to multiple cutting operations, avoiding damage such as chipping and breakage caused by the sudden increase in cutting range when the machining tool passes through the wear area again.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions and advantages in the embodiments of this application 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart of a motor stator and rotor machining control method according to an exemplary embodiment of this application is shown; Figure 2 A schematic diagram illustrating the adjustment of the toolpath point position in a motor stator and rotor machining control method according to an exemplary embodiment of this application is shown. Figure 3 A schematic block diagram of an electric motor stator and rotor processing apparatus according to an exemplary embodiment of this application is shown. Detailed Implementation

[0019] To further illustrate the technical means and effects adopted by this application to achieve the intended purpose of the invention, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of the motor stator and rotor processing equipment and its processing control method proposed in this application. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0020] 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 pertains.

[0021] The specific scheme of the motor stator and rotor processing equipment and its processing control method provided in this application is described in detail below with reference to the accompanying drawings.

[0022] Please see Figure 1 It shows a flowchart of a motor stator and rotor machining control method provided in one embodiment of this application, as follows: Figure 1 As shown, the motor stator and rotor machining control method specifically includes the following steps: S110: Collect vibration signals during the machining of stator and rotor workpieces, and determine the wear compensation information of the machining tool based on the vibration signals; the wear compensation information includes the number of compensations at different positions of the machining tool and the compensation amount of each compensation; S120: Determine the wear level of the machining tool based on the machining time, the number of compensations at different positions of the machining tool, and the amount of compensation; S130: For any compensation at any position of the machining tool, the target area is determined based on the wear degree, the target time interval between any compensation and the previous compensation, the difference in compensation amount, and the number of rotations of the machining tool; the target area is the area where the cutting of the stator and rotor workpieces does not meet the requirements. S140: Obtain the preset cutting path for machining stator and rotor workpieces, mark the preset toolpath points corresponding to the target area in the preset cutting path, and determine the actual toolpath points corresponding to the target area based on the position information of the preset toolpath points and the moving speed of the machining tool when passing through the preset toolpath points. S150: The number of adjustments is determined based on the first distance between adjacent preset toolpath points and the second distance between adjacent actual toolpath points, and the machining tool is controlled to move from the actual toolpath point to the corresponding preset toolpath point in the number of adjustments.

[0023] The following is a detailed explanation of each step in the above-mentioned motor stator and rotor machining control method: In step S110, vibration signals are collected during the machining of stator and rotor workpieces, and wear compensation information of the machining tool is determined based on the vibration signals. The wear compensation information includes the number of compensations at different positions of the machining tool and the amount of compensation for each compensation.

[0024] In this embodiment, the aforementioned stator and rotor workpieces refer to the stator and rotor related components of the motor, specifically including core components such as rotor shafts and stator shafts that require high-precision machining. These are the processing objects of the motor stator and rotor machining control method provided in this embodiment, and their machining quality directly affects the overall performance of the motor.

[0025] In this embodiment of the application, the aforementioned machining tool refers to the tool used to cut the aforementioned stator and rotor workpiece during the machining process.

[0026] In this embodiment of the application, the vibration signal refers to the vibration-related data generated when the machining tool contacts and cuts the stator and rotor workpieces during the machining process of the stator and rotor workpieces.

[0027] In this embodiment, the wear compensation information refers to key data related to the wear of the machining tool during the machining of the stator and rotor workpieces, used for subsequent wear degree judgment and toolpath adjustment. For example, the wear compensation information includes the number of wear compensations performed at different positions of the machining tool, the compensation amount for each wear compensation, and the start time of each wear compensation; the different positions of the machining tool are the locations on the machining tool that participate in the cutting of the stator and rotor workpieces and are prone to wear; for example, the machining tool is rotated at a uniform speed, and the time of the machining tool within its rotation cycle is used as the correspondence of the same position of the machining tool in different cycles.

[0028] In this embodiment, the above-mentioned acquisition of vibration signals during the machining of stator and rotor workpieces and determination of wear compensation information for machining tools based on the vibration signals can be achieved as follows: Vibration signals during the machining process of stator and rotor workpieces are acquired in real time using an accelerometer, and noise interference in the vibration signals is eliminated through wavelet transform. The denoised vibration signals are then input into a bidirectional long short-term memory network to extract temporal features. Based on the extracted temporal features, the pre-constructed convolutional bidirectional long short-term memory network is trained. The trained model is used to monitor the wear state of the machining tools in real time during the machining process of stator and rotor workpieces. When the wear degree of the machining tools exceeds a preset threshold, a wear compensation mechanism is triggered, and wear compensation information such as the number of compensations at different positions of the machining tools, the compensation amount of each compensation, and the start time of each compensation is obtained.

[0029] In step S120, the wear level of the machining tool is determined based on the machining time, the number of compensations at different positions of the machining tool, and the amount of compensation.

[0030] In the embodiments of this application, the aforementioned wear level refers to the ease with which the machining tool wears and the severity of wear changes during the machining process of the stator and rotor workpiece; wherein, the aforementioned machining time refers to the time interval between the current moment and the moment when the machining of the stator and rotor workpiece begins.

[0031] In this embodiment, the determination of the wear susceptibility of the machining tool based on the machining time, the number of compensations at different positions of the machining tool, and the amount of compensation can be achieved as follows: The time elapsed between the current moment and the start of machining of the stator and rotor workpiece is determined and recorded as the machining time; the maximum number of compensations at different positions of the machining tool within the machining time is obtained, and a first wear factor is determined based on the maximum number of compensations and the machining time; the initial compensation amount corresponding to the start of machining is obtained, and the change in the compensation amount at different positions of the machining tool in each compensation relative to the initial compensation amount is calculated, with the maximum change recorded as the second wear factor. For example, the initial compensation amount is the reference compensation value of the machining tool at the start of machining of the stator and rotor workpiece, typically set to 0; the wear susceptibility is determined based on the first wear factor and the second wear factor.

[0032] Specifically, the moment when the stator and rotor workpieces begin processing is obtained, and the time difference between the start time and the current time is calculated and recorded as the processing time. Get processing time The number of times the machining tool is compensated at different positions is calculated, and the maximum number of compensations is determined. For example, if there are three locations in the stator and rotor workpieces that are prone to wear during cutting, assuming the machining time... Within the given context, the tool wear compensation is performed twice at position 1, twice at position 2, and three times at position 3. =3; Determine processing time The maximum value of the compensation change in each compensation operation at different positions of the machining tool. For example, if there are three locations in the stator and rotor workpieces that are prone to wear during cutting, assuming the machining time... Within the machining tool, the compensation changes at position 1 are 10mm and 8mm respectively, at position 2 are 6mm and 4mm respectively, and at position 3 are 3mm, 5mm and 7mm respectively. =10; The above processing time was obtained. The maximum number of compensations at different positions of the machining tool within the machining time. and the maximum change in compensation amount relative to the initial compensation amount at different positions of the machining tool in each compensation. The wear rate of the machining tool can be calculated using the following formula: in, The wear level of the machining tool at the current moment; The processing time is as described above; This is the maximum number of compensations among the number of compensations at different positions of the machining tool within the aforementioned machining time; The first wear factor mentioned above, The larger the value, the better. The smaller the value, the more times the machining tool wears out per unit time, meaning the machining tool is more easily worn out. This refers to the maximum change in the compensation amount relative to the initial compensation amount at different positions of the machining tool in each compensation cycle (i.e., the second wear factor mentioned above). The larger the value, the greater the maximum wear of the machining tool; The product of the first wear factor and the second wear factor is... The higher the value, the more easily the machining tool will wear out.

[0033] In step S130, for any compensation at any position of the machining tool, the target area is determined based on the wear degree, the target time interval between any compensation and the previous compensation, the difference in compensation amount, and the number of rotations of the machining tool; the target area is the area where the cutting of the stator and rotor workpiece does not meet the requirements.

[0034] In this embodiment, the target area refers to the region where the cutting of the stator and rotor workpiece does not meet the requirements. Taking position k on the machining tool as an example, the target area is a specific location on the machining tool with high wear risk, significant wear state changes, and requiring key monitoring or intervention, determined based on the time interval between the (i-1)th and i-th wear compensations at position k (i.e., the target time interval), the difference in compensation amount between the (i-1)th and i-th wear compensations at position k, and the number of rotations of the machining tool within the target time interval.

[0035] For example, the above-mentioned determination of the target area for any compensation at any position of the machining tool, based on the wear level, the target time interval between any compensation and the previous compensation, the difference in compensation amount, and the number of rotations of the machining tool, can be achieved as follows: For any compensation at any position of the machining tool, the interval between the start time of any compensation and the start time of the previous compensation is determined and denoted as the target time interval; within the target time interval, the difference in compensation amount between any compensation and the previous compensation at any position of the machining tool is determined and denoted as the target compensation amount difference; the machining range coefficient is determined based on the target time interval, the target compensation amount difference, and the wear level; the number of rotations of the machining tool within the target time interval is obtained, and the target area is determined based on the number of rotations of the machining tool within the target time interval and the machining range coefficient.

[0036] For example, the above-mentioned determination of the target area based on the number of rotations of the machining tool and the machining range coefficient within the target time interval can be achieved as follows: normalize the machining range coefficient; calculate the product of the normalized machining range coefficient and the number of rotations of the machining tool within the target time interval, and record it as the target number of rotations; take the first cutting position of the machining tool on the stator and rotor workpiece at any compensation as the starting point, trace back the target number of rotations, and record the workpiece positions cut by the machining tool in the stator and rotor workpiece within the target number of rotations as the target area; wherein, the first cutting position is the real-time cutting position of the machining tool when any compensation occurs.

[0037] Specifically, taking the position k of the machining tool as an example, assuming that any of the above compensations is the i-th compensation, calculate the target time interval between the (i-1)-th wear compensation and the i-th wear compensation at the position k of the machining tool. Obtain the wear compensation amount for the (i-1)th wear compensation and the wear compensation amount for the ith wear compensation, and calculate the difference, which is denoted as the target compensation amount difference. The aforementioned processing range coefficient can be calculated using the following formula: in, The processing range coefficient for the i-th compensation; The difference in compensation amount for the above objectives. The target time interval is as described above; The degree of wear of the machining tools; The effective cutting contribution at tool position k within the target time interval can be quantified. Specifically, the aforementioned target time interval... The smaller the value, the greater the difference in target compensation amount. The larger the value, the easier it is for the machining tool to wear. When the value of k is larger, the actual cutting position of the stator and rotor workpiece will differ from the expected position more quickly after the (i-1)th wear compensation. In this case, when calculating the already machined position of the stator and rotor workpiece, the calculated machined range (which is also the target area) should also be larger.

[0038] Using the maximum-minimum normalization method to analyze the above After normalization, we get Its range is (0,1); the number of rotations of the machining tool position k between the (i-1)th and ith wear compensations is counted. The target area mentioned above is defined as the area tracing back from the real-time cutting position of the machining tool when the i-th wear compensation occurs (i.e., the first cutting position mentioned above). The cutting range traversed by (i.e., the target number of rotations). Specifically, assuming the number of rotations between the (i-1)th wear compensation and the ith wear compensation is 40, after the above normalization process... If the value is 0.6, then the target number of rotations is... If the value is 24 revolutions, then the target area mentioned above is the cutting range of the machining tool for the stator and rotor workpieces after tracing forward 24 revolutions.

[0039] In step S140, a preset cutting path for machining the stator and rotor workpiece is obtained, and a preset toolpath point corresponding to the target area is marked in the preset cutting path. Based on the position information of the preset toolpath point and the moving speed of the machining tool when passing the preset toolpath point, the actual toolpath point corresponding to the target area is determined.

[0040] In this embodiment, the preset cutting path is a tool movement trajectory preset according to the machining requirements of the stator and rotor workpiece (such as high-precision machining requirements such as external cylindrical grinding and internal hole machining) before machining the stator and rotor workpiece. It consists of multiple consecutive preset toolpath points. The preset cutting path includes parameters such as the position of each preset toolpath point, the moving speed of the machining tool passing through the preset toolpath points, the distance between each preset toolpath point and the slope of the connecting line, and is the reference trajectory of the machining tool during cutting. The position of each preset toolpath point can be obtained in the following way: the operation plane that generates the preset cutting path based on each preset toolpath point and the stator and rotor workpiece is used to determine the coordinates of each preset toolpath point in the operation plane as the position of the preset toolpath point. For example, the fixed center point of the stator and rotor workpiece can be used as the origin of the coordinate plane.

[0041] In this embodiment, after obtaining the aforementioned preset cutting path, preset toolpath points corresponding to the target area are marked within the preset cutting path. For example, assuming the preset cutting path contains 1000 consecutive preset toolpath points (numbered 0001~1000), and each rotation of the machining tool corresponds to 20 preset toolpath points, if the i-th wear compensation occurs, the corresponding preset toolpath point is numbered 0500. The calculated number of rotations... If the value is 24 revolutions, then starting from the preset toolpath point numbered 0500, 24 × 20 = 480 preset toolpath points are marked in the preset cutting path to trace forward in the direction of the machining tool's rotation.

[0042] After marking the preset toolpath points corresponding to the target area in the preset cutting path, for example, the above-mentioned determination of the actual toolpath point corresponding to the target area based on the position information of the preset toolpath points and the moving speed of the machining tool when passing through the preset toolpath points can be achieved as follows: For any preset toolpath point, determine the previous preset toolpath point on the preset cutting path, denoted as the first preset toolpath point; determine the distance between the preset toolpath point and the first preset toolpath point, denoted as the first path restoration factor; obtain the moving speed of the machining tool when passing through the first preset toolpath point, denoted as the second path restoration factor; for The first preset toolpath point is the previous preset toolpath point on the preset cutting path, denoted as the second preset toolpath point. The slope of the first line connecting the first and second preset toolpath points, and the slope of the second line connecting the first and second preset toolpath points are calculated. The absolute value of the difference between the slopes of the first and second lines is calculated and denoted as the third path restoration factor. Based on the first, second, and third path restoration factors, the path restoration factor between each preset toolpath point is determined. Based on the path restoration factors, the actual toolpath point corresponding to the target area is determined.

[0043] Specifically, the above-mentioned determination of the actual toolpath point corresponding to the target area based on the path restoration factor can be achieved as follows: determine the sum of the path restoration factors among the preset toolpath points in the target area, and calculate the target proportion of each path restoration factor in the sum of the path restoration factors; determine the difference in compensation amount between any position of the machining tool in any compensation and the previous compensation, and record it as the target compensation amount difference; determine the deviation increase value among the preset toolpath points in the target area based on the target proportion of each path restoration factor and the target compensation amount difference; determine the actual toolpath point corresponding to the target area based on the deviation increase value.

[0044] Specifically, in the operation plane constructed above, taking the preset toolpath point p as an example, the previous preset toolpath point p-1 on the preset cutting path is determined, and the Euclidean distance (i.e. the first path restoration factor mentioned above) between the preset toolpath point p and the preset toolpath point p-1 is calculated. The movement speed at the preset toolpath point p-1 (i.e., the second path restoration factor mentioned above) is collected by the rate sensor on the machining tool. Determine the preceding preset toolpath point p-2 on the preset cutting path from preset toolpath point p-1. Calculate the slope of the line connecting preset toolpath points p-1 and p-2 in the aforementioned operating plane (i.e., the first connecting slope). Calculate the slope of the line connecting preset toolpath points p-1 and p in the aforementioned operating plane (i.e., the second connecting slope). Calculate the absolute value of the difference between the first and second connecting slopes (i.e., the third path restoration factor). ; In obtaining the first path reduction factor Second path reduction factor and the third path reduction factor Then, the path reduction factor is calculated using the following specific formula: in, The path restoration factor from preset toolpath point p-1 to preset toolpath point p is used to quantify the wear degree of the machining tool between adjacent toolpath points p-1 and p; The third path restoration factor mentioned above reflects the degree of path turning at the preset toolpath point p-1. The larger the value, the more violently the turning of the machining tool at the preset toolpath point, the stronger the mechanical impact, and the higher the risk of wear. The second path restoration factor mentioned above reflects the impact intensity experienced by the machining tool at the preset toolpath point p-1 at the turning point. The larger the value, the stronger the impact force when the machining tool contacts the stator and rotor workpieces, the greater the stress on the cutting edge of the machining tool, and the faster the wear rate. The reduction factor for the first path mentioned above. The larger the value, the longer the continuous cutting time of the machining tool, and the more severe the heat accumulation and frictional wear; in summary, the distance between the preset toolpath point p and the preset toolpath point p-1 The larger the value, the absolute value of the difference in slope between the preset toolpath point p-1 and the line connecting the preset toolpath points p-2 and p on the preset cutting path. The larger the value, the faster the cutting tool moves when it passes the preset toolpath point p-1. The larger the value, the greater the wear on the machining tool during the transition at the preset toolpath point p-1 as it moves from the preset toolpath point p-1 to the preset toolpath point p.

[0045] The following is a specific embodiment illustrating the determination of the actual toolpath points corresponding to the target area based on the path restoration factor: Assume that the target range determined by the (i-1)th wear compensation and the ith wear compensation at the tool position k includes the preset toolpath points p0→p1→p2→p3→p4 in the preset cutting path. Calculate the path restoration factor M_(p0-p1)=0.8 for p0→p1, M_(p1-p2)=1.2 for p1→p2, M_(p2-p3)=1.5 for p2→p3, and M_(p3-p4)=0.5 for p3→p4 on the preset cutting path. Calculate the sum of the above path restoration factors M=M_(p0-p1)=0.5. -p1)+M_(p1-p2)+M_(p2-p3)+M_(p3-p4)=0.8+1.2+1.5+0.5=4.0, then the target proportion of p0→p1 is M1=0.8 / 4.0=0.2, the target proportion of p1→p2 is M2=1.2 / 4.0=0.3, the target proportion of p2→p3 is M3=1.5 / 4.0=0.375, and the target proportion of p3→p4 is M4=0.5 / 4.0=0.125; determine the difference in target compensation amount between the (i-1)th and ithth wear compensation of the machining tool position k; based on the target proportion and target compensation amount difference of each path restoration factor, determine the pre-... Let the increase in deviation between toolpath points be as follows: p0-p1 segment: 0.6mm × 0.2 = 0.12mm; p1-p2 segment: 0.6mm × 0.3 = 0.18mm; p2-p3 segment: 0.6mm × 0.375 = 0.225mm; p3-p4 segment: 0.6mm × 0.125 = 0.075mm. After determining the increase in deviation for each segment through the above process, the actual toolpath points corresponding to the target area can be determined using the following method: Taking the preset toolpath point p0 as the starting point, assuming no wear on the initial machining tool and an initial deviation value of 0, the increase in deviation for each segment is superimposed along the toolpath direction to obtain the subsequent preset toolpath points in the actual cutting process. The deviation values ​​during the process are used to obtain the actual toolpath points: The cutting position corresponding to the actual toolpath point p1 is the sum of the deviation increase of the preset toolpath point p0 and the segment from p0 to p1: 0 + 0.12mm = 0.12mm; The cutting position corresponding to the actual toolpath point p2 is the sum of the deviation increase of the preset toolpath point p1 and the segment from p1 to p2: 0.12mm + 0.18mm = 0.30mm; The cutting position corresponding to the actual toolpath point p3 is the sum of the deviation increase of the preset toolpath point p2 and the segment from p2 to p3: 0.30mm + 0.225mm = 0.525mm; The cutting position corresponding to the actual toolpath point p4 is the sum of the deviation increase of the preset toolpath point p3 and the segment from p3 to p4: 0.525mm + 0.075mm = 0.60mm.

[0046] In step S150, the number of adjustments is determined based on the first distance between adjacent preset toolpath points and the second distance between adjacent actual toolpath points, and the machining tool is controlled to move from the actual toolpath point to the corresponding preset toolpath point in the number of adjustments.

[0047] During the machining of stator and rotor workpieces, wear of the machining tool can cause a deviation between the actual cutting position and the preset toolpath point. If the deviation is too large, it may cause a sudden increase in the cutting range of the machining tool and damage the tool. Therefore, this application embodiment reduces the deviation between the actual toolpath point and the preset toolpath point by adjusting in steps, so that the actual toolpath point gradually approaches the preset toolpath point, which avoids damage to the tool by a single adjustment and ensures machining accuracy. The number of adjustments mentioned above is the number of steps.

[0048] For example, the determination of the number of adjustments based on the first distance between adjacent preset toolpath points and the second distance between adjacent actual toolpath points can be achieved as follows: For preset toolpath points in the target area, calculate the Euclidean distance between the preset toolpath point and its adjacent preset toolpath points, denoted as the first distance, and calculate the average value of the first distance; For actual toolpath points in the target area, calculate the Euclidean distance between the actual toolpath point and its adjacent actual toolpath points, denoted as the second distance, and calculate the average value of the second distance; Determine the wear sharing degree based on the average value of the first distance and the average value of the second distance; Determine the number of adjustments based on the wear sharing degree.

[0049] The above-mentioned determination of the number of adjustments based on the degree of wear sharing can be achieved as follows: normalize the degree of wear sharing; calculate the reciprocal of the normalized degree of wear sharing and round it to obtain the number of adjustments.

[0050] Specifically, taking a preset toolpath point p as an example, the Euclidean distances between p and preset toolpath points p-1 and p+1 are calculated and averaged. This average value is denoted as... Similarly, calculate the average Euclidean distance between the actual toolpath point corresponding to the preset toolpath point p and its adjacent toolpath points, denoted as . The wear sharing ratio mentioned above can be calculated using the following formula: in, The wear level that needs to be shared at the actual toolpath point p; This is the average of the Euclidean distances between the preset toolpath point p and its preceding and following preset toolpath points. It reflects the degree of directional change within the preset path itself. For example, if the preset toolpath point p is a preset right-angle turn point, then... If the value is large, and the preset toolpath point p is located on a gentle straight line, then The value is small; This is the average of the Euclidean distances between the actual toolpath point p and its preceding and following actual toolpath points. It reflects the actual degree of tool wear at that toolpath point. The more severe the tool wear at that point, the greater the deviation of the actual cutting position from the preset path. The larger the value, the more... and When the values ​​are all large, it indicates that the toolpath point is a preset high turning position (such as a corner), and the deviation of the machining tool wear at this point is also more serious. If all the deviations are corrected directly in a single cut, the tool may break due to the sudden increase in the cutting amount. Therefore, the calculated values ​​are not high. The larger the value, the more cutting operations need to be allocated, thus gradually approaching the preset toolpath point through multiple small adjustments, avoiding tool damage.

[0051] Specifically, after calculating the aforementioned wear distribution, the maximum and minimum values ​​are used to... After normalization, we get Its value range is set to (0, 0.4). When When the value is larger, the wear at the actual toolpath point p should be distributed across more cutting cycles. Therefore, the number of wear distribution cycles for the actual toolpath point p can be obtained as follows: .

[0052] After determining the wear distribution number through the above process, for example, the above-mentioned wear distribution number controls the machining tool to move from the actual toolpath point to the corresponding preset toolpath point, such as... Figure 2 The diagram illustrates the process of adjusting the toolpath point position multiple times. Specifically, assuming the distance between the actual toolpath point and the corresponding preset toolpath point is 6mm, and the wear distribution is determined three times through the above process, the actual toolpath point is moved towards the preset toolpath point three times, with each movement distance being 2mm.

[0053] Preferably, after obtaining the changes in the toolpath point positions at different times using the above method, the obtained data can be transmitted to a database for corresponding storage and visualization. For example, this process can be implemented as follows: obtaining the position adjustment information of each actual toolpath point and visually displaying the position adjustment information; the aforementioned position adjustment information includes the number of the actual toolpath point and its adjusted position information.

[0054] Specifically, in this embodiment of the application, the adjusted positions of toolpath points at different times and locations can be obtained using Structured Query Language (SQL), and displayed in a visual interface in the form of a table, as shown in Table 1 below: Table 1: Furthermore, embodiments of this application can also generate control commands based on position adjustment information and send the control commands to the machining tool control system to control the machining tool to machine the stator and rotor workpieces with the adjusted target cutting path; wherein, the aforementioned target cutting path is composed of the adjusted actual toolpath points.

[0055] The foregoing mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, it includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware 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.

[0056] Correspondingly, embodiments of this application also provide a motor stator and rotor processing equipment, such as... Figure 3 As shown, the motor stator and rotor processing equipment includes an acquisition module 310, a processing module 320, and a control module 330; wherein: The acquisition module is used to collect vibration signals during the machining of stator and rotor workpieces, and determine the wear compensation information of the machining tool based on the vibration signals; the wear compensation information includes the number of compensations at different positions of the machining tool and the compensation amount of each compensation; The processing module is used to determine the wear level of the machining tool based on the machining time, the number of compensations at different positions of the machining tool, and the amount of compensation. The processing module is also used to determine the target area for any compensation at any position of the machining tool, based on the wear degree, the target time interval between any compensation and the previous compensation, the difference in compensation amount, and the number of rotations of the machining tool; the target area is the area where the cutting of the stator and rotor workpieces does not meet the requirements. The processing module is also used to obtain the preset cutting path for machining stator and rotor workpieces, mark the preset toolpath points corresponding to the target area in the preset cutting path, and determine the actual toolpath points corresponding to the target area based on the position information of the preset toolpath points and the moving speed of the machining tool when passing the preset toolpath points. The control module is used to determine the number of adjustments based on the first distance between adjacent preset toolpath points and the second distance between adjacent actual toolpath points, and to control the machining tool to move from the actual toolpath point to the corresponding preset toolpath point in the number of adjustments.

[0057] It should be noted that the specific implementation details of the above-mentioned motor stator and rotor processing equipment have been explained in detail in the corresponding section of the motor stator and rotor processing control method, so they will not be repeated here.

[0058] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

[0059] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. Multitasking and parallel processing may be advantageous in certain environments. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this application. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

Claims

1. A method for controlling the machining of motor stator and rotor, characterized in that, The method includes: Vibration signals are collected during the machining of stator and rotor workpieces, and wear compensation information for the machining tool is determined based on the vibration signals; the wear compensation information includes the number of compensations at different positions of the machining tool and the compensation amount for each compensation; The wear level of the machining tool is determined based on the machining time, the number of compensations at different positions of the machining tool, and the amount of compensation. For any compensation at any position of the machining tool, a target area is determined based on the wear degree, the target time interval between the compensation and the previous compensation, the difference in compensation amount, and the number of rotations of the machining tool; the target area is the area where the cutting of the stator and rotor workpiece does not meet the requirements. Obtain a preset cutting path for machining the stator and rotor workpiece, and mark the preset toolpath points corresponding to the target area in the preset cutting path. Determine the actual toolpath points corresponding to the target area based on the position information of the preset toolpath points and the moving speed of the machining tool when passing the preset toolpath points. The number of adjustments is determined based on the first distance between adjacent preset toolpath points and the second distance between adjacent actual toolpath points, and the machining tool is controlled to move from the actual toolpath point to the corresponding preset toolpath point in the number of adjustments.

2. The motor stator and rotor machining control method according to claim 1, characterized in that, The determination of the wear susceptibility of the machining tool based on the machining time, the number of compensations at different positions of the machining tool, and the amount of compensation includes: The time elapsed from the current moment to the start time of machining the stator and rotor workpiece is determined and denoted as the machining time. Obtain the maximum number of compensations at different positions of the machining tool within the machining time, and determine the first wear factor based on the maximum number of compensations and the machining time; Obtain the initial compensation amount of the machining tool at the start of machining time, and calculate the change of the compensation amount of the machining tool at different positions in each compensation relative to the initial compensation amount, and record the maximum change amount as the second wear factor; The degree of wearability is determined based on the first wear factor and the second wear factor.

3. The motor stator and rotor machining control method according to claim 1, characterized in that, The wear compensation information also includes the start time of each compensation at different positions of the machining tool; the determination of the target area for any compensation at any position of the machining tool, based on the wear susceptibility, the target time interval between the previous compensation and the compensation amount, and the number of rotations of the machining tool, includes: For any number of compensations at any position of the machining tool, the interval between the start time of the compensation for the arbitrary compensation and the start time of the previous compensation is determined and denoted as the target time interval; Within the target time interval, the difference in compensation amount between any compensation and the previous compensation at any position of the machining tool is determined and denoted as the target compensation amount difference; The processing range coefficient is determined based on the target time interval, the difference in the target compensation amount, and the degree of wear. The number of rotations of the machining tool within the target time interval is obtained, and the target area is determined based on the number of rotations of the machining tool within the target time interval and the machining range coefficient.

4. The motor stator and rotor machining control method according to claim 3, characterized in that, Determining the target area based on the number of rotations of the machining tool within the target time interval and the machining range coefficient includes: The processing range coefficients are normalized. The product of the normalized machining range coefficient and the number of rotations of the machining tool within the target time interval is calculated and denoted as the target number of rotations. Starting from the first cutting position of the machining tool on the stator and rotor workpiece during any compensation, trace back the target number of rotations, and record the workpiece positions cut by the machining tool in the stator and rotor workpiece within the target number of rotations as the target area; the first cutting position is the real-time cutting position of the machining tool when the any compensation occurs.

5. The motor stator and rotor machining control method according to claim 1, characterized in that, The step of determining the actual toolpath point corresponding to the target area based on the position information of the preset toolpath point and the moving speed of the machining tool when passing the preset toolpath point includes: For any of the preset toolpath points, determine the previous preset toolpath point on the preset cutting path, and denot it as the first preset toolpath point; The distance between the preset toolpath point and the first preset toolpath point is determined and denoted as the first path restoration factor; The moving speed of the machining tool when it passes the first preset toolpath point is obtained and recorded as the second path restoration factor; For the first preset toolpath point on the preset cutting path, the previous preset toolpath point is denoted as the second preset toolpath point. The slope of the first line connecting the first preset toolpath point and the second preset toolpath point is calculated, as well as the slope of the second line connecting the first preset toolpath point and the preset toolpath point. Calculate the absolute value of the difference between the slope of the first connecting line and the slope of the second connecting line, and denote it as the third path restoration factor; The path restoration factor between each preset toolpath point is determined based on the first path restoration factor, the second path restoration factor, and the third path restoration factor. The actual toolpath point corresponding to the target region is determined based on the path restoration factor.

6. The motor stator and rotor machining control method according to claim 5, characterized in that, Determining the actual toolpath point corresponding to the target region based on the path restoration factor includes: Determine the sum of the path restoration factors between each preset toolpath point within the target area, and calculate the target proportion of each path restoration factor in the sum of the path restoration factors; The difference between the compensation amount at any position of the machining tool in any compensation and the previous compensation is determined and denoted as the target compensation amount difference; The deviation increase value between each preset toolpath point in the target area is determined based on the target ratio and the difference in target compensation amount of each path restoration factor; The actual toolpath point corresponding to the target region is determined based on the increase in deviation.

7. The motor stator and rotor machining control method according to claim 1, characterized in that, The determination of the number of adjustments based on the first distance between adjacent preset toolpath points and the second distance between adjacent actual toolpath points includes: For the preset toolpath points within the target area, calculate the Euclidean distance between the preset toolpath point and its adjacent preset toolpath points, denoted as the first distance, and calculate the average value of the first distance; For the actual toolpath points within the target area, calculate the Euclidean distance between the actual toolpath point and its adjacent actual toolpath points, denoted as the second distance, and calculate the average value of the second distance; The degree of wear sharing is determined based on the average value of the first distance and the average value of the second distance; The number of adjustments is determined based on the degree of wear sharing.

8. The motor stator and rotor machining control method according to claim 7, characterized in that, Determining the number of adjustments based on the wear sharing degree includes: The wear distribution degree is normalized. Calculate the reciprocal of the wear distribution degree after normalization and round it to obtain the number of adjustments.

9. The motor stator and rotor machining control method according to claim 8, characterized in that, The step of controlling the machining tool to move from the actual toolpath point to the corresponding preset toolpath point in the number of adjustment steps includes: The actual toolpath point is moved evenly in segments towards the preset toolpath point in several adjustments.

10. A motor stator and rotor processing equipment, characterized in that, include: The acquisition module is used to collect vibration signals during the machining of stator and rotor workpieces, and determine the wear compensation information of the machining tool based on the vibration signals; the wear compensation information includes the number of compensations at different positions of the machining tool and the compensation amount of each compensation; The processing module is used to determine the wear degree of the machining tool based on the machining time, the number of compensations at different positions of the machining tool, and the amount of compensation. The processing module is further configured to determine a target area for any compensation at any position of the machining tool, based on the wear level, the target time interval between the compensation and the previous compensation, the difference in compensation amount, and the number of rotations of the machining tool; the target area is the area where the cutting of the stator and rotor workpiece does not meet the requirements. The processing module is further configured to acquire a preset cutting path for machining the stator and rotor workpiece, mark a preset toolpath point corresponding to the target area in the preset cutting path, and determine the actual toolpath point corresponding to the target area based on the position information of the preset toolpath point and the moving speed of the machining tool when passing the preset toolpath point. The control module is used to determine the number of adjustments based on the first distance between adjacent preset toolpath points and the second distance between adjacent actual toolpath points, and to control the machining tool to move from the actual toolpath point to the corresponding preset toolpath point in the number of adjustments.

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