Shaft machining method and system, intelligent terminal and storage medium

Abstract

The invention relates to a shaft machining method and system, an intelligent terminal and a storage medium, and relates to the field of part machining, and the method comprises the steps that shaft workpieces are conveyed to a material taking area through a feeding module; the mechanical arm is controlled to clamp the shaft workpiece and convey the shaft workpiece to the machining module, the machining module comprises a limiting plate, a clamp and a machining assembly, a through hole is formed in the limiting plate, the through hole is aligned with the clamp, and a push rod is arranged in the clamp; the mechanical arm is controlled to move the shaft workpiece, so that the shaft workpiece enters the clamp through the through hole; the clamp is clamped, and a machining assembly is used for machining the shaft workpiece; and after machining of the shaft workpieces is completed, the clamp is loosened, and the shaft workpieces are pushed out of the clamp through the push rod. The machining device has the effect of improving the machining efficiency of the shaft workpieces.

Description

Technical Field

[0001] The present application relates to the field of parts processing, and in particular to a shaft processing method, system, intelligent terminal and storage medium. Background Art

[0002] Shaft machining refers to a series of machining operations on shaft workpieces to obtain the required size, shape, accuracy and surface quality. Shaft workpieces are widely used in various mechanical equipment, such as motors, automobiles, transmissions, etc., and are usually used to support rotating parts and transmit torque.

[0003] The relevant technology requires the staff to put the shaft workpiece into the fixture of the processing equipment and use the fixture to clamp the shaft workpiece. Turn on the processing equipment, and the processing equipment will process the shaft workpiece according to the preset program. After the processing is completed, the staff releases the fixture and removes the shaft workpiece to complete the processing of the shaft workpiece.

[0004] With respect to the above-mentioned related technologies, the inventors believe that the processing efficiency of shaft workpieces is low. Summary of the invention

[0005] In order to improve the processing efficiency of shaft workpieces, the present application provides a shaft processing method, system, intelligent terminal and storage medium.

[0006] In a first aspect, the present application provides a shaft processing method, which adopts the following technical solution: A shaft processing method, comprising: The shaft workpieces are transported to the material removal area through the loading module; Controlling the manipulator to clamp the shaft workpiece and transport the shaft workpiece to a processing module, wherein the processing module comprises a limit plate, a fixture and a processing assembly, wherein the limit plate is provided with a through hole, the through hole is aligned with the fixture, and a push rod is provided inside the fixture; Controlling the manipulator to move the shaft workpiece so that the shaft workpiece passes through the through hole and enters the fixture; Clamping the fixture, and using the processing assembly to process the shaft workpiece; After the machining of the shaft workpiece is completed, the fixture is released, and the push rod is used to push the shaft workpiece out of the fixture.

[0007] By adopting the above technical solution, a robot is used to transfer the shaft workpiece to the fixture to realize automatic processing of the shaft workpiece. The entire processing process can be completed without human intervention, which can effectively improve the processing efficiency of the shaft workpiece.

[0008] Optionally, after tightening the fixture, measuring the exposed length of the shaft workpiece exposed from the fixture; Calculating the difference between the exposed length and the preset length to obtain a length difference; When the length difference is greater than a first length difference threshold and less than a second length difference threshold, the length difference is used to correct a processing method of the processing component, and the first length difference threshold is less than the second length difference threshold.

[0009] By adopting the above technical solution, when the exposed length of the shaft workpiece deviates greatly from the preset length, the length difference will be used to correct the processing method to ensure that the processed shaft workpiece meets the design standards.

[0010] Optionally, when the length difference is greater than the second difference threshold, the limit plate is moved so that the entity part on the limit plate is aligned with the fixture; Adjusting the distance from the limiting plate to the clamp to a preset distance, wherein the preset distance is smaller than the preset length; Loosen the clamp to make the shaft workpiece abut against the solid part; Controlling the limit plate to move away from the clamp until the distance from the limit plate to the clamp becomes the preset length; Clamp the clamp.

[0011] By adopting the above technical solution, the limit plate can be used to adjust the length of the shaft workpiece exposed from the fixture, so that the aforementioned length meets the design requirements, so that the processing of the shaft workpiece meets the design requirements. This is conducive to standardizing the size of the shaft workpiece and improving the processing accuracy.

[0012] Optionally, when the shaft workpiece abuts against the solid part, the limiting plate is moved in the vertical direction; monitoring the pressure value on the push rod; When the change in the pressure value is greater than a preset change, clamping the clamp; Moving the limiting plate in a direction away from the clamp; The limiting plate is controlled to move toward the direction approaching the clamp, and the limiting plate is controlled to move in the vertical direction until the limiting plate abuts against the shaft workpiece.

[0013] By adopting the above technical solution, the debris between the shaft workpiece and the limit plate can be removed, ensuring that the length of the shaft component exposed from the fixture meets the design requirements, thereby achieving precise processing of the shaft workpiece.

[0014] Optionally, a concave area is provided on a side of the limiting plate close to the clamp; Moving the limiting plate so that the recessed area is aligned with the fixture; Loosen the clamp to allow the shaft workpiece to abut against the recessed area; Moving the limiting plate in a vertical direction so that the shaft workpiece contacts the edge of the recessed area; Moving the limit plate in a direction away from the fixture until the top surface of the shaft workpiece is flush with the top of the recessed area; The limiting plate is moved in the vertical direction until the shaft workpiece abuts against other areas of the limiting plate.

[0015] By adopting the above technical solution, the debris between the shaft workpiece and the limiter can be removed, the part of the shaft workpiece exposed from the fixture can be accurately controlled, and the processing accuracy of the shaft workpiece can be ensured. Moreover, the whole process can be completed without the intervention of relevant personnel.

[0016] Optionally, obtaining a relative position relationship between the through hole and the fixture; When the relative position relationship does not conform to the preset relative position relationship, calculating the moving distance and moving direction of the limit plate according to the relative position relationship; The limiting plate is controlled to move according to the moving distance and the moving direction.

[0017] By adopting the above technical solution, the through hole on the limit plate can be aligned with the fixture, ensuring that the shaft workpiece can be accurately clamped by the fixture, thereby achieving accurate processing of the shaft workpiece.

[0018] Optionally, in the process of the shaft workpiece entering the fixture through the through hole, a position deviation between the shaft workpiece and a positioning element of the fixture is obtained; adjusting the motion trajectory of the manipulator according to the position deviation; In a case where the shaft workpiece and the side wall of the through hole are in contact with each other, determining a contact position between the shaft workpiece and the side wall; The limiting plate is controlled to move according to the contact position.

[0019] By adopting the above technical solution, the position of the limit plate is adjusted so that the shaft workpiece will not be seriously scratched against the side wall of the through hole when passing through the through hole, which can not only ensure the quality of the shaft workpiece itself, but also control the accuracy of subsequent processing.

[0020] In a second aspect, the present application provides a shaft processing system, which adopts the following technical solution: A shaft processing system, comprising: An acquisition module, used to acquire an exposed length, a first length difference threshold, a second length difference threshold, a preset distance, a preset length, a pressure value, a relative position relationship, a preset relative position relationship, and a position deviation; A memory for storing a program of any one of the above shaft processing methods; The program in the memory can be loaded and executed by the processor to implement any one of the above-mentioned shaft processing methods.

[0021] By adopting the above technical solution, a robot is used to transfer the shaft workpiece to the fixture to realize automatic processing of the shaft workpiece. The entire processing process can be completed without human intervention, which can effectively improve the processing efficiency of the shaft workpiece.

[0022] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution: An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any one of the above-mentioned methods.

[0023] In a fourth aspect, the present application provides a computer storage medium capable of storing corresponding programs, which is convenient for improving the processing efficiency of shaft workpieces, and adopts the following technical solutions: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any one of the shaft processing methods described above.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. Use a manipulator to transfer the shaft workpiece to the fixture to realize automatic processing of the shaft workpiece. The entire processing process can be completed without human intervention, which can effectively improve the processing efficiency of the shaft workpiece; 2. When the exposed length of the shaft workpiece deviates greatly from the preset length, the length difference will be used to correct the processing method to ensure that the processed shaft workpiece meets the design standards; 3. The limit plate can be used to adjust the length of the shaft workpiece exposed from the fixture so that the aforementioned length meets the design requirements and the processing of the shaft workpiece meets the design requirements. This is conducive to standardizing the size of shaft workpieces and improving the accuracy of processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of a shaft processing equipment provided in an embodiment of the present application.

[0026] Figure 2 It is a flow chart of a shaft processing method provided in an embodiment of the present application.

[0027] Figure 3 It is a flow chart of a correction method for shaft machining provided in an embodiment of the present application.

[0028] Figure 4 It is a flow chart of a method for adjusting the exposed length provided in an embodiment of the present application.

[0029] Figure 5 It is a flow chart of a method for using a limit plate provided in an embodiment of the present application.

[0030] Figure 6 It is a flow chart of a second method for using a limit plate provided in an embodiment of the present application.

[0031] Figure 7 It is a flow chart of a first method for moving a limiting plate provided in an embodiment of the present application.

[0032] Figure 8 It is a flow chart of a second method for moving a limiting plate provided in an embodiment of the present application.

[0033] Fig. 9 It is a structural schematic diagram of a shaft processing system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figures 1 to 9 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] The embodiment of the present application discloses a shaft processing device, which includes: a feeding module 1 , a manipulator 2 and a processing module 3 . The processing module 3 includes a limit plate 31 , a fixture 32 and a processing assembly 33 .

[0036] The loading module 1 is used to transport the shaft workpiece 4 to the material taking area 11 , so that the manipulator 2 can clamp the shaft workpiece 4 in the material taking area 11 .

[0037] The manipulator 2 is used to transfer the shaft workpiece 4 in the material taking area 11 to the processing module 3. Optionally, the manipulator 2 is used in conjunction with a guide rail, and the first end of the manipulator 2 is connected to the guide rail so that the manipulator 2 can slide on the guide rail.

[0038] The processing module 3 is used to process the shaft workpiece 4. Among them, the limit plate 31 is used to limit the position of the shaft workpiece 4 entering the fixture 32. The fixture 32 is used to clamp the shaft workpiece 4. The processing assembly 33 is used to process the shaft workpiece 4. Optionally, a through hole is provided on the limit plate 31, the size of the through hole matches the size of the shaft workpiece 4, and the through hole is aligned with the fixture 32. The manipulator 2 clamps and transfers the shaft workpiece 4, passes the shaft workpiece 4 through the through hole, and sends it into the fixture 32. After the fixture 32 clamps the shaft workpiece 4, the processing assembly 33 is used to process the shaft workpiece 4.

[0039] Furthermore, a guide rail is provided at the bottom of the processing assembly 33 to control the processing assembly 33 to move in any direction. Similarly, a guide rail is also provided at the bottom of the limiting plate 31 to control the limiting plate 31 to move in any direction.

[0040] The present application embodiment discloses a shaft processing method. Figure 2 , the method comprising: Step S201: transport the shaft workpiece to the material removal area through the loading module.

[0041] The material picking area is the area in the shaft processing equipment where the manipulator clamps the unprocessed shaft workpiece. Figure 1 The illustrated embodiments will not be described in detail here.

[0042] Step S202: Control the manipulator to clamp the shaft workpiece and transport the shaft workpiece to the processing module. The processing module includes a limit plate, a fixture and a processing component. The limit plate is provided with a through hole, the through hole is aligned with the fixture, and a push rod is provided inside the fixture.

[0043] The first end of the manipulator is connected to the guide rail so that the manipulator can slide on the guide rail. Exemplarily, after the manipulator clamps the shaft workpiece, the manipulator is controlled to slide on the guide rail to transfer the shaft workpiece from the material picking area to the processing module.

[0044] The size of the through hole matches the size of the shaft workpiece, so that the shaft workpiece can pass through the through hole in the axial direction, so that the fixture can clamp the shaft workpiece.

[0045] Step S203: Control the manipulator to move the shaft workpiece so that the shaft workpiece enters the fixture through the through hole.

[0046] For example, when the manipulator is clamping a shaft workpiece, the shaft workpiece is controlled to align with the through hole, and the manipulator is controlled to move toward the through hole so that the shaft workpiece passes through the through hole and enters the fixture, so that the shaft workpiece can be clamped by the fixture for processing.

[0047] In some embodiments, the robot moves according to a preset program.

[0048] In some embodiments, a camera is used to obtain a scene image, the scene image at least including a manipulator and a limit plate, and the relative position of the manipulator and the limit plate is identified through the scene image. The manipulator is controlled to move the shaft workpiece according to the relative position.

[0049] Step S204: Clamp the fixture and use the processing assembly to process the shaft workpiece.

[0050] Exemplarily, after the fixture is clamped, the fixture is controlled to rotate along the axial direction, thereby driving the shaft workpiece to rotate along the axial direction. The shaft workpiece is processed using a processing assembly to process a preset shape on the side wall of the shaft workpiece.

[0051] Optionally, the processing component is a processing tool. When the processing component is used to process the shaft workpiece, the processing tool used can be adjusted according to actual needs.

[0052] Step S205: After the machining of the shaft workpiece is completed, the fixture is released, and a push rod is used to push the shaft workpiece out of the fixture.

[0053] Optionally, the push rod is a spring push rod. When the clamp is released, the spring push rod uses elastic deformation to push the shaft workpiece out of the clamp so that the robot can put in the next shaft workpiece.

[0054] In some other embodiments, the push rod may also be a mechanical push rod or a hydraulic push rod. The shaft processing equipment may adjust the position of the push rod.

[0055] By adopting the above technical solution, a robot is used to transfer the shaft workpiece to the fixture to realize automatic processing of the shaft workpiece. The entire processing process can be completed without human intervention, which can effectively improve the processing efficiency of the shaft workpiece.

[0056] In the following embodiments, when placing the shaft workpiece into the fixture, the length of the shaft workpiece exposed from the fixture needs to be considered, so as to ensure that the processing module can accurately process the shaft workpiece during the processing of the shaft workpiece. Therefore, the embodiment of the present application discloses a correction method for shaft processing. Figure 3 , the method comprising: Step S301: After tightening the clamp, measure the exposed length of the shaft workpiece out of the clamp.

[0057] In some embodiments, a live image is acquired by a camera, a fixture and a shaft workpiece clamped by the fixture are identified in the live image, and the exposed length of the shaft workpiece exposed from the fixture is read from the live image.

[0058] In some embodiments, a distance sensor is provided on the push rod, and the distance sensor is used to record the position of the push rod. When the shaft workpiece is clamped by the fixture, one end of the push rod abuts against the shaft workpiece, so the length of the push rod in the fixture is determined by the reading of the distance sensor, and then the exposed length of the shaft workpiece out of the fixture is determined.

[0059] In some embodiments, an infrared sensor is installed on the shaft processing device, and the infrared sensor can measure the distance from the infrared sensor to the fixture. When the fixture holds a shaft workpiece, the reading of the infrared sensor will change, thereby obtaining the exposed length of the shaft workpiece out of the fixture.

[0060] Step S302: Calculate the difference between the exposed length and the preset length to obtain the length difference.

[0061] The preset length is a preset empirical value, which is related to the processing method of the shaft workpiece. Relevant personnel can adjust the preset length value according to actual needs.

[0062] Step S303: When the length difference is greater than a first length difference threshold and less than a second length difference threshold, the length difference is used to correct the processing method of the processing component, and the first length difference threshold is less than the second length difference threshold.

[0063] The first length difference threshold and the second length difference threshold are both preset empirical values, and relevant personnel can adjust the values ​​of the first length difference threshold and the second length difference threshold according to actual needs.

[0064] When the length difference is greater than the first length difference threshold and less than the second length difference threshold, it means that although the shaft workpiece clamped by the fixture does not meet the preset processing standard, it is still within the error range. The processing quality of the shaft workpiece can be ensured by correcting the processing method.

[0065] Exemplarily, if the processing method is controlled by a computer program, the origin of the reference system used by the computer program is adjusted according to the length difference. For example, the computer program includes a first instruction, and the first instruction indicates that the processing component is moved to the position of coordinates (4, 5), and the origin of the coordinate system is corrected using the length difference.

[0066] By adopting the above technical solution, when the exposed length of the shaft workpiece deviates greatly from the preset length, the length difference will be used to correct the processing method to ensure that the processed shaft workpiece meets the design standards.

[0067] In the following embodiments, when the length difference is greater than the second difference threshold, it is difficult to compensate for the effect of the exposed length by correcting the processing method, and direct processing will result in serious deficiencies in the processing quality of shaft workpieces. To solve the aforementioned problem, the embodiment of the present application discloses a method for adjusting the exposed length. Figure 4 , the method comprising: Step S401: when the length difference is greater than the second difference threshold, move the limit plate so that the entity part on the limit plate is aligned with the fixture.

[0068] The solid part refers to the area on the limit plate where no through holes are set.

[0069] When placing the shaft workpiece into the processing module, the shaft workpiece needs to pass through the through hole on the limit plate. In this step, the position of the limit plate needs to be adjusted so that the solid part on the limit plate is aligned with the fixture.

[0070] In some embodiments, according to a preset program, the limit plate is moved in a preset direction and a preset distance so that the solid part on the limit plate is aligned with the fixture.

[0071] In some embodiments, the position of the through hole on the limiting plate is obtained, and the position of the limiting plate is adjusted according to the position of the through hole so that the through hole on the limiting plate is not aligned with the fixture.

[0072] Step S402: adjusting the distance from the limiting plate to the fixture to a preset distance, where the preset distance is smaller than a preset length.

[0073] Optionally, the current position of the limit plate is obtained, and the current position includes the distance from the limit plate to the fixture. According to the current position and the preset distance, a moving mode of the limit plate is generated. The limit plate is moved by the moving mode so that the distance from the limit plate to the fixture is adjusted to the preset distance.

[0074] For example, if the preset length is 20 mm, the preset distance can be set to 25 mm. Relevant personnel can adjust the specific value of the preset distance according to actual needs.

[0075] Step S403: Loosen the clamp to allow the shaft workpiece to rest against the solid part.

[0076] If the push rod in the fixture is a spring push rod, and the distance from the limit plate to the fixture is a preset distance, after the fixture is released, the push rod will automatically push the shaft workpiece out so that the shaft workpiece is against the solid part.

[0077] If the push rod in the fixture is a mechanical push rod or a hydraulic push rod, and the distance from the limit plate to the fixture is a preset distance, after releasing the fixture, the push rod needs to be controlled to push the shaft workpiece out until the shaft workpiece abuts against the solid part and stops pushing the shaft workpiece out.

[0078] Step S404: Control the limit plate to move away from the fixture until the distance from the limit plate to the fixture becomes a preset length.

[0079] Since the shaft workpiece rests on the solid part, the limit plate is controlled to move away from the fixture until the distance from the limit plate to the fixture becomes a preset length. The exposed length of the shaft workpiece out of the fixture is also adjusted to the preset length, thereby ensuring that the exposed length of the shaft workpiece is reasonable.

[0080] Step S405: Clamp the fixture.

[0081] After clamping the fixture, the shaft workpiece is processed according to the preset length.

[0082] By adopting the above technical solution, the limit plate can be used to adjust the length of the shaft workpiece exposed from the fixture, so that the aforementioned length meets the design requirements, so that the processing of the shaft workpiece meets the design requirements. This is conducive to standardizing the size of the shaft workpiece and improving the processing accuracy.

[0083] In the following embodiment, when the shaft processing equipment is processing the shaft workpiece, processing debris will splash, and when the shaft workpiece is pressed against the solid part of the limit plate, if there is processing debris between the shaft workpiece and the limit plate, the processing debris will affect the exposed length of the shaft workpiece and also cause damage to the shaft workpiece and the limit plate. For this reason, the embodiment of the present application discloses a method for using the limit plate. Figure 5 , the method comprising: Step S501: When the shaft workpiece abuts against the solid part, move the limit plate in the vertical direction.

[0084] Optionally, in the case where the push rod is a spring push rod, after the clamp is released, after a preset period of time, it is determined that the push rod abuts against the solid part.

[0085] Optionally, in the case where the push rod is a mechanical push rod or a hydraulic push rod, after the clamp is released, the push rod is controlled to be pushed out until the shaft workpiece abuts against the solid part.

[0086] Exemplarily, when the shaft workpiece abuts against the solid part, the limit plate is moved up and down in the vertical direction, and the distance of the up and down movement is a preset value. For example, the limit plate is moved up and down in the vertical direction by 5 mm.

[0087] Step S502: monitor the pressure value on the push rod.

[0088] In some embodiments, one side of the push rod is in contact with a shaft-like workpiece, and a pressure sensor is installed on the other side to obtain a pressure value through the pressure sensor.

[0089] Step S503: When the change in the pressure value is greater than a preset change, clamp the fixture.

[0090] The preset change amount is a preset experience value, and relevant personnel can adjust it according to actual needs.

[0091] When the change in pressure value is greater than the preset change, it indicates that there is machining debris between the shaft workpiece and the limit plate. Due to the presence of machining debris, when the limit plate moves in the vertical direction, the stationary machining debris will start to roll, causing the contact surface between the shaft workpiece and the limit plate to change, which in turn causes a significant change in the pressure on the push rod.

[0092] In another aspect of this embodiment, when the change in the pressure value is less than the preset change, it means that there is no machining debris between the shaft workpiece and the limit plate, and the subsequent steps can refer to Figure 4 The illustrated embodiments will not be described in detail here.

[0093] Step S504: Move the limiting plate in a direction away from the clamp.

[0094] Optionally, the limit plate is moved in a direction away from the fixture by a preset length, for example, the limit plate is moved in a direction away from the fixture by 4 mm.

[0095] Step S505: Control the limit plate to move toward the fixture, and control the limit plate to move in the vertical direction until the limit plate abuts against the shaft workpiece.

[0096] When the limiting plate is controlled to move toward the fixture and is controlled to move in the vertical direction, the machining debris will roll due to the relative sliding between the shaft workpiece and the limiting plate, so that the machining debris leaves between the shaft workpiece and the machining debris.

[0097] By adopting the above technical solution, the debris between the shaft workpiece and the limit plate can be removed, ensuring that the length of the shaft component exposed from the fixture meets the design requirements, thereby achieving precise processing of the shaft workpiece.

[0098] In the following embodiment, another method for removing machining debris between a shaft workpiece and a limiting plate is provided. The present application embodiment discloses a second method for using a limiting plate. Figure 6 , the method comprising: Step S601: Move the limiting plate to position the recessed area to align with the fixture.

[0099] A recessed area is provided on one side of the limit plate close to the fixture, and no through hole exists in the recessed area. Optionally, a recessed area and a regular area are provided on one side of the limit plate close to the fixture, the height of the regular area is higher than the recessed area, and the top of the recessed area is the regular area. The through hole is provided in the regular area.

[0100] Exemplarily, the relative position between the recessed area and the shaft workpiece is obtained, and the relative position is used to represent the distance difference between the recessed area and the fixture on the horizontal plane and the vertical plane. The movement of the limit plate is controlled according to the relative position.

[0101] Step S602: Loosen the clamp to allow the shaft workpiece to rest against the recessed area.

[0102] If the push rod in the fixture is a spring push rod, after the fixture is released, the push rod will automatically push the shaft workpiece out so that the shaft workpiece is pressed against the recessed area.

[0103] If the push rod in the fixture is a mechanical push rod or a hydraulic push rod, after the fixture is released, it is necessary to control the push rod to push the shaft workpiece out until the shaft workpiece abuts against the recessed area and stops pushing out the shaft workpiece.

[0104] Step S603: Move the limit plate in the vertical direction to make the shaft workpiece contact with the edge of the recessed area.

[0105] Exemplarily, according to the position of the shaft workpiece in the recessed area, the direction and distance from the shaft workpiece to the nearest recessed area are determined according to the aforementioned position, and according to the aforementioned direction and distance, the limit plate is moved in the vertical reverse direction to make the shaft workpiece contact the edge of the recessed area.

[0106] Step S604: Move the limit plate in a direction away from the fixture until the top surface of the shaft workpiece is flush with the top of the recessed area.

[0107] In some embodiments, according to the depth of the recessed area, the limiting plate is moved in a direction away from the fixture until the top surface of the shaft workpiece is flush with the top of the recessed area.

[0108] Step S605: Move the limit plate in the vertical direction until the shaft workpiece abuts against other areas of the limit plate.

[0109] Other areas refer to areas outside the recessed area on the limit plate.

[0110] When the top surface of the shaft workpiece is flush with the top of the recessed area, the limit plate is moved in the vertical direction. The depth difference between the top and the recessed area can be used to remove the machining debris attached to one end of the shaft workpiece. Therefore, the limit plate is moved in the vertical direction until the shaft workpiece rests against other areas of the limit plate.

[0111] By adopting the above technical solution, the debris between the shaft workpiece and the limiter can be removed, the part of the shaft workpiece exposed from the fixture can be accurately controlled, and the processing accuracy of the shaft workpiece can be ensured. Moreover, the whole process can be completed without the intervention of relevant personnel.

[0112] In the following embodiments, when the shaft workpiece passes through the through hole, it is necessary to ensure that the through hole is aligned with the fixture to ensure that the shaft workpiece can be smoothly clamped by the fixture. Therefore, the embodiment of the present application discloses a method for moving the limit plate. Figure 7 , the method comprising: Step S701: Obtain the relative position relationship between the through hole and the fixture.

[0113] Optionally, a first coordinate of the limiting plate is obtained. According to the position of the through hole on the limiting plate, the first coordinate is converted to obtain a second coordinate of the through hole. A third coordinate of the fixture is obtained. According to the difference between the second coordinate and the third coordinate, a relative position relationship is obtained.

[0114] Optionally, a real-time image including the through hole and the fixture is captured by a camera, and a relative positional relationship between the through hole and the fixture is obtained from the real-time image.

[0115] Step S702: when the relative position relationship does not conform to the preset relative position relationship, the moving distance and moving direction of the limit plate are calculated according to the relative position relationship.

[0116] The preset relative position relationship is a preset experience value, and relevant personnel can adjust the preset relative position relationship according to actual needs.

[0117] Optionally, a deviation value between the relative position relationship and a preset relative position relationship is calculated to obtain a moving distance and a moving direction of the limiting plate.

[0118] In some other embodiments, when the relative position relationship meets the preset relative position relationship, it means that the relative position relationship between the through hole and the clamp meets the requirements, and there is no need to adjust the relative position relationship between the through hole and the clamp.

[0119] Step S703: Control the limiting plate to move according to the moving distance and moving direction.

[0120] The limit plate is controlled to move according to the moving distance and moving direction.

[0121] By adopting the above technical solution, the through hole on the limit plate can be aligned with the fixture, ensuring that the shaft workpiece can be accurately clamped by the fixture, thereby achieving accurate processing of the shaft workpiece.

[0122] In the following embodiments, when the shaft workpiece passes through the through hole, it is also necessary to control the position of the shaft workpiece in the through hole to prevent the shaft workpiece from generating severe friction with the inner wall of the through hole. Therefore, the present application embodiment discloses a second method for moving the limit plate. Figure 8 , the method comprising: Step S801: When the shaft workpiece enters the fixture through the through hole, the position deviation between the shaft workpiece and the positioning element of the fixture is obtained.

[0123] The positioning element of the fixture is the structure on the fixture used to fix shaft workpieces.

[0124] Exemplarily, when the shaft workpiece enters the fixture through the through hole, the position information of the shaft workpiece is detected. According to the position information, the relative position between the shaft workpiece and the through hole is calculated to obtain the position deviation.

[0125] Step S802: adjusting the motion trajectory of the robot according to the position deviation.

[0126] In some embodiments, the position of the robot in the vertical direction is adjusted according to the position deviation so that the shaft workpiece clamped by the robot is aligned with the through hole on the limit plate.

[0127] Step S803: When the shaft workpiece and the side wall of the through hole are in contact with each other, determine the contact position between the shaft workpiece and the side wall.

[0128] In some other embodiments, when the shaft workpiece and the side wall of the through hole are not in contact with each other, there is no need to perform subsequent steps.

[0129] Step S804: Control the movement of the limit plate according to the contact position.

[0130] Exemplarily, according to the contact position, the position of the limit plate is adjusted so that the shaft workpiece does not have a contact position with the side wall. For example, a vector from the contact position to the center point of the shaft workpiece is determined; the shaft workpiece is moved in the direction of the aforementioned vector. By adopting the above technical solution, the position of the limit plate is adjusted so that the shaft workpiece will not be seriously scratched against the side wall of the through hole when passing through the through hole, which can not only ensure the quality of the shaft workpiece itself, but also control the accuracy of subsequent processing.

[0131] Based on the same inventive concept, the present application embodiment provides a shaft processing system, please refer to Fig. 9 , the system comprises: An acquisition module 901 is used to acquire an exposed length, a first length difference threshold, a second length difference threshold, a preset distance, a preset length, a pressure value, a relative position relationship, a preset relative position relationship, and a position deviation; Memory 902, used to store a program of any one of the above shaft processing methods; Processor 903, the program in the memory can be loaded and executed by the processor to implement any of the above-mentioned shaft processing methods.

[0132] By adopting the above technical solution, a robot is used to transfer the shaft workpiece to the fixture to realize automatic processing of the shaft workpiece. The entire processing process can be completed without human intervention, which can effectively improve the processing efficiency of the shaft workpiece.

[0133] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0134] An embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute a shaft processing method.

[0135] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0136] Based on the same inventive concept, an embodiment of the present application provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a shaft processing method.

[0137] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0138] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A shaft processing method, characterized in that: The method comprises: The shaft workpieces are transported to the material removal area through the loading module; Controlling the manipulator to clamp the shaft workpiece and transport the shaft workpiece to a processing module, wherein the processing module comprises a limit plate, a fixture and a processing assembly, wherein the limit plate is provided with a through hole, the through hole is aligned with the fixture, and a push rod is provided inside the fixture; Controlling the manipulator to move the shaft workpiece so that the shaft workpiece passes through the through hole and enters the fixture; Clamping the fixture, and using the processing assembly to process the shaft workpiece; After the machining of the shaft workpiece is completed, the fixture is released, and the push rod is used to push the shaft workpiece out of the fixture.

2. The shaft processing method according to claim 1, characterized in that: The method further comprises: After tightening the fixture, measuring the protruding length of the shaft workpiece protruding from the fixture; Calculating the difference between the exposed length and the preset length to obtain a length difference; When the length difference is greater than a first length difference threshold and less than a second length difference threshold, the length difference is used to correct a processing method of the processing component, and the first length difference threshold is less than the second length difference threshold.

3. The shaft processing method according to claim 2, characterized in that: The method further comprises: When the length difference is greater than the second difference threshold, moving the limit plate so that the entity part on the limit plate is aligned with the fixture; Adjusting the distance from the limiting plate to the clamp to a preset distance, wherein the preset distance is smaller than the preset length; Loosen the clamp to make the shaft workpiece abut against the solid part; Controlling the limit plate to move away from the clamp until the distance from the limit plate to the clamp becomes the preset length; Clamp the clamp.

4. The shaft processing method according to claim 3, characterized in that: The method further comprises: When the shaft workpiece abuts against the solid part, moving the limit plate in the vertical direction; monitoring the pressure value on the push rod; When the change in the pressure value is greater than a preset change, clamping the clamp; Moving the limiting plate in a direction away from the clamp; The limiting plate is controlled to move toward the direction approaching the clamp, and the limiting plate is controlled to move in the vertical direction until the limiting plate abuts against the shaft workpiece.

5. The shaft processing method according to claim 3, characterized in that: A concave area is provided on one side of the limiting plate close to the clamp; The method further comprises: Moving the limiting plate so that the recessed area is aligned with the fixture; Loosen the clamp to allow the shaft workpiece to abut against the recessed area; Moving the limiting plate in a vertical direction so that the shaft workpiece contacts the edge of the recessed area; Moving the limit plate in a direction away from the fixture until the top surface of the shaft workpiece is flush with the top of the recessed area; The limiting plate is moved in the vertical direction until the shaft workpiece abuts against other areas of the limiting plate.

6. The shaft processing method according to claim 1, characterized in that: The method further comprises: Acquiring a relative positional relationship between the through hole and the fixture; When the relative position relationship does not conform to the preset relative position relationship, calculating the moving distance and moving direction of the limit plate according to the relative position relationship; The limiting plate is controlled to move according to the moving distance and the moving direction.

7. The shaft processing method according to claim 6, characterized in that: The method further comprises: When the shaft workpiece enters the fixture through the through hole, obtaining a position deviation between the shaft workpiece and a positioning element of the fixture; adjusting the motion trajectory of the manipulator according to the position deviation; In a case where the shaft workpiece and the side wall of the through hole are in contact with each other, determining a contact position between the shaft workpiece and the side wall; The limiting plate is controlled to move according to the contact position.

8. A shaft processing system, characterized in that: The system comprises: An acquisition module, used to acquire an exposed length, a first length difference threshold, a second length difference threshold, a preset distance, a preset length, a pressure value, a relative position relationship, a preset relative position relationship, and a position deviation; A memory for storing a program of the shaft processing method according to any one of claims 1 to 7; The program in the memory can be loaded and executed by the processor to implement the shaft processing method according to any one of claims 1 to 7.

9. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 7.

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