A knuckle drilling method, system, storage medium and intelligent terminal

Abstract

The application relates to a knuckle drilling method and system, a storage medium and an intelligent terminal, and relates to the field of knuckle processing technology, which comprises the following steps: acquiring vertical hole light receiving information and horizontal hole light receiving information; judging whether the vertical hole light receiving information exists; if not, outputting horizontal offset information, driving a rotating shaft arranged in a steering hole in the knuckle to horizontally rotate the knuckle until the vertical hole light receiving information exists; if yes, judging whether the horizontal hole light receiving information exists; if yes, outputting correct installation information and starting drilling; if not, outputting vertical offset information and controlling the rotating shaft to drive the knuckle to vertically move until the horizontal hole light receiving information exists. The application has the effect that the position of the whole knuckle is judged according to the characteristics of the knuckle, the staff is reminded to adjust the placement position, the drilling position is relatively accurate, and the accuracy of the knuckle drilling processing is improved.

Description

Technical Field

[0001] This application relates to the field of steering knuckle machining technology, and in particular to a steering knuckle drilling method, system, storage medium and intelligent terminal. Background Technology

[0002] Currently, the steering knuckle is an important component in the front axle system of automobiles. The steering knuckle is used to enable the automobile to drive stably and transmit the driving direction. The main functions of the steering knuckle are: to transmit and bear the load of the front of the automobile, and to support and drive the front wheels to rotate around the kingpin so as to steer the automobile.

[0003] In related technologies, a steering knuckle includes a steering knuckle body with a steering hole for a half-shaft sleeve to pass through. Shock absorber mounting arms and lower control arm connecting arms are also installed on both sides of the steering knuckle. To connect the steering knuckle to the shock absorber and lower control arm, shock absorber mounting holes and lower control arm connecting holes need to be made in the steering knuckle. Currently, the steering knuckle is usually manually placed on a boring machine by an operator, and then the machine performs operations such as drilling and deburring.

[0004] The existing technology has the following problems: during the manual placement process, the steering knuckle is positioned entirely by the experience of the staff, which can easily lead to deviations in the drilling position and waste a lot of material costs. There is still room for improvement. Summary of the Invention

[0005] To address the issue of relying solely on worker experience to determine the orientation of the steering knuckle, which can easily lead to drilling errors, this application provides a steering knuckle drilling method, system, storage medium, and intelligent terminal.

[0006] Firstly, this application provides a method for drilling holes in a steering knuckle, employing the following technical solution:

[0007] A method for drilling a steering knuckle, comprising:

[0008] Acquire the light reception information of the vertical aperture and the light reception information of the horizontal aperture;

[0009] Determine whether the light received by the vertical aperture exists;

[0010] If the vertical aperture light reception information is not available, the horizontal offset information is output and the rotating shaft inside the steering hole in the steering knuckle drives the steering knuckle to rotate horizontally until the vertical aperture light reception information is available.

[0011] If the vertical aperture receives light information, then determine if the horizontal aperture receives light information.

[0012] If the horizontal aperture light reception information is present, the correct installation information will be output and drilling will begin.

[0013] If the horizontal aperture light reception information is not available, the vertical offset information is output and the rotating shaft is controlled to drive the steering knuckle to move vertically until the horizontal aperture light reception information is available.

[0014] By adopting the above technical solution, the system analyzes whether the other holes are aligned based on the characteristics of the steering knuckle, thereby determining whether the entire steering knuckle is accurately positioned. The system itself can calibrate the placement of the steering knuckle, thus reminding the staff to adjust the placement, making the drilling position more accurate and improving the accuracy of steering knuckle drilling.

[0015] Optionally, it also includes a method for verifying the existence of the vertical aperture light reception information, the method comprising:

[0016] Arbitrarily select a vertical aperture to receive light information, and define the aperture corresponding to the selected vertical aperture light receiving information as the test aperture information;

[0017] The rotating shaft is rotated clockwise and counterclockwise by preset test angles, and the rotation angle information is acquired during the rotation process. A mapping relationship between the rotation angle information and the vertical aperture light reception information is formed, and the mapping relationship is plotted as the first light reception curve information.

[0018] Analyze the vertical angle span of the vertical aperture light reception information from its existence to its first non-existence in the first light reception curve information, and define this vertical angle span as the aperture angle information;

[0019] Define the internal angle information of the hole corresponding to clockwise rotation as clockwise internal angle information, and define the internal angle information of the hole corresponding to counterclockwise rotation as counterclockwise internal angle information;

[0020] The vertical angle span information inside the hole stored in the preset hole database is matched and analyzed with the test hole information to determine the vertical angle span inside the hole corresponding to the test hole information, and the vertical angle span inside the hole is defined as the test vertical angle span information.

[0021] Determine whether the clockwise hole angle information is consistent with the counterclockwise hole angle information and whether both are equal to the test vertical angle span information;

[0022] If the vertical angle span information is inconsistent or at least not equal to the test vertical angle span information, it is determined that the vertical aperture light reception information does not exist;

[0023] If the values ​​are consistent and equal to the vertical angle span information of the test, then it is determined that the vertical aperture light reception information exists.

[0024] By adopting the above technical solution, and observing the light transmission curve by rotating it left and right, the accuracy of light reception is improved. Firstly, it determines whether the light is inside the aperture, avoiding erroneous judgments caused by receiving light from the area outside the steering knuckle in the vertical direction, thus improving the accuracy of light reception. Secondly, by judging the amplitude of the curve changes in the clockwise and counterclockwise directions, it determines whether the light is centered within the aperture, improving the accuracy of alignment within the aperture.

[0025] Optionally, if the vertical aperture light reception information is inconsistent or at least not equal to the test vertical angle span information, the method for determining that the vertical aperture light reception information does not exist includes:

[0026] The total vertical angle span information is calculated based on the clockwise and counterclockwise hole angle information.

[0027] Matching analysis is performed based on the regional information and total vertical angle span information stored in the preset span database to determine the region corresponding to the total vertical angle span information, and this region is defined as the falling area information;

[0028] Based on the clockwise rotation angle information, test hole information, and fall area information stored in the preset rotation database, a matching analysis is performed to determine the rotation angle after rotating clockwise from the boundary position within the fall area information and falling into the test hole information. This rotation angle is defined as the theoretical clockwise rotation angle information.

[0029] Calculate the sum of the clockwise hole angle information and the theoretical clockwise rotation angle information, and define this sum as the corrected rotation angle information;

[0030] After correcting the rotation angle information by rotating the rotating shaft, rotate the rotating shaft clockwise and counterclockwise again to the preset test angle information. When the angle information inside the clockwise hole and the angle information inside the counterclockwise hole are consistent and both equal to the test vertical angle span information, it is determined that the vertical hole light reception information exists.

[0031] By adopting the above technical solution, the orientation within the circumferential region of the steering knuckle is determined by analyzing the left-right changes of the curve. The system then rotates according to the actual orientation so that the light receiving position is exactly at the center of the corresponding hole. This eliminates the need for manual operation by the user and improves the system's ability to correct the position of the steering knuckle.

[0032] Optionally, if vertical aperture light reception information is not available, the method for outputting horizontal offset information includes:

[0033] Rotate the rotating shaft clockwise and draw the second light reception curve information, and stop rotating when the light reception information of the vertical hole appears and then disappears again;

[0034] Analyze the rotation angle span from the absence of vertical aperture light reception information to its first appearance in the second light reception curve information, and define this vertical angle span as the occlusion angle information;

[0035] Analyze the vertical angle span of the vertical aperture light reception information from its first appearance to its second disappearance in the second light reception curve information, and define this vertical angle span as the adjacent vertical angle span information;

[0036] Matching analysis is performed based on the regional information stored in the span database and the adjacent vertical angle span information to determine the region corresponding to the adjacent vertical angle span information, and this region is defined as the adjacent regional information;

[0037] Matching analysis is performed based on the clockwise rotation angle information, test hole information, and adjacent area information stored in the rotation database to determine the rotation angle from the boundary position within the adjacent area information to the test hole information after clockwise rotation. This rotation angle is defined as the adjacent clockwise rotation angle information.

[0038] If the vertical hole light receiving information is still not found after rotating the rotating shaft clockwise according to the adjacent clockwise rotation angle information, it is determined that the vertical hole light receiving information exists, and the output test hole information is no hole information.

[0039] By adopting the above technical solution, the accuracy of receiving light information from vertical holes is improved by judging whether the distance between the left and right sides is exactly the occlusion angle information of the corresponding hole. This prevents misjudgment caused by the corresponding hole not being opened yet.

[0040] Optionally, it also includes a method for controlling the rotating shaft to move the steering knuckle vertically when there is no information received by the horizontal aperture light, the method comprising:

[0041] The horizontal light receiving instrument is rotated around the rotation axis and a third light receiving curve information is plotted. The horizontal light receiving instrument is an instrument for acquiring horizontal hole pipeline receiving information.

[0042] The angle span in the third light receiving curve information where there is no horizontal aperture light receiving information within one rotation cycle is analyzed, and this angle span is defined as the horizontal disappearance angle span information;

[0043] Determine whether there is horizontal vanishing angle span information that matches the preset verification hole vanishing angle span information;

[0044] If it exists, then the horizontal aperture light reception information exists;

[0045] If it does not exist, move the horizontal light receiving instrument up and down and rotate it around the rotation axis until the horizontal vanishing angle span information that matches the verification hole vanishing angle span information exists;

[0046] When the horizontal vanishing angle span information, which is consistent with the vanishing angle span information of the verification hole, exists, the vertical movement vector information of the instrument is obtained;

[0047] Determine the steering knuckle movement vector information based on the instrument's vertical movement vector information;

[0048] The steering knuckle is moved according to the steering knuckle movement vector information.

[0049] By adopting the above technical solution, the accuracy of receiving information from horizontal borehole pipelines is improved by moving the horizontal light receiving instrument horizontally to determine whether the horizontal light receiving instrument is misaligned due to the horizontal rotation of the steering knuckle.

[0050] Optionally, methods for moving the horizontal light receiving instrument up and down and rotating it around the rotation axis until the horizontal vanishing angle span information matches the verification hole vanishing angle span information include:

[0051] The horizontal light receiving instrument is moved up or down by a preset horizontal aperture diameter information, and the vertical movement distance information is accumulated. Then it is rotated around the rotation axis, and the fourth light receiving curve information is plotted.

[0052] The angle span of the horizontal aperture light reception information within one rotation cycle in the fourth light reception curve information is analyzed, and this angle span is defined as the horizontal existence of angle span information;

[0053] Determine whether there is a horizontal angle span information that is less than or equal to the preset angle span information of the verification hole;

[0054] If not, continue to move the horizontal light receiving instrument up or down according to the preset horizontal aperture diameter information and then rotate it around the rotation axis, accumulating the vertical movement distance information and drawing the fourth light receiving curve information;

[0055] If it exists, then the horizontal angular span information is defined as the angular span information within the hole;

[0056] Matching analysis is performed based on the interval distance information stored in the preset distance database and the angle span information within the hole to determine the interval distance corresponding to the angle span information within the hole, and this interval distance information is defined as the theoretical interval distance information;

[0057] After moving the horizontal light receiving instrument up or down by the theoretical interval distance, rotate it around the rotation axis until the horizontal vanishing angle span information that matches the vanishing angle span information of the verification hole exists;

[0058] The vertical movement vector information of the instrument is determined and output based on the theoretical interval distance information and the vertical movement distance information.

[0059] By adopting the above technical solution, the instrument moves according to the near diameter information of the horizontal hole, ensuring that each upward or downward movement does not miss the hole in the horizontal direction. When the distance between the two is less than or equal to the angular span information of the hole, it means that the instrument has already fallen into the hole in the horizontal direction and may only be slightly offset vertically. Finally, the distance required to move to the position directly opposite the hole is determined based on the arc spanned within the hole. This allows the next movement to accurately reach the height of the center of the hole, reducing the number of times the instrument moves up and down and improving the speed and efficiency of the horizontal light receiving instrument's vertical movement.

[0060] Optionally, it also includes a method for moving the steering knuckle according to the steering knuckle movement vector information after rotating the horizontal light receiving instrument up or down by a theoretical distance information, the instrument rotating around a rotation axis. This method includes:

[0061] Before moving the horizontal light receiving instrument up or down by the theoretical interval distance, determine whether the vertical aperture light receiving information exists;

[0062] If it exists, then move the theoretical interval distance information directly up or down;

[0063] If it does not exist, then match and analyze the swaying speed information, theoretical interval distance information, and corrected rotation angle information or adjacent clockwise rotation angle information stored in the preset swaying database to determine the swaying speed corresponding to the theoretical interval distance information, corrected rotation angle information, or adjacent clockwise rotation angle information, and define the swaying speed as the rotation speed information.

[0064] After receiving the theoretical distance information of the horizontal light receiving instrument moving up or down, the steering knuckle is moved according to the steering knuckle movement vector information. At the same time, the rotating shaft oscillates around the axis of the rotating shaft with rotation speed information and preset sway diameter information.

[0065] By adopting the above technical solution, the rotating shaft is shaken, which on the one hand makes the rotating joint straighten (the corresponding hole moves up) or move downward as a whole during the shaking process, thus improving the efficiency of vertical movement; on the other hand, the shaking causes the steering knuckle to rotate in the horizontal direction, thus improving the efficiency of horizontal rotation.

[0066] Secondly, this application provides a steering knuckle drilling system, which adopts the following technical solution:

[0067] A steering knuckle drilling system, comprising:

[0068] The acquisition module is used to acquire information on the light received from the vertical aperture, the light received from the horizontal aperture, the rotation angle, and the vertical movement vector of the instrument.

[0069] A memory for storing the program of the control method for any of the above-mentioned steering knuckle drilling methods;

[0070] The processor and the program in the memory can be loaded and executed by the processor to implement the control method of any of the above-mentioned steering knuckle drilling methods.

[0071] By adopting the above technical solution, the system analyzes whether the other holes are aligned based on the characteristics of the steering knuckle, thereby determining whether the entire steering knuckle is accurately positioned. The system itself can calibrate the placement of the steering knuckle, thus reminding the staff to adjust the placement, making the drilling position more accurate and improving the accuracy of steering knuckle drilling.

[0072] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0073] The intelligent terminal includes a memory and a processor, the memory storing a computer program that can be loaded by the processor and executed for any of the aforementioned steering knuckle drilling methods.

[0074] By adopting the above technical solution, the system analyzes whether the other holes are aligned based on the characteristics of the steering knuckle, thereby determining whether the entire steering knuckle is accurately positioned. The system itself can calibrate the placement of the steering knuckle, thus reminding the staff to adjust the placement, making the drilling position more accurate and improving the accuracy of steering knuckle drilling.

[0075] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which features sensitive rotation and accurate angle recognition.

[0076] Computer-readable storage media adopt the following technical solutions:

[0077] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed for any of the aforementioned steering knuckle drilling methods.

[0078] By adopting the above technical solution, the system analyzes whether the other holes are aligned based on the characteristics of the steering knuckle, thereby determining whether the entire steering knuckle is accurately positioned. The system itself can calibrate the placement of the steering knuckle, thus reminding the staff to adjust the placement, making the drilling position more accurate and improving the accuracy of steering knuckle drilling.

[0079] In summary, this application includes at least the following beneficial technical effects:

[0080] 1. Based on the characteristics of the steering knuckle, determine whether the entire steering knuckle is accurately positioned, remind the staff to adjust the placement, so that the drilling position is more accurate, thus improving the accuracy of steering knuckle drilling.

[0081] 2. By rotating it left and right to observe its light transmission curve, misjudgments can be avoided, thus improving the accuracy of light reception;

[0082] 3. By determining whether the distance between the left and right sides is exactly the occlusion angle information of the corresponding hole, the situation where the hole has not yet been opened is prevented, thereby improving the accuracy of receiving light information from the vertical hole. Attached Figure Description

[0083] Figure 1 This is a flowchart of a steering knuckle drilling method according to an embodiment of this application.

[0084] Figure 2 This is a schematic diagram of the steering knuckle in an embodiment of this application.

[0085] Figure 3 This is a flowchart of a method for verifying the existence of light reception information through a vertical aperture, as described in an embodiment of this application.

[0086] Figure 4 This is a flowchart of a method in this application embodiment for determining that vertical aperture light reception information does not exist if it is inconsistent or at least not equal to the test vertical angle span information.

[0087] Figure 5 This is a flowchart of a method for outputting horizontal offset information if vertical aperture light reception information is not available in an embodiment of this application.

[0088] Figure 6 This is a flowchart of a method for controlling the rotating shaft to drive the steering knuckle to move vertically when the horizontal aperture light reception information is not available, according to an embodiment of this application.

[0089] Figure 7 This is a flowchart of a method in this application embodiment for moving a horizontal light receiving instrument up and down and rotating it around a rotation axis until horizontal vanishing angle span information that matches the vanishing angle span information of the verification hole exists.

[0090] Figure 8 This is a flowchart of a method in this application embodiment for moving a horizontal light receiving instrument up or down by a theoretical distance, rotating it around a rotation axis, and then moving the steering knuckle according to the steering knuckle movement vector information.

[0091] Figure 9 This is a system block diagram of a steering knuckle drilling method according to an embodiment of this application. Detailed Implementation

[0092] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-9 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0093] This application discloses a method for drilling holes in a steering knuckle. (Refer to...) Figure 1 A method for drilling a steering knuckle includes:

[0094] Step 100: Obtain the vertical aperture light reception information and the horizontal aperture light reception information.

[0095] The information received by a vertical aperture is the information of light rays passing through the aperture in the vertical direction. For example... Figure 2 As shown, the vertical hole light reception information refers to the information of light rays passing through the brake mounting holes. When the steering knuckle is installed on the boring machine, there is a transmitter below and a receiver above. When the light emitted by the transmitter is received by the receiver, the vertical hole pipeline reception information is obtained. Here, it is assumed that the light rays pass through both brake mounting holes. When the steering knuckle is as follows... Figure 2 When placed in the indicated direction, the transmitter and receiver are also tilted so that the light emitted by the transmitter is parallel to the axis of the brake mounting hole. The horizontal hole light reception information refers to the information of light passing through the hole in the horizontal direction. The horizontal hole light reception information refers to the information of light passing through the steering tie rod connection hole. In this embodiment, the operator typically places the steering knuckle in approximately the same position; this is a basic operation that requires little effort. Therefore, the vertical and horizontal directions are generally aligned, and the presence or absence of light can be used to determine whether the light is received within the hole.

[0096] In this embodiment, drilling holes for the lower control arm connection hole and the shock absorber mounting hole is taken as an example. Therefore, it is necessary to install the steering knuckle on such a device. Figure 2 The placement angle is shown. If drilling is required in a different location, appropriate adjustments can be made accordingly.

[0097] Step 101: Determine whether the light received by the vertical aperture exists.

[0098] Step 1011: If the vertical aperture light reception information is not available, output the horizontal offset information and drive the steering knuckle to rotate horizontally through the steering hole inside the steering knuckle until the vertical aperture light reception information is available.

[0099] The horizontal offset information indicates that the steering knuckle is not aligned horizontally, showing some misalignment. The rotating shaft information refers to the shaft installed in the steering hole, which has a weak connection with the rotating knuckle. The steering knuckle can be rotated by rotating the rotating shaft.

[0100] Step 1012: If the vertical aperture light reception information exists, then determine whether the horizontal aperture light reception information exists.

[0101] If the vertical aperture receives light, it means that the steering knuckle is already aligned in the horizontal direction. Therefore, it is necessary to determine the vertical alignment.

[0102] Step 1021: If the horizontal hole light receiving information is present, output the correct installation information and start drilling.

[0103] The correct installation information indicates that all positions are aligned, the steering knuckle is installed correctly, and drilling can begin. If the horizontal hole line receiving information is present, it means that the vertical alignment is also correct, so drilling of the lower control arm connection hole and shock absorber mounting hole can begin.

[0104] Step 1022: If the horizontal aperture light receiving information is not available, output the vertical offset information and control the rotating shaft to drive the steering knuckle to move vertically until the horizontal aperture light receiving information is available.

[0105] Vertical offset information indicates misalignment in the vertical direction. If it is not present, vertical offset information can be output. The vertical movement is characterized by a tray underneath; when moving upwards, the tray moves the steering knuckle upwards, and when moving downwards, the steering knuckle moves downwards with the tray under gravity.

[0106] Reference Figure 3 It also includes a method for verifying the existence of information received by the vertical aperture light, the method comprising:

[0107] Step 200: Select any vertical aperture to receive light information, and define the aperture corresponding to the selected vertical aperture light receiving information as the test aperture information.

[0108] The test hole information is the information of the selected hole, such as... Figure 2 As shown, there are two holes that can receive vertical light beam information.

[0109] Step 201: Rotate the rotating shaft clockwise and counterclockwise by preset test angles respectively. During the rotation, obtain the rotation angle information and form a mapping relationship between the rotation angle information and the vertical aperture light reception information. Draw the mapping relationship as the first light reception curve information.

[0110] The test angle information refers to the angle used to test whether the device is located within the corresponding position of the hole. It is generally greater than or equal to the width of the brake mounting arm. Figure 2 As shown, after rotating the test angle information, the light emitted by the transmitter will fall between the two brake mounting arms or between the brake mounting hole and the shock absorber mounting arm. The rotation angle information refers to the angle of rotation. The first light reception curve information is a curve with the rotation angle information as the horizontal axis and the vertical hole light reception information as the vertical axis. In this embodiment, receiving vertical hole light reception information is 1, and not receiving vertical hole light reception information is 0.

[0111] Step 202: Analyze the vertical angle span of the vertical aperture light reception information from its existence to its first non-existence in the first light reception curve information, and define this vertical angle span as the aperture angle information.

[0112] The angle information inside the hole represents the span of the vertical angle from the presence of the received vertical light information to its first absence. Since the light was not received before the rotation, there are two possible scenarios when it first appears absent: one is from inside the hole to the inner wall of the hole, and the other is from outside the hole to the side wall of the mounting arm.

[0113] Step 203: Define the internal angle information of the hole corresponding to clockwise rotation as clockwise internal angle information, and define the internal angle information of the hole corresponding to counterclockwise rotation as counterclockwise internal angle information.

[0114] Step 204: Match and analyze the vertical angle span information inside the hole stored in the preset hole database with the test hole information to determine the vertical angle span inside the hole corresponding to the test hole information, and define the vertical angle span inside the hole as the test vertical angle span information.

[0115] The test vertical angle span information refers to the span of the angle from the center of the hole to any sidewall. The database stores the mapping relationship between the vertical angle span information within the hole and the test hole information, which is obtained by personnel skilled in the art based on the actual rotation angle. When the system receives the corresponding test hole information, it automatically retrieves the corresponding vertical angle span within the hole from the database and outputs the test vertical angle span information.

[0116] Step 205: Determine whether the clockwise hole angle information is consistent with the counterclockwise hole angle information and whether both are equal to the test vertical angle span information.

[0117] The purpose of the judgment is to determine whether it is exactly in the center of the test hole before rotation.

[0118] Step 2051: If the vertical angle span information is inconsistent or at least not equal to the test vertical angle span information, then it is determined that the vertical aperture light reception information does not exist.

[0119] If the values ​​are inconsistent or at least one is not equal to the vertical angle span information of the test hole, it means that the hole is definitely not in the exact center of the test hole information.

[0120] Step 2052: If the information is consistent with and equal to the vertical angle span information of the test, then it is determined that the vertical aperture light reception information exists.

[0121] If it is always equal to the value, it means that it is exactly at the center of the test hole information, and it can be determined that the vertical hole light receiving information exists, indicating that the judgment of the existence of the vertical hole light receiving information obtained in step 100 is correct.

[0122] Reference Figure 4 If the vertical angle span information is inconsistent or at least not equal to the test vertical angle span information, the methods for determining that the vertical aperture light reception information does not exist include:

[0123] Step 300: Calculate the total vertical angle span information based on the clockwise and counterclockwise hole angle information.

[0124] The total vertical span information is the span information from the left and right sides to the side walls of the arm. The calculation method is to add the two together.

[0125] Step 301: Perform matching analysis based on the area information and total vertical angle span information stored in the preset span database to determine the area corresponding to the total vertical angle span information, and define the area as the area information to be entered.

[0126] The area information refers to the area corresponding to the total vertical angle span information. The database stores the mapping relationship between area information and total vertical angle span information, which is then used by those skilled in the art based on... Figure 2 The measurements are taken during the rotation of the steering knuckle. When the system receives the corresponding total vertical angle span information, it automatically searches for the corresponding area in the database and outputs the area information. Here, since the diameters of the two brake mounting holes are approximately the same, it is necessary to simultaneously judge based on the light emitter and receiver corresponding to the two brake mounting holes to determine whether it falls within the corresponding hole.

[0127] Step 302: Based on the clockwise rotation angle information, test hole information, and fall area information stored in the preset rotation database, perform matching analysis to determine the rotation angle from the boundary position within the fall area information to the fall into the test hole information after clockwise rotation. Define this rotation angle as the theoretical clockwise rotation angle information.

[0128] The theoretical clockwise rotation angle information is the angle theoretically required to rotate clockwise from the boundary position within the landing area information to the exact center position of the test hole information. The database stores the mapping relationship between clockwise rotation angle information, test hole information, and landing area information. This information is obtained by professionals in the field based on the actual steering knuckle conditions. When the system receives the corresponding test hole information, it automatically retrieves the corresponding rotation angle from the database and outputs the theoretical clockwise rotation angle information.

[0129] Step 303: Calculate the sum of the clockwise hole angle information and the theoretical clockwise rotation angle information, and define this sum as the corrected rotation angle information.

[0130] The correction rotation angle information is the angle required to rotate from the current position to the boundary position within the area information, and then to the exact center of the test hole.

[0131] Step 304: After correcting the rotation angle information by rotating the rotating shaft, rotate the rotating shaft clockwise and counterclockwise again to the preset test angle information. When the angle information inside the clockwise hole and the angle information inside the counterclockwise hole are consistent and both equal to the test vertical angle span information, it is determined that the vertical hole light receiving information exists.

[0132] The purpose of rotating the shaft clockwise and counterclockwise again after correcting the rotation angle information is to verify whether it is in the center.

[0133] Reference Figure 5 If vertical aperture light reception information is absent, the methods for outputting horizontal offset information include:

[0134] Step 400: Rotate the rotating shaft clockwise and draw the second light reception curve information, and stop rotating when the light reception information of the vertical hole appears and then disappears again.

[0135] The second light reception curve information is the information of a curve where, before rotation, the vertical aperture light reception information could not be received. Then, the rotation axis is rotated clockwise, with the rotation angle information as the horizontal axis and the vertical aperture light reception information as the vertical axis. When the vertical aperture light reception information appears and then disappears again, it indicates that an unobstructed area has been passed. At least one instance of the vertical aperture light reception information appearing and disappearing has been observed, and another instance of the vertical aperture light reception information disappearing and disappearing has been observed.

[0136] Step 401: Analyze the rotation angle span from the absence of vertical aperture light reception information to its first appearance in the second light reception curve information, and define this vertical angle span as the occlusion angle information.

[0137] Step 402: Analyze the vertical angle span of the vertical aperture light reception information in the second light reception curve information from its first existence to its second disappearance, and define this vertical angle span as the adjacent vertical angle span information.

[0138] Step 403: Perform matching analysis based on the regional information stored in the span database and the adjacent vertical angle span information to determine the region corresponding to the adjacent vertical angle span information, and define the region as the adjacent regional information.

[0139] The adjacent region information refers to the information of the regions adjacent to the occluded region. The database stores the mapping relationship between region information and adjacent vertical angle span information, obtained by those skilled in the art through rotational measurements. When the system receives the corresponding adjacent vertical angle span information, it automatically retrieves the corresponding region from the database and outputs it as the adjacent region information.

[0140] Step 404: Based on the clockwise rotation angle information, test hole information, and adjacent area information stored in the rotation database, perform matching analysis to determine the rotation angle from the boundary position within the adjacent area information to the point where the object falls into the test hole information after clockwise rotation. Define this rotation angle as the adjacent clockwise rotation angle information.

[0141] When the system receives the corresponding adjacent area information and test hole information, it automatically retrieves the corresponding rotation angle from the database and outputs the adjacent clockwise rotation angle information.

[0142] Step 405: If the vertical hole light receiving information is still not found after rotating the rotating shaft clockwise according to the adjacent clockwise rotation angle information, it is determined that the vertical hole light receiving information exists, and the output test hole information is no hole information.

[0143] The "undrilled" information indicates that the hole corresponding to the test hole information has not yet been drilled. Rotating the axis clockwise according to the adjacent clockwise rotation angle information, it is actually located at the exact center of the test hole. However, if the vertical light reception information is still not present, it means that the hole has not been drilled, so the "undrilled" information is output.

[0144] Reference Figure 6 It also includes a method for controlling the rotating shaft to move the steering knuckle vertically when there is no information received by the horizontal aperture light, the method comprising:

[0145] Step 500: Rotate the horizontal light receiving instrument around the rotation axis and simultaneously draw the third light receiving curve information. The horizontal light receiving instrument is an instrument for acquiring horizontal hole pipeline reception information.

[0146] The third light reception curve information is the curve information when the horizontal light receiving instrument is rotated around the rotation axis if the horizontal aperture light receiving information is not available. The curve uses the rotation angle information as the abscissa and the vertical aperture light receiving information as the ordinate. This differs from the first and second light reception curve information, which are based on rotation of the rotation axis, while the third light reception curve information is based on rotation of the horizontal light receiving instrument. It should be noted that if the horizontal light receiving instrument rotates, the corresponding transmitter also rotates synchronously.

[0147] Step 501: Analyze the angle span in the third light receiving curve information where there is no horizontal aperture light receiving information within one rotation cycle, and define this angle span as the horizontal disappearance angle span information.

[0148] Step 502: Determine whether there is horizontal vanishing angle span information that matches the preset verification hole vanishing angle span information.

[0149] The purpose of the judgment is to determine whether the actual angle of light illumination and the hole corresponding to the horizontal hole receiving information are on the same plane, but due to misalignment, the horizontal hole light receiving information cannot be obtained.

[0150] Step 5021: If it exists, then the horizontal aperture light reception information exists.

[0151] If they exist, it means they are actually at the same height, only the horizontal direction is not aligned.

[0152] Step 5022: If it does not exist, move the horizontal light receiving instrument up and down and rotate it around the rotation axis until the horizontal vanishing angle span information that matches the verification hole vanishing angle span information exists.

[0153] Step 503: When the horizontal vanishing angle span information that is consistent with the vanishing angle span information of the verification hole exists, obtain the instrument's vertical movement vector information.

[0154] The instrument's vertical movement vector information is obtained by receiving the angle and direction of the instrument's vertical movement via horizontal light. This information is acquired through real-time recording.

[0155] Step 504: Determine the steering knuckle movement vector information based on the instrument's vertical movement vector information.

[0156] The steering knuckle movement vector information is the information about the vector that the steering knuckle needs to move. It is determined here by having the angle and direction opposite to the instrument's vertical movement vector information. Since the instrument itself is initially installed at a corresponding height, when the horizontal light receiver moves according to the instrument's vertical movement vector information, it means the steering knuckle is installed at the end point of the horizontal light receiver's movement vector. Therefore, to return the steering knuckle to its starting point (the correct installation position), it needs to move in the opposite direction.

[0157] Step 505: Move the steering knuckle according to the steering knuckle movement vector information.

[0158] Reference Figure 7 The method for moving the horizontal light receiving instrument up and down and rotating it around the rotation axis until the horizontal vanishing angle span information matches the verification hole vanishing angle span information includes:

[0159] Step 600: Move the horizontal light receiving instrument up or down according to the preset horizontal aperture diameter information, accumulate the vertical movement distance information, rotate it around the rotation axis, and draw the fourth light receiving curve information.

[0160] The horizontal aperture near-diameter information is a value slightly smaller than the diameter of the connecting hole in the steering tie rod. This horizontal aperture near-diameter information is moved up and down to ensure that the internal aperture is not missed when the horizontal light receiving instrument moves up and down. The vertical movement distance information is the cumulative distance traveled when moving upwards or downwards. The fourth light receiving curve information is the curve obtained by rotating the horizontal light receiving instrument around the rotation axis after moving it upwards or downwards by the preset horizontal aperture near-diameter information, with the rotation angle information as the horizontal axis and the vertical aperture light receiving information as the vertical axis.

[0161] This example illustrates how something ascends to a certain height, returns to its original position, and then moves downwards.

[0162] Step 601: Analyze the angle span of the horizontal aperture light receiving information within one rotation cycle in the fourth light receiving curve information, and define the angle span as the horizontal angle span information.

[0163] Step 602: Determine whether there is a horizontal angle span information that is less than or equal to the preset angle span information of the verification hole.

[0164] The purpose of the judgment is to determine whether the object falls into the hole after this up-and-down movement.

[0165] Step 6021: If not, continue to move the horizontal light receiving instrument up or down according to the preset horizontal aperture diameter information and then rotate it around the rotation axis, accumulating the vertical movement distance information and drawing the fourth light receiving curve information.

[0166] If it does not exist, it means that it has not yet fallen into the hole, and you can continue to move.

[0167] Step 6022: If it exists, then define the horizontal angular span information as the angular span information within the hole.

[0168] Step 603: Perform a matching analysis based on the interval distance information stored in the preset distance database and the angle span information within the hole to determine the interval distance corresponding to the angle span information within the hole, and define the interval distance information as the theoretical interval distance information.

[0169] The theoretical interval distance information is the vertical distance between the center of the hole corresponding to the horizontal aperture light reception information after accumulating the vertical movement distance information. The database stores the mapping relationship between the interval distance information and the angular span information within the hole, obtained through actual measurements by those skilled in the art. When the system receives the corresponding angular span information within the hole, it automatically retrieves the corresponding interval distance from the database and outputs it as the theoretical interval distance information.

[0170] Step 604: Move the horizontal light receiving instrument up or down by the theoretical interval distance information and then rotate it around the rotation axis until the horizontal vanishing angle span information that matches the vanishing angle span information of the verification hole exists.

[0171] The direction of movement here is not fixed; both can be tried. If moving upwards fails to reach the same horizontal vanishing angle span as the verification hole, then move downwards from the original position.

[0172] Step 605: Determine and output the vertical movement vector information of the instrument based on the theoretical interval distance information and the vertical movement distance information.

[0173] Reference Figure 8 It also includes a method for moving the steering knuckle according to the steering knuckle movement vector information after rotating the horizontal light receiving instrument up or down by the theoretical distance information. This method includes:

[0174] Step 700: Before moving the horizontal light receiving instrument up or down by the theoretical interval distance, determine whether the vertical aperture light receiving information exists.

[0175] The purpose of the judgment is to determine whether there is still a horizontal offset.

[0176] Step 7001: If it exists, move the theoretical interval distance information directly up or down.

[0177] If it does not exist, it can be moved directly.

[0178] Step 7002: If it does not exist, then match and analyze the swaying speed information, theoretical interval distance information, and corrected rotation angle information or adjacent clockwise rotation angle information stored in the preset swaying database to determine the swaying speed corresponding to the theoretical interval distance information, corrected rotation angle information, or adjacent clockwise rotation angle information, and define the swaying speed as the rotation speed information.

[0179] The rotation speed information refers to the angle of rotation required to correct horizontal offsets during vertical movement. The database stores a mapping relationship between swaying speed information, theoretical interval distance information, and corrected rotation angle information, or between swaying speed information, theoretical interval distance information, and adjacent clockwise rotation angle information. This mapping is determined by those skilled in the art through experiments. The experimental process is as follows: the rotating shaft is swayed at different speeds, and the downward distance and horizontal rotation angle are recorded. When the system receives the corresponding theoretical interval distance information, corrected rotation angle information, or adjacent clockwise rotation angle information, it automatically retrieves the corresponding swaying speed from the database and outputs it as the rotation speed.

[0180] It should be noted that there may not be a result found here. If no corresponding result can be found, the closest data will be output, or the theoretical interval distance information will be shifted up or down.

[0181] Step 701: After receiving the theoretical distance information of the horizontal light receiving instrument moving up or down, move the steering knuckle according to the steering knuckle movement vector information, and at the same time, the rotating shaft oscillates around the axis of the rotating shaft with rotation speed information and preset sway diameter information.

[0182] The wobble diameter information refers to the diameter of the rotating shaft's revolution around its axis, which is the diameter set on the machine. The rotating shaft wobbles around its axis with the rotational speed information and the preset wobble diameter information, causing the rotating joints on the rotating shaft to be subjected to centrifugal force and swing, thereby causing the steering knuckle to rotate.

[0183] Based on the same inventive concept, embodiments of the present invention provide a steering knuckle drilling system.

[0184] Reference Figure 9 A steering knuckle drilling system, comprising:

[0185] The acquisition module is used to acquire information on the light received from the vertical aperture, the light received from the horizontal aperture, the rotation angle, and the vertical movement vector of the instrument.

[0186] A memory for storing a program for controlling a method of drilling a steering knuckle;

[0187] A processor is a control method for a steering knuckle drilling method, in which a program in memory can be loaded and executed by the processor.

[0188] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be 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 be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0189] This invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a method for drilling a steering knuckle.

[0190] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0191] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor to perform a steering knuckle drilling method.

[0192] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A knuckle drilling method characterized by, The method comprises the following steps: acquiring vertical hole light receiving information and horizontal hole light receiving information; judging whether the vertical hole light receiving information exists or not; if the vertical hole light receiving information does not exist, outputting horizontal offset information and driving the rotating shaft in the steering hole in the steering knuckle to horizontally rotate the steering knuckle until the vertical hole light receiving information exists; if the vertical hole light receiving information exists, judging whether the horizontal hole light receiving information exists or not; if the horizontal hole light receiving information exists, outputting correct installation information and starting to drill holes; if the horizontal hole light receiving information does not exist, outputting vertical offset information and controlling the rotating shaft to drive the steering knuckle to vertically move until the horizontal hole light receiving information exists.

2. The knuckle drilling method according to claim 1, wherein The method further comprises verifying the result of whether the vertical hole light receiving information exists or not, which comprises the following steps: arbitrarily selecting one vertical hole light receiving information, and defining the hole corresponding to the selected vertical hole light receiving information as test hole information; driving the rotating shaft to rotate clockwise and counterclockwise by a preset test angle, acquiring rotating angle information during the rotation, and forming a mapping relationship between the rotating angle information and the vertical hole light receiving information, and drawing the mapping relationship into first light receiving curve information; analyzing the vertical angle span of the vertical hole light receiving information from existence to first non-existence in the first light receiving curve information, and defining the vertical angle span as hole interior angle information; defining the hole interior angle information corresponding to clockwise rotation as clockwise hole interior angle information, and defining the hole interior angle information corresponding to counterclockwise rotation as counterclockwise hole interior angle information; matching and analyzing the hole interior vertical angle span information stored in the preset hole database and the test hole information to determine the hole interior vertical angle span corresponding to the test hole information, and defining the hole interior vertical angle span as test vertical angle span information; judging whether the clockwise hole interior angle information and the counterclockwise hole interior angle information are consistent and equal to the test vertical angle span information; if the clockwise hole interior angle information and the counterclockwise hole interior angle information are not consistent or at least one of them is not equal to the test vertical angle span information, it is determined that the vertical hole light receiving information does not exist; if the clockwise hole interior angle information and the counterclockwise hole interior angle information are consistent and equal to the test vertical angle span information, it is determined that the vertical hole light receiving information exists.

3. The knuckle drilling method of claim 2, wherein, if the clockwise hole interior angle information and the counterclockwise hole interior angle information are not consistent or at least one of them is not equal to the test vertical angle span information, the method for determining that the vertical hole light receiving information does not exist comprises the following steps: calculating total vertical angle span information according to the clockwise hole interior angle information and the counterclockwise hole interior angle information; matching and analyzing the region information stored in the preset span database and the total vertical angle span information to determine the region corresponding to the total vertical angle span information, and defining the region as falling region information; matching and analyzing the clockwise rotation angle information stored in the preset rotation database, the test hole information and the falling region information to determine the rotation angle after falling into the test hole information from the boundary position in the falling region information according to clockwise rotation, and defining the rotation angle as theoretical clockwise rotation angle information; calculating the sum of the clockwise hole interior angle information and the theoretical clockwise rotation angle information, and defining the sum as corrected rotation angle information; The rotating shaft is rotated to correct the rotation angle information, and then the rotating shaft is rotated clockwise and counterclockwise by a preset test angle information, and when the clockwise hole inner angle information and the counterclockwise hole inner angle information are consistent and equal to the test vertical angle span information, it is determined that the vertical hole light receiving information exists.

4. The knuckle drilling method according to claim 3, wherein If the vertical hole light receiving information does not exist, the method for outputting the horizontal offset information comprises: The rotating shaft is rotated clockwise and a second light receiving curve information is drawn, and the rotation is stopped when the vertical hole light receiving information appears and disappears again; The vertical angle span of the vertical hole light receiving information from non-existence to first existence in the second light receiving curve information is analyzed, and the vertical angle span is defined as the shielding angle information; The vertical angle span of the vertical hole light receiving information from first existence to disappearance again in the second light receiving curve information is analyzed, and the vertical angle span is defined as the adjacent vertical angle span information; According to the matching analysis of the region information and the adjacent vertical angle span information stored in the span database, the region corresponding to the adjacent vertical angle span information is determined, and the region is defined as the adjacent region information; According to the matching analysis of the clockwise rotation angle information, the test hole information and the adjacent region information stored in the rotation database, the rotation angle falling into the test hole information after rotating clockwise from the boundary position in the adjacent region information is determined, and the rotation angle is defined as the adjacent clockwise rotation angle information; If the vertical hole light receiving information still does not exist after the rotating shaft is rotated clockwise according to the adjacent clockwise rotation angle information, it is determined that the vertical hole light receiving information exists, and the test hole information is output as un-punched information.

5. The knuckle drilling method of claim 4, wherein, The method for controlling the vertical movement of the rotating shaft driven by the knuckle when the horizontal hole light receiving information does not exist comprises: The horizontal light receiving instrument is rotated around the rotating shaft while drawing a third light receiving curve information, and the horizontal light receiving instrument is an instrument for obtaining the horizontal hole pipeline receiving information; The angle span of the non-existence of the horizontal hole light receiving information in one rotation cycle in the third light receiving curve information is analyzed, and the angle span is defined as the horizontal disappearance angle span information; It is determined whether there is horizontal disappearance angle span information consistent with the preset check hole disappearance angle span information; If there is, the horizontal hole light receiving information exists is output; If not, the horizontal light receiving instrument is moved up and down and rotated around the rotating shaft until the horizontal disappearance angle span information consistent with the check hole disappearance angle span information exists; When the horizontal disappearance angle span information consistent with the check hole disappearance angle span information exists, the instrument up and down movement vector information is obtained; The knuckle movement vector information is determined according to the instrument up and down movement vector information; The knuckle is moved according to the knuckle movement vector information.

6. The knuckle drilling method of claim 5, wherein, The method for moving the horizontal light receiving instrument up and down and rotating around the rotating shaft until the horizontal disappearance angle span information consistent with the check hole disappearance angle span information exists comprises: moving the horizontal light receiving instrument upward or downward by a preset horizontal hole near diameter information, accumulating the vertical moving distance information, rotating around the rotation shaft, and drawing a fourth light receiving curve information; analyzing the angle span of the horizontal hole light receiving information in the fourth light receiving curve information in one rotation period, and defining the angle span as a horizontal existence angle span information; judging whether there is a horizontal existence angle span information less than or equal to a preset checking hole existence angle span information; if not, continuing to move the horizontal light receiving instrument upward or downward by a preset horizontal hole near diameter information, rotating around the rotation shaft, accumulating the vertical moving distance information, and drawing the fourth light receiving curve information; if so, defining the horizontal existence angle span information as a hole existence angle span information; matching and analyzing the interval distance information stored in the preset distance database and the hole existence angle span information to determine the interval distance corresponding to the hole existence angle span information, and defining the interval distance information as a theoretical interval distance information; moving the horizontal light receiving instrument upward or downward by the theoretical interval distance information, rotating around the rotation shaft until a horizontal disappearance angle span information consistent with the checking hole disappearance angle span information exists; determining the instrument up and down moving vector information according to the theoretical interval distance information and the vertical moving distance information, and outputting.

7. The knuckle drilling method of claim 6, wherein, The method also includes moving the horizontal light receiving instrument upward or downward by the theoretical interval distance information, rotating around the rotation shaft, and then moving the knuckle according to the knuckle moving vector information, which includes: judging whether the vertical hole light receiving information exists before moving the horizontal light receiving instrument upward or downward by the theoretical interval distance information; if so, directly moving upward or downward by the theoretical interval distance information; if not, matching and analyzing the shaking speed information stored in the preset shaking database, the theoretical interval distance information, and the correction rotation angle information or the adjacent clockwise rotation angle information to determine the shaking speed corresponding to the theoretical interval distance information, the correction rotation angle information, or the adjacent clockwise rotation angle information, and defining the shaking speed as a rotation speed information; moving the knuckle according to the knuckle moving vector information after moving the horizontal light receiving instrument upward or downward by the theoretical interval distance information, and simultaneously shaking the rotation shaft with the axis of the rotation shaft as the axis with the rotation speed information and the preset shaking diameter information.

8. A knuckle drilling system, characterized by, It includes: an acquisition module for acquiring the vertical hole light receiving information, the horizontal hole light receiving information, the rotation angle information, and the instrument up and down moving vector information; a memory for storing the program of the control method of the knuckle drilling method according to any one of claims 1 to 7; a processor, the program in the memory can be loaded and executed by the processor, and the control method of the knuckle drilling method according to any one of claims 1 to 7 is implemented.

9. An intelligent terminal, characterized by It includes a memory and a processor, and the memory stores a computer program capable of being loaded and executed by the processor to implement the knuckle drilling 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 and executed by the processor to perform a knuckle drilling method as claimed in any one of claims 1 to 7.

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