Shaft machining method, system, intelligent terminal and storage medium

Abstract

The application relates to an axle machining method and system, an intelligent terminal and a storage medium, and relates to the field of part machining. The method comprises the following steps: transporting an axle workpiece to a taking area through a feeding module; controlling a mechanical hand to clamp the axle workpiece and transporting the axle workpiece to a machining module; the machining module comprises a limiting plate, a clamp and a machining assembly; a through hole is arranged on the limiting plate and is aligned with the clamp; a push rod is arranged in the clamp; the mechanical hand is controlled to move the axle workpiece, so that the axle workpiece enters the clamp through the through hole; the clamp is clamped, and the axle workpiece is machined by using the machining assembly; after the machining of the axle workpiece is completed, the clamp is loosened, and the axle workpiece is pushed out of the clamp by using the push rod. The application has the effect of improving the machining efficiency of the axle workpiece.

Description

Technical Field

[0001] This application relates to the field of parts processing, and in particular to a shaft processing method, system, smart terminal, and storage medium. Background Technology

[0002] Shaft machining refers to a series of mechanical processing operations performed on shaft-type workpieces to obtain the required dimensions, shape, precision, and surface quality. Shaft-type workpieces are widely used in various mechanical equipment, such as motors, automobiles, and transmission devices, and are typically used to support rotating components and transmit torque.

[0003] The relevant technology requires workers to place the shaft-shaped workpiece into the fixture of the processing equipment and clamp it. The processing equipment is then turned on, and it processes the shaft-shaped workpiece according to a preset program. After processing is complete, the worker releases the fixture and removes the shaft-shaped workpiece, thus completing the processing.

[0004] Regarding the aforementioned technologies, the inventors believe that the processing efficiency of shaft-type workpieces is relatively low. Summary of the Invention

[0005] To improve the machining efficiency of shaft-type workpieces, this application provides a shaft machining method, system, intelligent terminal, and storage medium.

[0006] In a first aspect, this application provides a shaft machining method, which adopts the following technical solution: A shaft machining method, comprising: The loading module transports shaft-type workpieces to the unloading area; The robot arm is controlled to grip the shaft-like workpiece and transport it to the processing module. The processing module includes a limiting plate, a fixture, and processing components. The limiting plate is provided with a through hole, which is aligned with the fixture. A push rod is provided inside the fixture. The robot arm is controlled to move the shaft-like workpiece, so that the shaft-like workpiece enters the fixture through the through hole; The fixture is clamped, and the machining assembly is used to machine the shaft-type workpiece; After the shaft workpiece is machined, the clamp is released, and the push rod is used to push the shaft workpiece out of the clamp.

[0007] By adopting the above technical solution, a robotic arm is used to transfer shaft-type workpieces into a fixture, realizing the automatic processing of shaft-type workpieces. The entire processing process can be completed without human intervention, which can effectively improve the processing efficiency of shaft-type workpieces.

[0008] Optionally, after clamping the fixture, the exposed length of the shaft workpiece protruding from the fixture is measured; Calculate the difference between the exposed length and the preset length to obtain the length difference; When the length difference is greater than a first length difference threshold and less than a second length difference threshold, the processing method of the processing component is corrected using the length difference, wherein 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 significantly 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, if the length difference is greater than the second difference threshold, the limiting plate is moved so that the solid portion on the limiting plate is aligned with the clamp. The distance between the limiting plate and the clamp is adjusted to a preset distance, wherein the preset distance is less than the preset length; Release the clamp, allowing the shaft-like workpiece to abut against the solid portion; Control the limiting plate away from the clamp until the distance between the limiting plate and the clamp becomes the preset length; Clamp the fixture.

[0011] By adopting the above technical solution, a limiting plate can be used to adjust the length of the shaft workpiece protruding from the fixture, ensuring that the aforementioned length meets the design requirements, thus enabling the machining of the shaft workpiece to meet the design requirements. This facilitates the standardization of shaft workpiece dimensions and improves machining accuracy.

[0012] Optionally, when the shaft-like workpiece abuts against the solid portion, the limiting plate is moved vertically. Monitor the pressure value on the push rod; If the change in pressure value is greater than a preset change, the clamp is tightened. Move the limiting plate away from the clamp; Control the limiting plate to move towards the fixture, and control the limiting plate to move vertically until the limiting plate abuts against the shaft-like workpiece.

[0013] By adopting the above technical solution, debris between shaft workpieces and limiting plates can be removed, ensuring that the length of shaft components protruding from the fixture meets the design requirements, and achieving precise machining of shaft workpieces.

[0014] Optionally, a recessed area is provided on the side of the limiting plate near the clamp; Move the limiting plate so that the recessed area is aligned with the clamp; Release the clamp, allowing the shaft-like workpiece to abut against the recessed area; Move the limiting plate vertically so that the shaft-like workpiece contacts the edge of the recessed area; Move the limiting plate away from the clamp until the top surface of the shaft workpiece is level with the top of the recessed area; Move the limiting plate vertically until the shaft-like workpiece abuts against other areas of the limiting plate.

[0015] By adopting the above technical solution, debris between the shaft workpiece and the limit switch can be removed, enabling precise control of the exposed part of the shaft workpiece in the fixture and ensuring the machining accuracy of the shaft workpiece. Moreover, the entire process can be completed without the intervention of relevant personnel.

[0016] Optionally, the relative positional relationship between the through hole and the fixture is obtained; If the relative positional relationship does not conform to the preset relative positional relationship, the moving distance and moving direction of the limiting plate are calculated based on the relative positional 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 holes on the limiting plate can be aligned with the fixture, ensuring that shaft-type workpieces can be accurately clamped by the fixture. This enables accurate machining of shaft-type workpieces.

[0018] Optionally, during the process of the shaft-like workpiece entering the fixture through the through hole, the positional deviation between the shaft-like workpiece and the positioning element of the fixture is obtained; The movement trajectory of the robotic arm is adjusted according to the positional deviation; When the shaft-like workpiece is in contact with the sidewall of the through hole, determine the contact position between the shaft-like workpiece and the sidewall; The movement of the limiting plate is controlled according to the contact position.

[0019] By adopting the above technical solution and adjusting the position of the limiting plate, the shaft workpiece will not be severely scraped against the side wall of the through hole when passing through the through hole. This can ensure the quality of the shaft workpiece itself and control the accuracy of subsequent processing.

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

[0021] By adopting the above technical solution, a robotic arm is used to transfer shaft-type workpieces into a fixture, realizing the automatic processing of shaft-type workpieces. The entire processing process can be completed without human intervention, which can effectively improve the processing efficiency of shaft-type workpieces.

[0022] Thirdly, this application provides a smart terminal, which adopts the following technical solution: A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the methods described above.

[0023] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates improving the processing efficiency of shaft-type workpieces, and adopts the following technical solution: A computer-readable storage medium storing a computer program that can be loaded by a processor and executed in any of the aforementioned shaft machining methods.

[0024] In summary, this application includes at least one of the following beneficial technical effects: 1. Using a robotic arm to transfer shaft-type workpieces into a fixture enables automated machining of shaft-type workpieces. The entire machining process can be completed without human intervention, which can effectively improve the machining efficiency of shaft-type workpieces. 2. When the exposed length of a shaft workpiece deviates significantly from the preset length, the length difference will be used to correct the machining method to ensure that the machined shaft workpiece meets the design standards. 3. A limiting plate can be used to adjust the length of the shaft-type workpiece protruding from the fixture, ensuring that the aforementioned length meets design requirements, thus enabling the machining of the shaft-type workpiece to meet design specifications. This facilitates the standardization of shaft-type workpiece dimensions and improves machining accuracy. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a shaft processing equipment provided in an embodiment of this application.

[0026] Figure 2 This is a schematic flowchart of a shaft machining method provided in an embodiment of this application.

[0027] Figure 3 This is a flowchart illustrating a method for correcting shaft machining according to an embodiment of this application.

[0028] Figure 4 This is a flowchart illustrating a method for adjusting the exposed length provided in an embodiment of this application.

[0029] Figure 5 This is a flowchart illustrating a method for using a limiting plate according to an embodiment of this application.

[0030] Figure 6 This is a flowchart illustrating a second method of using a limiting plate provided in an embodiment of this application.

[0031] Figure 7 This is a flowchart illustrating a method for moving a limiting plate according to an embodiment of this application.

[0032] Figure 8 This is a flowchart illustrating a second method for moving a limiting plate, as provided in an embodiment of this application.

[0033] Figure 9 This is a schematic diagram of the structure of a shaft machining system provided in an embodiment of this application. Detailed Implementation

[0034] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 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.

[0035] This application discloses a shaft processing device. The shaft processing device includes: a feeding module 1, a robot arm 2, and a processing module 3. The processing module 3 includes a limiting plate 31, a fixture 32, and a processing component 33.

[0036] The feeding module 1 is used to transport the shaft workpiece 4 to the picking area 11 so that the robot arm 2 can clamp the shaft workpiece 4 in the picking area 11.

[0037] The robotic arm 2 is used to transfer shaft-type workpieces 4 from the material handling area 11 to the processing module 3. Optionally, the robotic arm 2 is used in conjunction with a guide rail, with the first end of the robotic arm 2 connected to the guide rail, allowing the robotic arm 2 to slide on the guide rail.

[0038] The machining module 3 is used to machine the shaft-like workpiece 4. A limiting plate 31 restricts the position of the shaft-like workpiece 4 within the fixture 32. The fixture 32 is used to hold the shaft-like workpiece 4. The machining assembly 33 is used to machine the shaft-like workpiece 4. Optionally, the limiting plate 31 has a through hole, the size of which matches the size of the shaft-like workpiece 4 and is aligned with the fixture 32. The robot arm 2 grips and transfers the shaft-like workpiece 4, passing it through the through hole and feeding it into the fixture 32. After the fixture 32 clamps the shaft-like workpiece 4, the machining assembly 33 is used to machine it.

[0039] Furthermore, a guide rail is provided at the bottom of the processing component 33, which can control the movement of the processing component 33 in any direction. Similarly, a guide rail is also provided at the bottom of the limiting plate 31, which can control the movement of the limiting plate 31 in any direction.

[0040] This application discloses a shaft machining method. (Refer to...) Figure 2 The method includes: Step S201: Transport the shaft-type workpiece to the picking area via the loading module.

[0041] The material handling area is the area in shaft machining equipment where a robotic arm holds unprocessed shaft workpieces. (See shaft machining equipment for reference.) Figure 1 The embodiments shown are not described in detail here.

[0042] Step S202: Control the robot arm to clamp the shaft-type workpiece and transport the shaft-type workpiece to the processing module. The processing module includes a limit plate, a fixture and processing components. The limit plate is provided with a through hole, which is aligned with the fixture. A push rod is provided inside the fixture.

[0043] The first end of the robotic arm is connected to a guide rail, allowing the robotic arm to slide along the rail. For example, after the robotic arm grips a shaft-like workpiece, it is controlled to slide along the guide rail, transferring the shaft-like workpiece from the material handling area to the processing module.

[0044] The size of the through hole matches the size of the shaft workpiece, allowing the shaft workpiece to pass through the through hole axially so that the fixture can hold the shaft workpiece.

[0045] Step S203: Control the robot arm to move the shaft-type workpiece so that the shaft-type workpiece enters the fixture through the through hole.

[0046] For example, when a robot arm is holding a shaft-type workpiece, the workpiece is aligned with a through hole. The robot arm is then moved towards the through hole, allowing the workpiece to pass through and enter the fixture, so that it can be subsequently held and processed by the fixture.

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

[0048] In some embodiments, a camera acquires a scene image, which includes at least a robotic arm and a limiting plate. The relative position of the robotic arm and the limiting plate is identified using the scene image. The robotic arm is then controlled to move the shaft-type workpiece based on the relative position.

[0049] Step S204: Clamp the fixture and use the machining components to machine the shaft workpiece.

[0050] For example, after clamping the fixture, the fixture is controlled to rotate axially, thereby causing the shaft-like workpiece to rotate axially. The shaft-like workpiece is then machined using a machining assembly to machine a predetermined shape on the sidewall of the shaft-like workpiece.

[0051] Optionally, the machining component is a machining tool. During the machining of shaft-type workpieces using the machining component, the machining tool used can be adjusted according to actual needs.

[0052] Step S205: After the shaft workpiece is machined, release the clamp and use a push rod to push the shaft workpiece out of the clamp.

[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-like workpiece out of the clamp, so that the robot arm can place the next shaft-like workpiece.

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

[0055] By adopting the above technical solution, a robotic arm is used to transfer shaft-type workpieces into a fixture, realizing the automatic processing of shaft-type workpieces. The entire processing process can be completed without human intervention, which can effectively improve the processing efficiency of shaft-type workpieces.

[0056] In the following embodiments, during the process of placing the shaft-type workpiece into the fixture, the length of the shaft-type workpiece protruding from the fixture needs to be considered to ensure that the machining module can accurately machine the shaft-type workpiece during its processing. Therefore, this application discloses a correction method for shaft machining. (Refer to...) Figure 3 The method includes: Step S301: After clamping the fixture, measure the exposed length of the shaft workpiece protruding from the fixture.

[0057] In some embodiments, a camera is used to acquire on-site images. The fixture in the on-site image and the shaft-like workpiece held by the fixture are identified. The exposed length of the shaft-like workpiece from the fixture is read from the on-site image.

[0058] In some embodiments, a distance sensor is provided on the push rod to record its position. When the shaft-like workpiece is clamped by the fixture, one end of the push rod rests against the workpiece. Therefore, the length of the push rod within the fixture is determined by the reading of the distance sensor, thereby determining the exposed length of the shaft-like workpiece from the fixture.

[0059] In some embodiments, an infrared sensor is installed on the shaft machining equipment to measure the distance from the infrared sensor to the fixture. When the fixture holds a shaft-type workpiece, the reading of the infrared sensor changes, thereby determining the exposed length of the shaft-type workpiece from 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 pre-defined empirical value, which is related to the machining method of shaft-type workpieces. Relevant personnel can adjust the preset length value according to actual needs.

[0062] Step S303: When the length difference is greater than the first length difference threshold and less than the second length difference threshold, the processing method of the processing component is corrected using the length difference, wherein 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. Relevant personnel can adjust the values ​​of the first length difference threshold and the second length difference threshold according to actual needs.

[0064] If 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 held 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 guaranteed by correcting the processing method.

[0065] For example, if the machining process is controlled by a computer program, the origin of the reference system used by the computer program is adjusted based on the length difference. For instance, if the computer program includes a first instruction indicating that the machining component is moved to the position at coordinates (4, 5), 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 significantly 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 exceeds a second difference threshold, it is difficult to compensate for the impact of the exposed length by modifying the machining method, and direct machining will result in severely insufficient machining quality of the shaft-type workpiece. To solve the aforementioned problem, this application discloses a method for adjusting the exposed length. (Refer to...) Figure 4 The method includes: Step S401: If the length difference is greater than the second difference threshold, move the limiting plate so that the solid part on the limiting plate is aligned with the fixture.

[0068] The solid part refers to the area on the limit plate that does not have through holes.

[0069] During the process of placing the shaft-type workpiece into the machining module, the workpiece needs to pass through the through hole on the limiting plate. In this step, the position of the limiting plate needs to be adjusted so that the solid part on the limiting plate is aligned with the fixture.

[0070] In some embodiments, according to a preset program, the limiting plate is moved a preset distance in a preset direction so that the physical portion on the limiting plate is aligned with the clamp.

[0071] In some embodiments, the position of the through hole on the limiting plate is obtained. 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: Adjust the distance from the limit plate to the clamp to a preset distance, where the preset distance is less than the preset length.

[0073] Optionally, the current position of the limiting plate is obtained, including the distance from the limiting plate to the clamp. Based on the current position and the preset distance, a movement method for the limiting plate is generated. The limiting plate is moved using the movement method until the distance from the limiting plate to the clamp is adjusted to the preset distance.

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

[0075] Step S403: Release the clamps to allow the shaft-type workpiece to abut against the solid part.

[0076] If the push rod in the fixture is a spring push rod, and the distance between the limit plate and the fixture is a preset distance, after the fixture is released, the push rod will automatically push out the shaft-type workpiece, so that the shaft-type workpiece abuts 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 the fixture is released, it is necessary to control the push rod to push out the shaft-type workpiece until the shaft-type workpiece comes into contact with the solid part and then stop pushing out the shaft-type workpiece.

[0078] Step S404: Control the limit plate away from the fixture until the distance between the limit plate and the fixture becomes the preset length.

[0079] Since the shaft-type workpiece rests against the solid part, the control limit plate is moved away from the fixture until the distance between the limit plate and the fixture becomes the preset length. Then, the exposed length of the shaft-type workpiece from the fixture is also adjusted to the preset length, thereby ensuring that the exposed length of the shaft-type workpiece is reasonable.

[0080] Step S405: Clamp the fixture.

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

[0082] By adopting the above technical solution, a limiting plate can be used to adjust the length of the shaft workpiece protruding from the fixture, ensuring that the aforementioned length meets the design requirements, thus enabling the machining of the shaft workpiece to meet the design requirements. This facilitates the standardization of shaft workpiece dimensions and improves machining accuracy.

[0083] In the following embodiments, during the machining of shaft-type workpieces, machining debris will splash. When the shaft-type workpiece is brought against the solid portion of the limiting plate, if there is machining debris between the shaft-type workpiece and the limiting plate, the machining debris will affect the exposed length of the shaft-type workpiece and may also damage both the shaft-type workpiece and the limiting plate. Therefore, this application discloses a method for using a limiting plate. (Refer to...) Figure 5 The method includes: Step S501: When the shaft-type workpiece comes into contact with the solid part, move the limiting plate in the vertical direction.

[0084] Optionally, if the push rod is a spring push rod, after the clamp is released, a preset time is elapsed before the push rod abuts against the solid part.

[0085] Optionally, if the push rod is a mechanical or hydraulic push rod, after the clamp is released, the push rod is controlled to extend until the shaft workpiece comes into contact with the solid part.

[0086] For example, when the shaft-type workpiece abuts against the solid part, the limiting plate moves up and down in the vertical direction by a preset distance. For instance, the limiting plate moves up and down 5mm in the vertical direction.

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

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

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

[0090] The preset change amount is a preset empirical value, which can be adjusted by relevant personnel according to actual needs.

[0091] If the change in pressure exceeds the preset change, it indicates the presence of machining debris between the shaft-like workpiece and the limiting plate. Due to the presence of these debris, when the limiting plate moves vertically, the stationary debris will begin to roll, causing a change in the contact surface between the shaft-like workpiece and the limiting plate, which in turn leads to a significant change in the pressure on the push rod.

[0092] In another aspect of this embodiment, if the change in pressure value is less than a preset change, it indicates that there are no machining debris between the shaft workpiece and the limiting plate, and subsequent steps can be referred to... Figure 4 The embodiments shown are not described in detail here.

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

[0094] Optionally, the limiting plate can be moved a preset length away from the clamp. For example, the limiting plate can be moved 4 mm away from the clamp.

[0095] Step S505: Control the limiting plate to move towards the fixture, and control the limiting plate to move vertically until the limiting plate abuts against the shaft-type workpiece.

[0096] When the limiting plate moves towards the fixture and moves vertically, the machining debris will roll due to the relative sliding between the shaft workpiece and the limiting plate, causing the machining debris to leave the space between the shaft workpiece and the machining debris.

[0097] By adopting the above technical solution, debris between shaft workpieces and limiting plates can be removed, ensuring that the length of shaft components protruding from the fixture meets the design requirements, and achieving precise machining of shaft workpieces.

[0098] In the following embodiments, another method for removing machining debris between shaft-type workpieces and limiting plates will be provided. This application discloses a second method for using a limiting plate. (Refer to...) Figure 6 The method includes: Step S601: Move the limiting plate to align the recessed area with the fixture.

[0099] A recessed area is provided on the side of the limiting plate near the clamp, and there is no through hole in this recessed area. Optionally, a recessed area and a regular area are provided on the side of the limiting plate near the clamp, with the height of the regular area being higher than that of the recessed area, and the top of the recessed area being the regular area. The through hole is located within the regular area.

[0100] For example, the relative position of the recessed area and the shaft-like workpiece is obtained, and this relative position is used to represent the distance difference between the recessed area and the fixture in the horizontal and vertical planes. The movement of the limiting plate is controlled according to the relative position.

[0101] Step S602: Release the clamps to allow the shaft-type 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 abuts 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 out the shaft-type workpiece until the shaft-type workpiece comes into contact with the recessed area, and then stop pushing out the shaft-type workpiece.

[0104] Step S603: Move the limiting plate vertically to make the shaft workpiece contact the edge of the recessed area.

[0105] For example, based on the position of the shaft-like workpiece within the recessed area, the direction and distance from the shaft-like workpiece to the nearest recessed area are determined. Based on the aforementioned direction and distance, the limiting plate is moved vertically in the opposite direction until the shaft-like workpiece contacts the edge of the recessed area.

[0106] Step S604: Move the limiting plate away from the fixture until the top surface of the shaft workpiece is level with the top of the recessed area.

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

[0108] Step S605: Move the limiting plate vertically until the shaft workpiece abuts against other areas of the limiting plate.

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

[0110] Once the top surface of the shaft-like workpiece is level with the top of the recessed area, the limiting plate is moved vertically. 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-like workpiece. Therefore, the limiting plate is moved vertically until the shaft-like workpiece abuts against other areas of the limiting plate.

[0111] By adopting the above technical solution, debris between the shaft workpiece and the limit switch can be removed, enabling precise control of the exposed part of the shaft workpiece in the fixture and ensuring the machining accuracy of the shaft workpiece. Moreover, the entire process can be completed without the intervention of relevant personnel.

[0112] In the following embodiments, during the process of the shaft-type workpiece passing through the through hole, it is necessary to ensure that the through hole is aligned with the fixture to guarantee that the shaft-type workpiece can be smoothly clamped by the fixture. Therefore, this application discloses a method for moving a limiting plate. (Refer to...) Figure 7 The method includes: Step S701: Obtain the relative positional relationship between the through hole and the fixture.

[0113] Optionally, obtain the first coordinates of the limiting plate. Based on the position of the through hole on the limiting plate, convert the first coordinates to obtain the second coordinates of the through hole. Obtain the third coordinates of the fixture. Based on the difference between the second and third coordinates, obtain the relative positional relationship.

[0114] Optionally, a camera can be used to capture real-time images of the through-hole and the fixture. The relative positional relationship between the through-hole and the fixture can be obtained from the real-time images.

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

[0116] The preset relative positional relationships are preset empirical values, and relevant personnel can adjust the preset relative positional relationships according to actual needs.

[0117] Optionally, the deviation between the relative positional relationship and the preset relative positional relationship can be calculated to obtain the moving distance and moving direction of the limit plate.

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

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

[0120] The control limit plate moves according to the moving distance and moving direction.

[0121] By adopting the above technical solution, the through holes on the limiting plate can be aligned with the fixture, ensuring that shaft-type workpieces can be accurately clamped by the fixture. This enables accurate machining of shaft-type workpieces.

[0122] In the following embodiments, during the process of the shaft-like workpiece passing through the through hole, it is also necessary to control the position of the shaft-like workpiece within the through hole to prevent severe friction between the shaft-like workpiece and the inner wall of the through hole. Therefore, this application discloses a second method for moving a limiting plate. (Refer to...) Figure 8 The method includes: Step S801: During the process of the shaft workpiece entering the fixture through the through hole, obtain the positional deviation between the shaft workpiece and the positioning element of the fixture.

[0123] The positioning elements of a fixture are structures on the fixture used to fix shaft-type workpieces.

[0124] For example, during the process of a shaft-type workpiece entering the fixture through a through hole, the position information of the shaft-type workpiece is detected. Based on this position information, the relative position of the shaft-type workpiece and the through hole is calculated to obtain the position deviation.

[0125] Step S802: Adjust the movement trajectory of the robot arm according to the position deviation.

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

[0127] Step S803: When the shaft-type workpiece is in contact with the sidewall of the through hole, determine the contact position between the shaft-type workpiece and the sidewall.

[0128] In some other embodiments, if the shaft workpiece and the sidewall of the through hole are not in contact, then the subsequent steps are not required.

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

[0130] For example, the position of the limiting plate is adjusted according to the contact position so that the shaft-like workpiece does not come into contact with the sidewall. For instance, a vector from the contact position to the center point of the shaft-like workpiece is determined; the workpiece is then moved along the direction of this vector. By adopting the above technical solution and adjusting the position of the limiting plate, the shaft workpiece will not be severely scraped against the side wall of the through hole when passing through the through hole. This can ensure the quality of the shaft workpiece itself and control the accuracy of subsequent processing.

[0131] Based on the same inventive concept, this application provides a shaft machining system, please refer to... Figure 9 The system includes: The acquisition module 901 is used to acquire the exposed length, the first length difference threshold, the second length difference threshold, the preset distance, the preset length, the pressure value, the relative position relationship, the preset relative position relationship, and the position deviation; The memory 902 is used to store the program for any of the shaft machining methods described above; Processor 903, the program in memory can be loaded and executed by the processor and implement any of the above-mentioned shaft machining methods.

[0132] By adopting the above technical solution, a robotic arm is used to transfer shaft-type workpieces into a fixture, realizing the automatic processing of shaft-type workpieces. The entire processing process can be completed without human intervention, which can effectively improve the processing efficiency of shaft-type workpieces.

[0133] 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.

[0134] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a shaft machining method.

[0135] 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.

[0136] Based on the same inventive concept, embodiments of this application provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed for a shaft machining method.

[0137] 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.

[0138] 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 shaft machining method, characterized in that, The method includes: The loading module transports shaft-type workpieces to the unloading area; The robot arm is controlled to grip the shaft-like workpiece and transport it to the processing module. The processing module includes a limiting plate, a fixture, and processing components. The limiting plate is provided with a through hole, which is aligned with the fixture. A push rod is provided inside the fixture. The robot arm is controlled to move the shaft-like workpiece, so that the shaft-like workpiece enters the fixture through the through hole; The fixture is clamped, and the machining assembly is used to machine the shaft-type workpiece; After the shaft workpiece is machined, the clamp is released, and the push rod is used to push the shaft workpiece out of the clamp. The method further includes: after clamping the fixture, measuring the exposed length of the shaft workpiece protruding from the fixture; calculating the difference between the exposed length and a preset length to obtain a length difference; and when the length difference is greater than a first length difference threshold and less than a second length difference threshold, using the length difference to correct the processing method of the processing component, wherein the first length difference threshold is less than the second length difference threshold. The method further includes: when the length difference is greater than the second length difference threshold, moving the limiting plate so that the solid portion on the limiting plate is aligned with the fixture; adjusting the distance from the limiting plate to the fixture to a preset distance, the preset distance being less than the preset length; releasing the fixture so that the shaft-like workpiece abuts against the solid portion; controlling the limiting plate to move away from the fixture until the distance from the limiting plate to the fixture becomes the preset length; and clamping the fixture.

2. The shaft machining method according to claim 1, characterized in that, The method further includes: When the shaft-like workpiece abuts against the solid portion, the limiting plate moves vertically. Monitor the pressure value on the push rod; If the change in pressure value is greater than a preset change, the clamp is tightened. Move the limiting plate away from the clamp; Control the limiting plate to move towards the fixture, and control the limiting plate to move vertically until the limiting plate abuts against the shaft-like workpiece.

3. The shaft machining method according to claim 1, characterized in that, A recessed area is provided on the side of the limiting plate near the clamp; The method further includes: Move the limiting plate so that the recessed area is aligned with the clamp; Release the clamp, allowing the shaft-like workpiece to abut against the recessed area; Move the limiting plate vertically so that the shaft-like workpiece contacts the edge of the recessed area; Move the limiting plate away from the clamp until the top surface of the shaft workpiece is level with the top of the recessed area; Move the limiting plate vertically until the shaft-like workpiece abuts against other areas of the limiting plate.

4. The shaft machining method according to claim 1, characterized in that, The method further includes: Obtain the relative positional relationship between the through hole and the fixture; If the relative positional relationship does not conform to the preset relative positional relationship, the moving distance and moving direction of the limiting plate are calculated based on the relative positional relationship; The limiting plate is controlled to move according to the moving distance and the moving direction.

5. The shaft machining method according to claim 4, characterized in that, The method further includes: During the process of the shaft-type workpiece entering the fixture through the through hole, the positional deviation between the shaft-type workpiece and the positioning element of the fixture is obtained; The movement trajectory of the robotic arm is adjusted according to the positional deviation; When the shaft-like workpiece is in contact with the sidewall of the through hole, determine the contact position between the shaft-like workpiece and the sidewall; The movement of the limiting plate is controlled according to the contact position.

6. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 5.

7. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and executed as described in any one of claims 1 to 5.

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