Ball cage shaft positioning and grabbing method and device

Abstract

The invention relates to the technical field of ball cage shaft manufacturing, in particular to a ball cage shaft positioning and grabbing method and device. The ball cage shaft positioning and grabbing method comprises the steps that a conveying line is controlled to convey ball cage shafts in the first direction; wherein the projection of the first direction on the horizontal plane has a first horizontal vector; on the basis that the ball cage shaft moves in the first direction to abut against a first limiting stopper, the ball cage shaft is grabbed to move in the second direction till a first interval is formed between the ball cage shaft and the first limiting stopper; wherein the second direction is a horizontal direction; and on the basis that the first interval exists between the ball cage shaft and the first limiting stopper, the ball cage shaft is controlled to ascend. Therefore, the problem of friction damage between the outer surface of the ball cage shaft and the limiting device when the ball cage shaft is grabbed and lifted is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ball cage shaft manufacturing, in particular to a ball cage shaft positioning and grabbing method and device. BACKGROUND

[0002] Universal joint is a key component for realizing variable-angle power transmission in automobile transmission system. During automobile driving, due to uneven road surface, vehicle turning and other factors, the relative position and angle between the output shaft of the transmission and the input shaft of the drive axle will change constantly. The universal joint can reliably transmit power under the condition of constant change of the angle between the two shafts, ensuring the normal driving of the automobile. Universal joints include unequal speed universal joint, constant velocity universal joint and quasi-constant velocity universal joint.

[0003] Ball cage type universal joint is a kind of constant velocity universal joint, which includes ball cage shell, bell-shaped shell, steel ball, retainer and dust cover. Ball cage shaft is an integrated shaft structure with ball cage shell, which can further output the power transmitted by the universal joint. The outer surface of the bell-shaped shell of the ball cage shaft is usually processed by fine machining, but when the ball cage shaft is grabbed and transported by a mechanical hand in the subsequent processing link, the ball cage shaft often rubs against the limiting device on the conveying line during lifting, resulting in damage to the outer surface. SUMMARY

[0004] To solve the problem of frictional damage of the outer surface of the ball cage shaft with the limiting device during lifting of the grabbed ball cage shaft, the present application provides a ball cage shaft positioning and grabbing method and device.

[0005] In a first aspect, the present application provides a ball cage shaft positioning and grabbing method, comprising:

[0006] controlling the conveying line to convey the ball cage shaft along a first direction; wherein the projection of the first direction on the horizontal plane has a first horizontal vector;

[0007] based on the ball cage shaft moving along the first direction to abut against a first limiter, grabbing the ball cage shaft to move along a second direction until the ball cage shaft has a first interval with the first limiter; wherein the second direction is a horizontal direction;

[0008] based on the ball cage shaft having the first interval with the first limiter, controlling the ball cage shaft to rise.

[0009] In some embodiments, the angle between the first direction and the horizontal plane is greater than 0°; the first direction is inclined upward.

[0010] In some embodiments, the angle between the first horizontal vector and the second direction is an obtuse angle.

[0011] In some embodiments, the ball cage shaft positioning and grabbing method further comprises:

[0012] acquiring a feeding frequency of the ball cage shaft on the conveying line in real time at a preset frequency;

[0013] based on the feeding frequency being greater than a threshold value and the grabbing position being in a loaded state, controlling a second position limiter to extend to block the ball cage shaft at the grabbing position from other ball cage shafts on the conveying line; wherein the grabbing position is located between the first position limiter and the second position limiter; when the ball cage shaft is located at the grabbing position, the grabbing position is in the loaded state.

[0014] In some embodiments, the ball cage shaft positioning and grabbing method further comprises:

[0015] based on the feeding frequency being greater than the threshold value and the grabbing position being in an unloaded state, adjusting a conveying speed of the conveying line to a first speed;

[0016] based on the feeding frequency being less than the threshold value and the grabbing position being in an unloaded state, controlling the conveying speed of the conveying line to a second speed; wherein the first speed is less than the second speed.

[0017] In a second aspect, the present application provides a ball cage shaft positioning and grabbing device, which is applied to the ball cage shaft positioning and grabbing method of any one of the embodiments of the first aspect.

[0018] The ball cage shaft positioning and grabbing device comprises:

[0019] a mechanical hand for grabbing a ball cage shaft;

[0020] a conveying line for carrying the ball cage shaft and conveying in a first direction; the first direction is arranged along the length direction of the conveying line; the projection of the first direction on the horizontal plane has a first horizontal vector;

[0021] a first position limiter comprising a first driving part and a first position limiting rod; the first position limiting rod is slidingly connected with the conveying line along a first extension and retraction path; the first extension and retraction path is parallel to the first position limiting rod; the first driving part is connected with the conveying line; the first driving part drives the first position limiting rod to slide; the first extension and retraction path intersects with the first direction.

[0022] In some embodiments, one side of the first limiting rod has a first positioning groove; the first direction is arranged towards the first positioning groove; the first positioning groove has a first abutting surface, a second abutting surface and a third abutting surface connected in sequence; the included angle between the first abutting surface and the second abutting surface is a first included angle; the included angle between the third abutting surface and the second abutting surface is a second included angle; the first included angle and the second included angle are obtuse angles; the middle part of the second abutting surface is arranged away from the middle part of the width direction of the conveying line; the first abutting surface and the third abutting surface are used for abutting the ball cage shaft.

[0023] In some embodiments, the first included angle is greater than the second included angle; a second horizontal vector is opposite to the first horizontal vector; a second direction is a direction in which the second horizontal vector is inclined by a preset angle towards the first abutting surface; moving the ball cage shaft along the second direction can make the ball cage shaft have a first interval with the first limiter.

[0024] In some embodiments, the included angle between the support surface of the conveying line bearing the ball cage shaft and the horizontal plane is greater than 0°; the first direction is arranged to be inclined upwards.

[0025] In some embodiments, the ball cage shaft positioning and grabbing device further comprises a second limiter; the second limiter comprises a second driving part and a second limiting rod; the second driving part is connected with the conveying line; the second limiting rod is slidably connected with the conveying line along a second telescopic path; the second limiting rod is parallel to the second telescopic path; the second telescopic path intersects the first direction; the second telescopic path intersects the first telescopic path; the distance between the second telescopic path and the first telescopic path gradually increases along a second direction; the second limiting rod has a second positioning groove; the second positioning groove is located at one end of the second limiting rod close to the first limiting rod.

[0026] To solve the problem of friction between the outer surface of the ball cage shaft and the first limiter during lifting and grabbing, the present application has the following advantages:

[0027] 1. By moving the grabbed ball cage shaft along the second direction until the ball cage shaft has a first interval with the first limiter, the ball cage shaft is controlled to rise. In this way, the ball cage shaft has a certain interval with the first limiter before the mechanical hand grabs and lifts the ball cage shaft, which can avoid the problem of friction between the ball cage shaft and the first limiter when directly grabbing the ball cage shaft, and damage to the outer surface of the ball cage shaft;

[0028] 2. By setting the first horizontal vector included angle and the second direction as obtuse angles, the path of the mechanical hand retreating after grabbing the ball cage shaft is an inclined path, rather than exactly opposite to the first horizontal vector, which can extend the moving distance of the ball cage shaft along the second direction in the limited width direction space of the conveying line, easily control the moving precision of the mechanical hand and save space. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic flow chart of a method for positioning and grasping a ball cage shaft according to an embodiment is shown;

[0030] Figure 2 A schematic structural diagram of a cage shaft positioning and grabbing device according to an embodiment is shown;

[0031] Figure 3 Shown Figure 1 A structural diagram of the placement of a ball cage shaft on a conveyor line;

[0032] Figure 4 A schematic diagram showing relative directions of the first horizontal vector and the second direction is shown;

[0033] Figure 5 Shown Figure 2 Schematic diagram of the structure of the ball cage shaft;

[0034] Figure 6 Shown Figure 2 A schematic structural diagram of the first limiter in FIG.

[0035] Figure 7 Shown Figure 6 A schematic structural diagram of the first positioning groove in FIG.

[0036] Figure 8 Shown Figure 2 Schematic diagram of the structure of the second limiter.

[0037] Figure numerals: 10 ball cage shaft; 11 shaft; 12 bell housing; 20 robot; 30 conveyor line; 40 first limiter; 41 first driving part; 42 first limiter rod; 43 first positioning groove; 431 first abutting surface; 432 second abutting surface; 433 third abutting surface; 50 second limiter; 51 second driving part; 52 second limiter rod; 53 second positioning groove; 54 anti-collision strip; 60 processing equipment. DETAILED DESCRIPTION

[0038] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the present disclosure, rather than to imply any limitation on the scope of the present disclosure.

[0039] As used herein, the term "includes" and its variants are to be read as open-ended terms that mean "includes, but is not limited to." The term "based on" is to be construed as "based at least in part on." The terms "one embodiment" and "an embodiment" are to be read as "at least one embodiment." The term "another embodiment" is to be read as "at least one other embodiment." The terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "vertical," "horizontal," "lateral," "longitudinal," and similar terms are used for orientation or positional relationship based on the orientation or position as shown in the drawings. These terms are used merely for the purpose of description and are not intended to limit the indicated device, element, or component to a particular position, orientation, or configuration described or illustrated. Also, these terms are used in conjunction with the terms "abut," "adjoin," "attach," "connect," "couple," "engage," "fasten," "join," "fixate," "secure," "tie," "affix," "bond," and "retain" to describe the relationship between entities. These terms are not used to limit the position, orientation, or configuration of the entities to that described or illustrated. In addition, these terms are not meant to exclude other embodiments or configurations of the entities from the scope of the application. It is therefore contemplated that those entities shown with the same reference characters in different figures represent like elements having the same or similar structure and functions. In addition, it is contemplated that the entities shown with different reference characters in different figures represent like elements having the same or similar structure and functions. In addition, it is contemplated that the entities shown with the same reference characters in different figures represent like elements having the same or similar structure and functions. In addition, it is contemplated that the entities shown with different reference characters in different figures represent like elements having the same or similar structure and functions. In addition, the terms "first," "second," and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another, and the terms "a" and "an" are understood to mean "one or more" unless otherwise indicated. The terms "plurality" and "a plurality" mean two or more.

[0040] The universal joint is a key component for realizing variable-angle power transmission in an automobile transmission system. The ball cage universal joint is a type of constant-velocity universal joint, which includes a ball cage housing, a bell-shaped housing 12, a steel ball, a retainer, a dust cover, and other components.

[0041] The ball cage shaft 10 is a shaft rod 11 structure integrally formed with the ball cage housing. The outer surface of the bell-shaped housing 12 of the ball cage shaft 10 is usually subjected to finishing processing. However, when the bell-shaped housing 12 is lifted and transported by using the mechanical hand 20 in the subsequent processing link, the bell-shaped housing 12 often rubs against the limiting device on the conveying line 30 in the lifting process, resulting in damage to the outer surface. To solve the problem of friction between the outer surface of the ball cage shaft 10 and the first limiter 40 during lifting and grabbing, the application provides a ball cage shaft 10 positioning and grabbing method and device.

[0042] Embodiment one:

[0043] The embodiment provides a ball cage shaft 10 positioning and grabbing method, like Figure 1 and Figure 2 as shown, Figure 1 a flow chart of the ball cage shaft 10 positioning and grabbing method, Figure 2 a structural diagram of a ball cage shaft 10 positioning and grabbing device. Referring to Figure 1 and Figure 2 , the ball cage shaft 10 positioning and grabbing method includes steps S10-S30, which are specifically described as follows:

[0044] Step S10: control the conveying line 30 to convey the ball cage shaft 10 along a first direction; wherein the projection of the first direction on a horizontal plane has a first horizontal vector; in this way, the ball cage shaft 10 can be transported to a position abutting against the first stopper 40 by the conveying line 30, and waiting for the grabbing of the mechanical arm 20.

[0045] Step S20: based on the ball cage shaft 10 moving along the first direction to abut against the first stopper 40, the ball cage shaft 10 is moved along a second direction until the ball cage shaft 10 has a first interval with the first stopper 40; wherein the second direction is a horizontal direction; in this way, the ball cage shaft 10 can be moved a distance in the horizontal direction after being grabbed away from the first stopper 40 by the mechanical arm 20, so that the ball cage shaft 10 is spaced apart from the first stopper 40 by a certain distance.

[0046] Step S30: based on the ball cage shaft 10 having the first interval with the first stopper 40, control the ball cage shaft 10 to rise. In this way, after the ball cage shaft 10 has a certain interval with the first stopper 40, the ball cage shaft 10 is grabbed and lifted by the mechanical arm 20, so that the ball cage shaft 10 can be prevented from rubbing against the first stopper 40 during the lifting process, and the outer surface of the ball cage shaft 10 is not damaged.

[0047] In other embodiments, after the conveying line 30 conveys the ball cage shaft 10 along the first direction, the method further includes: based on the ball cage shaft 10 abutting against the first stopper 40, controlling the conveying line 30 to be stationary; after the conveying line 30 is stationary, the bottom end surface of the ball cage shaft 10 can be prevented from rubbing against the conveying line 30 after the ball cage shaft 10 reaches the grabbing position, the bottom end surface is protected, and the ball cage shaft 10 is further protected from rubbing against the first stopper 40 due to the above-mentioned rubbing.

[0048] Further, as shown in Figure 3 , the included angle α between the first direction and the horizontal plane is greater than 0°. The first direction is inclined upward. In this way, the conveying direction is inclined upward, so that the bottom end surface of the ball cage shaft 10 is suspended to avoid rubbing when the mechanical arm 20 controls the ball cage shaft 10 to retreat along the second direction.

[0049] Further, as shown inFigure 4 As shown, the angle between the first horizontal vector Q1 and the second direction Q2 is an obtuse angle. The second direction is obtuse with the first horizontal vector, so that the path of the ball cage shaft 10 after being grabbed by the manipulator 20 is an inclined path, rather than exactly opposite to the first horizontal vector, which can extend the moving distance of the ball cage shaft 10 along the second direction in the limited width direction space of the conveying line 30, and is easy to control the moving precision of the manipulator 20 and save space.

[0050] Further, referring to Figure 2 , the ball cage shaft 10 positioning and grabbing method further comprises steps S40:

[0051] Real-time acquisition of the incoming frequency of the ball cage shaft 10 on the conveying line 30 at a preset frequency;

[0052] Step S40: based on the incoming frequency being greater than the threshold value and the grabbing position being in the loaded state, control the second stopper 50 to extend to block the ball cage shaft 10 at the grabbing position from other ball cage shafts 10 on the conveying line 30; wherein the grabbing position is located between the first stopper 40 and the second stopper 50; when the ball cage shaft 10 is located at the grabbing position, the grabbing position is in the loaded state. When the incoming frequency is greater than the threshold value, the blocking action of the second stopper 50 avoids multiple ball cage shafts 10 from simultaneously abutting against the first stopper 40, so that there is only one ball cage shaft 10 available for grabbing at the grabbing position each time the manipulator 20 performs a grabbing action, ensuring the orderly progress of the grabbing link.

[0053] In other embodiments, the method further comprises: based on the incoming frequency being less than the threshold value, controlling the second stopper 50 to be in the retracted state. In this way, by cooperating with the working condition when the incoming frequency is greater than the threshold value, it can be ensured that the frequency of the manipulator 20 grabbing the ball cage is stable and unchanged, and is equal to the incoming frequency, further ensuring the orderly progress of the grabbing link, in the case that the incoming frequency changes.

[0054] Further, referring to Figure 2 , the ball cage shaft 10 positioning and grabbing method further comprises steps S50~steps S51:

[0055] Step S50: based on the incoming frequency being greater than the threshold value and the grabbing position being in the unloaded state, adjusting the conveying speed of the conveying line 30 to the first speed;

[0056] Step S51: based on the incoming frequency being less than the threshold value and the grabbing position being in the unloaded state, controlling the conveying speed of the conveying line 30 to the second speed; wherein the first speed is less than the second speed. In this way, under the condition that the grabbing position is in the unloaded state and the incoming frequency is greater than or less than the threshold value, the conveying speed of the conveying line 30 can be controlled to ensure that the frequency of the manipulator 20 grabbing the ball cage is stable and unchanged, and is equal to the incoming frequency, further ensuring the orderly progress of the grabbing link.

[0057] It is worth noting that this arrangement prevents the second limiting rod 52 from being extended in time to block incoming materials when the incoming material frequency exceeds a threshold, potentially leading to the undesirable consequences of subsequent incoming materials impacting and rear-ending the machine. Furthermore, because the distance between the first limiting rod 42 and the second limiting rod 52 is greater than the outer diameter of the bell housing of the cage shaft 10, this arrangement also prevents delayed material loading at the gripping position when the incoming material frequency falls below the threshold, thereby improving production efficiency.

[0058] Example 2:

[0059] This embodiment provides a positioning and grabbing device for a ball cage shaft 10, such as Figure 2 As shown, the positioning and grasping device for the cage shaft 10 includes: a manipulator 20 , a conveying line 30 and a first limiter 40 .

[0060] The manipulator 20 is used to grab the cage shaft 10; Figure 5 As shown, the cage shaft 10 is composed of a shaft 11 and a bell housing 12. When the manipulator 20 grabs the cage shaft 10, the two claws of the manipulator 20 surround and grip the shaft 11, so that the cage shaft 10 can be grabbed and moved a certain distance in the second direction before rising.

[0061] The conveyor line 30 is used to carry the cage shaft 10 and convey it along a first direction; the first direction is set along the length direction of the conveyor line 30; the projection of the first direction on the horizontal plane has a first horizontal vector;

[0062] The first limiter 40 includes a first drive unit 41 and a first limit rod 42. The first limit rod 42 is slidably connected to the conveyor line 30 along a first telescopic path. The first telescopic path is parallel to the first limit rod 42. The first drive unit 41 is connected to the conveyor line 30. The first drive unit 41 drives the first limit rod 42 to slide. The first telescopic path intersects the first direction. In this way, the first drive unit 41 can drive the first limit rod 42 to extend and retract along the first telescopic path. In the extended state, because the first limit rod 42 is parallel to the first telescopic path and the first telescopic path intersects the first direction, the conveyor line 30 transports the ball cage shaft 10 along the first direction. This allows the ball cage shaft 10 to abut against the first limit rod 42 after reaching the grasping position, waiting for the robot arm 20 to grasp it.

[0063] In other embodiments, a device for positioning and grasping the ball cage shaft 10 further includes a processing device 60 for subsequent processing. The device can be set as a deburring device to remove burrs from the ball cage shaft 10.

[0064] Furthermore, if Figure 6As shown, one side of the first limiting rod 42 has a first positioning groove 43. The first positioning groove 43 is located on the side of the first limiting rod 42 facing the grabbing position. The first direction is directed to the first positioning groove 43; the first positioning groove 43 has a first abutting surface 431, a second abutting surface 432 and a third abutting surface 433 connected in sequence; the included angle between the first abutting surface 431 and the second abutting surface 432 is a first included angle; the included angle between the third abutting surface 433 and the second abutting surface 432 is a second included angle; the first included angle and the second included angle are both obtuse angles; the middle part of the second abutting surface 432 is arranged away from the middle part of the width direction of the conveying line 30; the first abutting surface 431 and the third abutting surface 433 are used for abutting the ball cage shaft 10.

[0065] When the ball cage shaft 10 directly abuts the plane of the side of the first limiting rod 42 facing the grabbing position, the ball cage shaft 10 will continue to rub against the first limiting rod 42 due to the pushing action of the conveying line 30 at the bottom of the ball cage shaft 10. By arranging the first positioning groove 43 in this way, the ball cage shaft 10 can be transported on the conveying line 30 into the first positioning groove 43 and abut the first abutting surface 431 and the third abutting surface 433 at the same time, so that the ball cage is relatively stationary with respect to the first limiting groove, avoiding the above-mentioned friction and protecting the outer surface of the ball cage shaft 10. Moreover, this makes it easier for the mechanical hand 20 to grab the ball cage shaft 10, improving the positioning effect.

[0066] In other embodiments, the ball cage shaft 10 is spaced from the second abutting surface 432 when the ball cage shaft 10 abuts the first abutting surface 431 and the third abutting surface 433.

[0067] Further, as shown, Figure 7 the first included angle β1 is greater than the second included angle β2. The second horizontal vector is opposite to the first horizontal vector; the second direction is a direction in which the second horizontal vector is inclined at a preset angle towards the first abutting surface 431; moving the ball cage shaft 10 along the second direction can make the ball cage shaft 10 have a first spacing with the first limiter 40. Moreover, the middle part of the second abutting surface 432 is arranged away from the middle part of the width direction of the conveying line 30. In this way, eccentric positioning can be achieved, and when the mechanical hand 20 grabs the ball cage shaft 10 and moves along the second direction, the mechanical hand 20 has enough space to avoid the first positioning groove 43, so that the ball cage shaft 10 does not rub against the third abutting surface 433, protecting the outer circumferential surface of the ball cage shaft 10.

[0068] In other embodiments, the second direction has an included angle with the third abutting surface 433, so that when the mechanical hand 20 grabs the ball cage shaft 10 along the second direction, the ball cage shaft 10 does not rub against the third abutting surface 433, thereby achieving an avoidance effect and further protecting the outer circumferential surface of the ball cage shaft 10.

[0069] Further, as shown, Figure 3As shown, the conveying line 30 carries the support surface of the ball cage shaft 10 at an angle greater than 0° with the horizontal plane; the first direction is inclined upward. In this way, the conveying direction is inclined upward, so that when the mechanical hand 20 moves the ball cage shaft 10 along the second direction, the bottom end surface of the ball cage shaft 10 is suspended, thereby avoiding friction with the support surface of the conveying line 30 and protecting the bottom end surface of the ball cage shaft 10.

[0070] Further, as shown, Figure 2 The ball cage shaft 10 positioning and grabbing device further includes a second position limiter 50. As shown, Figure 8 The second position limiter 50 includes a second driving part 51, a second position limiting rod 52, and a second positioning groove 53. The second position limiter 50 includes the second driving part 51 and the second position limiting rod 52; the second driving part 51 is connected with the conveying line 30; the second position limiting rod 52 is slidingly connected with the conveying line 30 along a second extension path; the second position limiting rod 52 is parallel to the second extension path; in this way, the second position limiting rod 52 can be driven to extend and retract on the conveying line 30 along the second extension path by controlling the second driving part 51. The second extension path intersects the first direction; in this way, when the grabbing position is in the loaded state, the second position limiter 50 can abut against the ball cage shaft 10 transported along the first direction on the conveying line 30 after extending, thereby blocking the ball cage shaft 10 at the grabbing position from other ball cage shafts 10 on the conveying line 30.

[0071] The second extension path intersects the first extension path; the distance between the second extension path and the first extension path gradually increases along the second direction; in this way, when the second position limiting rod 52 is in the extended state, the mechanical hand 20 has a larger avoiding space when moving the ball cage shaft 10 along the second direction, so that the ball cage shaft 10 will not rub against the second position limiter 50. The second position limiting rod 52 has the second positioning groove 53 thereon; the second positioning groove 53 is located at one end of the second position limiting rod 52 close to the first position limiting rod 42. In this way, the ball cage shaft 10 blocked by the second position limiting rod 52 can enter the second positioning groove 53 along the second position limiting rod 52, thereby positioning the ball cage shaft 10 in advance, so that the ball cage shaft 10 can enter the first positioning groove 43 along a shorter path after the second position limiting rod 52 is retracted.

[0072] In other embodiments, as shown, Figure 8 The second position limiter 50 further includes an anti-collision strip 54; in this way, when the second position limiter 50 is extended, the ball cage shaft 10 can abut against the anti-collision strip 54, thereby avoiding damage to the outer surface of the ball cage shaft 10.

[0073] Those skilled in the art can understand that the above embodiments are specific cases for implementing the present disclosure, and in actual applications, various changes can be made in form and details without departing from the scope of the present disclosure.

Claims

1. A method for positioning and grasping a ball cage shaft, characterized in that: The ball cage shaft positioning and grasping method comprises: Controlling the conveying line to convey the cage axis along a first direction; wherein the projection of the first direction on a horizontal plane has a first horizontal vector; Based on the cage shaft moving along the first direction until it abuts against the first stopper, the cage shaft is grasped and moved along the second direction until a first gap is formed between the cage shaft and the first stopper; wherein the second direction is a horizontal direction; Based on the first gap between the CVJ shaft and the first stopper, the CVJ shaft is controlled to rise.

2. A method for positioning and grasping a ball cage shaft according to claim 1, characterized in that: The angle between the first direction and the horizontal plane is greater than 0°; the first direction is inclined upward.

3. A method for positioning and grasping a ball cage shaft according to claim 1, characterized in that: The angle between the first horizontal vector and the second direction is an obtuse angle.

4. A method for positioning and grasping a ball cage shaft according to claim 1, characterized in that: The ball cage shaft positioning and grasping method further comprises: Acquire the incoming frequency of the ball cage shaft on the conveyor line in real time at a preset frequency; Based on the fact that the incoming material frequency is greater than the threshold and the grabbing position is in a material-filled state, the second limiter is controlled to extend to block the ball cage shaft at the grabbing position from other ball cage shafts on the conveyor line; wherein, the grabbing position is located between the first limiter and the second limiter; when the ball cage shaft is located at the grabbing position, the grabbing position is in the material-filled state.

5. A method for positioning and grasping a ball cage shaft according to claim 4, characterized in that: The ball cage shaft positioning and grasping method further comprises: Based on the fact that the incoming material frequency is greater than the threshold value and the grabbing position is in an unloaded state, adjusting the conveying speed of the conveying line to a first speed; Based on the fact that the incoming material frequency is less than the threshold value and the grabbing position is in an unloaded state, the conveying speed of the conveying line is controlled to a second speed; wherein the first speed is less than the second speed.

6. A ball cage shaft positioning and grasping device, applied to the ball cage shaft positioning and grasping method according to any one of claims 1 to 5, characterized in that: The ball cage shaft positioning and grasping device comprises: A manipulator, the manipulator is used to grab the ball cage shaft; A conveyor line, the conveyor line is used to carry the cage shaft and convey it along a first direction; the first direction is arranged along the length direction of the conveyor line; the projection of the first direction on the horizontal plane has a first horizontal vector; The first limiter includes a first driving part and a first limiting rod; the first limiting rod is slidably connected to the conveyor line along a first telescopic path; the first telescopic path is parallel to the first limiting rod; the first driving part is connected to the conveyor line; the first driving part drives the first limiting rod to slide; the first telescopic path intersects with the first direction.

7. A ball cage shaft positioning and grabbing device according to claim 6, characterized in that: One side of the first limiting rod has a first positioning groove; the first direction points to the setting of the first positioning groove; the first positioning groove has a first abutting surface, a second abutting surface and a third abutting surface connected in sequence; the angle between the first abutting surface and the second abutting surface is a first angle; the angle between the third abutting surface and the second abutting surface is a second angle; the first angle and the second angle are both obtuse angles; the middle part of the second abutting surface is set away from the middle part of the width direction of the conveying line; the first abutting surface and the third abutting surface are used to abut the ball cage shaft.

8. A ball cage shaft positioning and grabbing device according to claim 7, characterized in that: The first angle is greater than the second angle; the second horizontal vector is opposite to the first horizontal vector; the second direction is the direction in which the second horizontal vector is inclined at a preset angle toward the direction close to the first abutment surface; the movement of the ball cage axis along the second direction can cause the ball cage axis and the first limiter to have a first spacing.

9. The ball cage shaft positioning and grabbing device according to claim 6, characterized in that: The angle between the support surface of the conveying line carrying the cage shaft and the horizontal plane is greater than 0°; the first direction is inclined upward.

10. The ball cage shaft positioning and grabbing device according to claim 6, characterized in that: The ball cage shaft positioning and grasping device also includes a second limiter; the second limiter includes a second driving part and a second limiting rod; the second driving part is connected to the conveyor line; the second limiting rod is slidably connected to the conveyor line along a second telescopic path; the second limiting rod is parallel to the second telescopic path; the second telescopic path intersects with the first direction; the second telescopic path intersects with the first telescopic path; the spacing between the second telescopic path and the first telescopic path gradually increases along the second direction; the second limiting rod has a second positioning groove; the second positioning groove is located at one end of the second limiting rod close to the first limiting rod.

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