A ball cage shaft positioning and gripping method and apparatus

Abstract

The application relates to the technical field of ball cage shaft manufacturing, in particular to a ball cage shaft positioning and grabbing method and device. A ball cage shaft positioning and grabbing method comprises the following steps: controlling a conveying line to convey a ball cage shaft in a first direction; wherein the projection of the first direction on a horizontal plane has a first horizontal vector; based on the ball cage shaft moving to abut against a first limiter in the first direction, the ball cage shaft is grabbed to move in a second direction until the ball cage shaft has a first interval with the first limiter; wherein the second direction is a horizontal direction; based on the ball cage shaft having the first interval with the first limiter, the ball cage shaft is controlled to rise. In this way, the problem of frictional damage of the outer surface of the ball cage shaft to the limiting device during the lifting of the ball cage shaft is solved.

Description

Technical Field

[0001] This invention relates to the field of ball cage shaft manufacturing technology, and more specifically, to a ball cage shaft positioning and gripping method and device. Background Technology

[0002] Universal joints are key components in automotive transmission systems that enable variable-angle power transmission. During vehicle operation, the relative position and angle between the transmission output shaft and the drive axle input shaft constantly change due to factors such as uneven road surfaces and vehicle cornering. Universal joints reliably transmit power even with these changing angles, ensuring normal vehicle operation. Universal joints include non-constant velocity joints, constant velocity joints, and quasi-constant velocity joints.

[0003] A ball cage universal joint is a type of constant velocity universal joint, comprising a ball cage housing, a bell-shaped housing, steel balls, a cage, and a dust cover. The ball cage shaft is an integrally formed shaft structure with the ball cage housing, capable of further outputting the power transmitted by the universal joint. The outer surface of the bell-shaped housing of the ball cage shaft is usually precision-machined, but during subsequent processing, when using a robotic arm for gripping and transporting, the ball cage shaft often rubs against the limiting devices on the conveyor line during lifting and lowering, resulting in damage to the outer surface. Summary of the Invention

[0004] To address the problem of frictional damage between the outer surface of the ball cage shaft and the limiting device during the lifting and lowering of the ball cage shaft, this invention provides a ball cage shaft positioning and gripping method and apparatus.

[0005] In a first aspect, the present invention provides a method for positioning and gripping a ball cage shaft, comprising:

[0006] The control conveyor line transports the spherical cage shaft along a first direction; wherein the projection of the first direction onto a horizontal plane has a first horizontal vector;

[0007] Based on the ball cage shaft moving along the first direction to abut against the first limiter, the ball cage shaft is grasped and moved along the second direction until there is a first gap between the ball cage shaft and the first limiter; wherein, the second direction is the horizontal direction;

[0008] The ball cage shaft is controlled to rise based on the first gap between the ball cage shaft and the first limiter.

[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 gripping method further includes:

[0012] The feeding frequency of the ball cage shaft on the conveyor line is obtained in real time at a preset frequency.

[0013] Based on the fact that the incoming material frequency is greater than a threshold and the gripping position is in a material-containing state, the second limiter is controlled to extend to block the ball cage shaft at the gripping position from other ball cage shafts on the conveyor line; wherein, the gripping position is located between the first limiter and the second limiter; when the ball cage shaft is located at the gripping position, the gripping position is in a material-containing state.

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

[0015] Based on the fact that the material arrival frequency is greater than the threshold and the gripping position is in an unloaded state, the conveying speed of the conveyor line is adjusted to the first speed;

[0016] Based on the fact that the material arrival frequency is less than the threshold and the gripping position is in an unloaded state, the conveying speed of the conveyor line is controlled to a second speed; wherein, the first speed is less than the second speed.

[0017] Secondly, the present invention provides a ball cage shaft positioning and gripping device, which is applied to the ball cage shaft positioning and gripping method of any embodiment in the first aspect.

[0018] The ball cage shaft positioning and gripping device includes:

[0019] A robotic arm, used to grasp the ball cage shaft;

[0020] A conveyor line for carrying the ball cage shaft and conveying it along a first direction; the first direction is arranged along the length of the conveyor line; the projection of the first direction onto a horizontal plane has a first horizontal vector.

[0021] A first limiter, comprising 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.

[0022] In some embodiments, the first limiting rod has a first positioning groove on one side; the first direction is directed toward 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; both the first angle and the second angle are obtuse angles; the middle part of the second abutting surface is offset from the middle part of the width direction of the conveyor line; the first abutting surface and the third abutting surface are used to abut the ball cage shaft.

[0023] In some embodiments, the first included angle is greater than the second included 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 tilted at a preset angle toward the direction closer to the first contact surface; the movement of the ball cage shaft along the second direction can make the ball cage shaft have a first gap with the first limiter.

[0024] In some embodiments, the angle between the support surface of the conveyor line carrying the ball cage shaft and the horizontal plane is greater than 0°; the first direction is inclined upward.

[0025] In some embodiments, the ball cage shaft positioning and gripping device further 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 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 near 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 the gripping and lifting process, the present invention has the following advantages:

[0027] 1. By grasping the ball cage shaft and moving it along the second direction until there is a first gap between the ball cage shaft and the first limiter, the ball cage shaft is controlled to rise. This ensures that the robot arm will only grasp the ball cage shaft and rise after there is a certain gap between the ball cage shaft and the first limiter, thus avoiding the problem of friction between the ball cage shaft and the first limiter, which would damage the outer surface of the ball cage shaft, when directly grasping it.

[0028] 2. By setting the angle between the first horizontal vector and the second direction to be obtuse, the path of the robot arm as it moves backward after grasping the ball cage shaft is an inclined path, rather than the exact opposite of the first horizontal vector. This allows for extending the movement distance of the ball cage shaft along the second direction within the limited space of the conveyor line width, making it easier to control the robot arm's movement accuracy and saving space. Attached Figure Description

[0029] Figure 1 A flowchart illustrating one embodiment of a ball cage axis positioning and gripping method is shown.

[0030] Figure 2 A schematic diagram of the structure of a ball cage shaft positioning and gripping device according to one embodiment is shown;

[0031] Figure 3 It shows Figure 1 A schematic diagram of the placement of a ball cage shaft on a conveyor line;

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

[0033] Figure 5 It shows Figure 2 A schematic diagram of the structure of the ball cage shaft;

[0034] Figure 6 It shows Figure 2 A schematic diagram of the structure of the first limiter in the middle;

[0035] Figure 7 It shows Figure 6 A schematic diagram of the structure of the first positioning groove in the middle;

[0036] Figure 8 It shows Figure 2 A schematic diagram of the structure of the second limiter in the diagram.

[0037] Reference numerals: 10 Ball cage shaft; 11 Shaft; 12 Bell-shaped shell; 20 Robotic arm; 30 Conveyor line; 40 First limiter; 41 First drive unit; 42 First limit rod; 43 First positioning groove; 431 First abutment surface; 432 Second abutment surface; 433 Third abutment surface; 50 Second limiter; 51 Second drive unit; 52 Second limit rod; 53 Second positioning groove; 54 Anti-collision strip; 60 Processing equipment. Detailed Implementation

[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 thus implement the present disclosure, and are not intended to imply any limitation on the scope of the disclosure.

[0039] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments and are not intended to limit the indicated devices, elements, or components to having a specific orientation or being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientations or positional relationships; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances. In addition, the terms "installed", "set up", "equipped with", "connected", and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0040] Universal joints are key components in automotive transmission systems that enable variable-angle power transmission. The ball-cage universal joint is a type of constant velocity universal joint, comprising a ball cage housing, a bell-shaped housing 12, steel balls, a cage, a dust cover, and other components.

[0041] The ball cage shaft 10 is a shaft 11 structure integrally formed with the ball cage shell. The outer surface of the bell-shaped shell 12 of the ball cage shaft 10 is usually precision machined. However, during subsequent processing, when the robot arm 20 grips and transports the ball cage, the bell-shaped shell 12 often rubs against the limiting device on the conveyor line 30 during lifting and lowering, 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 limiting device 40 during gripping and lifting, this invention provides a positioning and gripping method and device for the ball cage shaft 10.

[0042] Example 1:

[0043] This embodiment provides a method for positioning and gripping a ball cage shaft 10, such as... Figure 1 and Figure 2 As shown, Figure 1 This is a flowchart of a method for positioning and gripping a ball cage shaft 10. Figure 2 This is a structural diagram of a positioning and gripping device for a ball cage shaft 10. (Reference) Figure 1 and Figure 2 The machining method for positioning and gripping the ball cage shaft 10 includes steps S10 to S30, which are explained in detail below:

[0044] Step S10: Control the conveyor line 30 to transport the ball cage shaft 10 along the first direction; wherein, the projection of the first direction on the horizontal plane has a first horizontal vector; in this way, the ball cage shaft 10 can be transported by the conveyor line 30 to the position that abuts against the first limiter 40, waiting for the robot arm 20 to grasp it.

[0045] Step S20: Based on the ball cage shaft 10 moving along the first direction to abut the first limiter 40, the ball cage shaft 10 is grasped and moved along the second direction until there is a first gap between the ball cage shaft 10 and the first limiter 40; wherein, the second direction is the horizontal direction; in this way, after the robot arm 20 grasps the ball cage shaft 10 away from the first limiter 40, it moves a certain distance in the horizontal direction, so that the ball cage shaft 10 and the first limiter 40 are separated by a certain distance.

[0046] Step S30: Based on the first gap between the ball cage shaft 10 and the first limiter 40, control the ball cage shaft 10 to rise. In this way, after there is a certain gap between the ball cage shaft 10 and the first limiter 40, the robot arm 20 grabs the ball cage shaft 10 and raises it. This can avoid friction between the ball cage shaft 10 and the first limiter 40 during the rising process, so that the outer surface of the ball cage shaft 10 will not be damaged.

[0047] In other embodiments, after the control conveyor line 30 conveys the ball cage shaft 10 along the first direction, the method further includes: controlling the conveyor line 30 to stop based on the ball cage shaft 10 abutting against the first limiter 40; after the conveyor line 30 stops, the bottom end face of the ball cage shaft 10 will not rub against the conveyor line 30 after the ball cage shaft 10 reaches the gripping position, thus protecting the bottom end face and avoiding friction between the ball cage shaft 10 and the first limiter 40 due to the aforementioned friction, further protecting the outer peripheral surface of the ball cage shaft 10.

[0048] Furthermore, such as Figure 3 As shown, the angle α between the first direction and the horizontal plane is greater than 0°. The first direction is inclined upward. This makes the conveying direction inclined upward, so that when the robot arm 20 controls the ball cage shaft 10 to move backward along the second direction, the bottom end face of the ball cage shaft 10 is suspended in the air to avoid friction.

[0049] Furthermore, such as Figure 4 As shown, the angle between the first horizontal vector Q1 and the second direction Q2 is an obtuse angle. The obtuse angle between the second direction and the first horizontal vector makes the path of the robot arm 20 after grasping the ball cage shaft 10 an inclined path, rather than exactly opposite to the first horizontal vector. This allows for extending the movement distance of the ball cage shaft 10 along the second direction within the limited width of the conveyor line 30, making it easier to control the movement accuracy of the robot arm 20 and saving space.

[0050] Further, refer to Figure 2 The ball cage shaft 10 positioning and gripping method also includes step S40:

[0051] The feeding frequency of the ball cage shaft 10 on the conveyor line 30 is obtained in real time at a preset frequency.

[0052] Step S40: Based on the material arrival frequency being greater than the threshold and the gripping position being in a material-containing state, the second limiter 50 is extended to isolate the ball cage shaft 10 at the gripping position from other ball cage shafts 10 on the conveyor line 30. The gripping position is located between the first limiter 40 and the second limiter 50. When the ball cage shaft 10 is in the gripping position, the gripping position is in a material-containing state. When the material arrival frequency is greater than the threshold, the second limiter 50 prevents multiple ball cage shafts 10 from simultaneously contacting the first limiter 40, ensuring that only one ball cage shaft 10 is available for gripping each time the robot arm 20 performs a gripping action, thus guaranteeing the orderly execution of the gripping process.

[0053] In other embodiments, the method further includes controlling the second limiter 50 to be in a retracted state based on the material inlet frequency being less than a threshold. By coordinating this with the condition where the material inlet frequency is greater than the threshold, it ensures that the frequency at which the robotic arm 20 grasps the ball cage remains stable and equal to the material inlet frequency, even when the material inlet frequency changes, further guaranteeing the orderly execution of the grasping process.

[0054] Further, refer to Figure 2 The ball cage shaft 10 positioning and gripping method also includes steps S50 to S51:

[0055] Step S50: Based on the fact that the material arrival frequency is greater than the threshold and the gripping position is in an unloaded state, adjust the conveying speed of the conveyor line 30 to the first speed;

[0056] Step S51: Based on the fact that the incoming material frequency is less than the threshold and the gripping position is in an unloaded state, control the conveying speed of the conveyor line 30 to the second speed; wherein the first speed is less than the second speed. In this way, when the gripping position is in an unloaded state and the incoming material frequency is greater than or less than the threshold, the conveying speed of the conveyor line 30 can be controlled to ensure that the frequency at which the robot arm 20 grips the ball cage remains stable and equal to the incoming material frequency, further ensuring the orderly progress of the gripping process.

[0057] It is worth noting that this design prevents the second limit rod 52 from failing to extend in time to block incoming materials when the incoming material frequency exceeds the threshold, thus avoiding the adverse consequences of subsequent material impacts and rear-end collisions. Furthermore, since the distance between the first limit rod 42 and the second limit rod 52 is greater than the outer diameter of the bell-shaped cover of the ball cage shaft 10, this design also prevents untimely material loading at the gripping position when the incoming material frequency is less than the threshold, thereby improving production efficiency.

[0058] Example 2:

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

[0060] The robotic arm 20 is used to grip the ball cage shaft 10; such as Figure 5 As shown, the ball cage shaft 10 consists of a shaft 11 and a bell-shaped shell 12. When the robot arm 20 grasps the ball cage shaft 10, its two grippers surround and hold the shaft 11, thus enabling it to grasp the ball cage shaft 10 and move it a certain distance in the second direction before rising.

[0061] The conveyor line 30 is used to carry the ball 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 onto 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 with a first direction. This allows the first limit rod 42 to extend and retract along the first telescopic path via the first drive unit 41. In the extended state, since the first limit rod 42 is parallel to the first telescopic path, and the first telescopic path intersects with 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 gripping position, awaiting gripping by the robot arm 20.

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

[0064] Furthermore, such as Figure 6As shown, the first limiting rod 42 has a first positioning groove 43 on one side. The first positioning groove 43 is located on the side of the first limiting rod 42 facing the gripping position. The first direction is directed towards the first positioning groove 43; the first positioning groove 43 has a first abutment surface 431, a second abutment surface 432 and a third abutment surface 433 connected in sequence; the angle between the first abutment surface 431 and the second abutment surface 432 is a first angle; the angle between the third abutment surface 433 and the second abutment surface 432 is a second angle; both the first angle and the second angle are obtuse angles; the middle part of the second abutment surface 432 is offset from the middle part of the width direction of the conveyor line 30; the first abutment surface 431 and the third abutment surface 433 are used to abut against the ball cage shaft 10.

[0065] When the ball cage shaft 10 directly abuts against the plane of the first limiting rod 42 facing the gripping position, the ball cage shaft 10 will continuously rub against the first limiting rod 42 due to the pushing action of the conveyor line 30 at the bottom of the ball cage shaft 10. By setting the first positioning groove 43 in this way, the ball cage shaft 10 can be transported into the first positioning groove 43 on the conveyor line 30 and simultaneously abut against the first contact surface 431 and the third contact surface 433, thereby keeping the ball cage relatively stationary with respect to the first limiting groove, avoiding the aforementioned friction and protecting the outer surface of the ball cage shaft 10. Furthermore, this makes it easier for the robot arm 20 to grip the ball cage shaft 10, improving the positioning effect.

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

[0067] Furthermore, such as Figure 7 As shown, 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 the direction in which the second horizontal vector is inclined at a preset angle toward the first abutment surface 431; the movement of the ball cage shaft 10 along the second direction enables the ball cage shaft 10 to have a first gap with the first limiter 40. Furthermore, the middle part of the second abutment surface 432 is offset from the middle part of the width direction of the conveyor line 30. This achieves eccentric positioning and ensures that when the robot arm 20 grasps the ball cage shaft 10 and moves along the second direction, the robot arm 20 and the first positioning groove 43 have sufficient clearance space, so that the ball cage shaft 10 will not rub against the third abutment surface 433, thus protecting the outer peripheral surface of the ball cage shaft 10.

[0068] In other embodiments, the second direction and the third contact surface 433 are at an angle, so that when the robot arm 20 grasps away from the ball cage shaft 10 along the second direction, the ball cage shaft 10 and the third contact surface 433 will not rub against each other, thereby achieving the avoidance effect and further protecting the outer peripheral surface of the ball cage shaft 10.

[0069] Furthermore, such as Figure 3As shown, the angle between the support surface of the conveyor line 30 carrying the ball cage shaft 10 and the horizontal plane is greater than 0°; the first direction is inclined upward. This makes the conveying direction inclined upward, so that when the robot arm 20 grasps the ball cage shaft 10 and moves it along the second direction, the bottom end face of the ball cage shaft 10 is suspended in the air, thereby avoiding friction with the support surface of the conveyor line 30 and protecting the bottom end face of the ball cage shaft 10.

[0070] Furthermore, such as Figure 2 As shown, the ball cage shaft 10 positioning and gripping device also includes a second limiter 50. (As indicated...) Figure 8 As shown, the second limiter 50 includes a second drive unit 51, a second limiting rod 52, and a second positioning groove 53. The second limiter 50 includes a second drive unit 51 and a second limiting rod 52; the second drive unit 51 is connected to the conveyor line 30; the second limiting rod 52 is slidably connected to the conveyor line 30 along a second telescopic path; the second limiting rod 52 is parallel to the second telescopic path; thus, by controlling the second drive unit 51 to drive the second limiting rod 52 to extend and retract on the conveyor line 30 along the second telescopic path. The second telescopic path intersects with the first direction; thus, when the gripping position is in a material-containing state, after the second limiter 50 extends, it can abut against the ball cage shaft 10 transported along the first direction on the conveyor line 30, thereby isolating the ball cage shaft 10 at the gripping position from other ball cage shafts 10 on the conveyor line 30.

[0071] The second telescopic path intersects with the first telescopic path; the distance between the second telescopic path and the first telescopic path gradually increases along the second direction; this allows for greater clearance when the robot arm 20 grasps the ball cage shaft 10 and moves it along the second direction with the second limit rod 52 extended, preventing the ball cage shaft 10 from rubbing against the second limiter 50. The second limit rod 52 has a second positioning groove 53; the second positioning groove 53 is located at the end of the second limit rod 52 closest to the first limit rod 42. This allows the ball cage shaft 10, which is blocked by the second limit rod 52, to enter the second positioning groove 53 along the second limit rod 52, thereby pre-positioning the ball cage shaft 10, so that after the second limit rod 52 retracts, the ball cage shaft 10 can enter the first positioning groove 43 with a shorter path.

[0072] In other embodiments, such as Figure 8 As shown, the second limiter 50 also includes a bumper strip 54. This allows the ball cage shaft 10 to abut against the bumper strip 54 when the second limiter 50 is extended, thereby preventing damage to the outer surface of the ball cage shaft 10.

[0073] Those skilled in the art will understand that the above embodiments are specific examples of implementing this disclosure, and in practical applications, various changes can be made in form and detail without departing from the scope of this disclosure.

Claims

1. A method for positioning and gripping a ball cage shaft, characterized in that, The ball cage shaft positioning and gripping method includes: The control conveyor line transports the spherical cage shaft along a first direction; wherein the projection of the first direction onto a horizontal plane has a first horizontal vector; Based on the ball cage shaft moving along the first direction to abut against the first limiter, the ball cage shaft is grasped and moved along the second direction until there is a first gap between the ball cage shaft and the first limiter; wherein, the second direction is the horizontal direction; Based on the first gap between the ball cage shaft and the first limiter, the ball cage shaft is controlled to rise; The ball cage shaft positioning and gripping method also includes: The feeding frequency of the ball cage shaft on the conveyor line is obtained in real time at a preset frequency. Based on the fact that the incoming material frequency is greater than a threshold and the gripping position is in a material-containing state, the second limiter is controlled to extend to block the ball cage shaft at the gripping position from other ball cage shafts on the conveyor line; wherein, the gripping position is located between the first limiter and the second limiter; when the ball cage shaft is located at the gripping position, the gripping position is in a material-containing state; Based on the fact that the material arrival frequency is greater than the threshold and the gripping position is in an unloaded state, the conveying speed of the conveyor line is adjusted to the first speed; Based on the fact that the material arrival frequency is less than the threshold and the gripping position is in an unloaded state, the conveying speed of the conveyor line is controlled to a second speed; wherein, the first speed is less than the second speed.

2. The ball cage shaft positioning and gripping method 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. The ball cage shaft positioning and gripping method according to claim 1, characterized in that, The angle between the first horizontal vector and the second direction is an obtuse angle.

4. A ball cage shaft positioning and gripping device, applied to the ball cage shaft positioning and gripping method according to any one of claims 1-3, characterized in that, The ball cage shaft positioning and gripping device includes: A robotic arm, used to grasp the ball cage shaft; A conveyor line for carrying the ball cage shaft and conveying it along a first direction; the first direction is arranged along the length of the conveyor line; the projection of the first direction onto a horizontal plane has a first horizontal vector. A first limiter, comprising 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.

5. The ball cage shaft positioning and gripping device according to claim 4, characterized in that, The first limiting rod has a first positioning groove on one side; the first direction is directed 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 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; both the first angle and the second angle are obtuse angles; the middle part of the second abutting surface is offset from the middle part of the width direction of the conveyor line; the first abutting surface and the third abutting surface are used to abut against the ball cage shaft.

6. The ball cage shaft positioning and gripping device according to claim 5, characterized in that, The first included angle is greater than the second included 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 tilted at a preset angle toward the direction closer to the first contact surface; the movement of the ball cage shaft along the second direction can make the ball cage shaft and the first limiter have a first gap.

7. The ball cage shaft positioning and gripping device according to claim 4, characterized in that, The angle between the support surface of the conveyor line carrying the ball cage shaft and the horizontal plane is greater than 0°; the first direction is inclined upward.

8. The ball cage shaft positioning and gripping device according to claim 4, characterized in that, The ball cage shaft positioning and gripping device further includes a second limiter; the second limiter includes a second drive unit and a second limiting rod; the second drive unit 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 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 near the first limiting rod.

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