Method for machining a driving shaft spline

Abstract

The present application relates to the technical field of drive shaft processing, in particular to a drive shaft spline processing method. The semi-finished product shaft is grabbed from the feeding assembly; based on the completion of the semi-finished product shaft grabbing, the semi-finished product shaft is placed on the positioning assembly; based on the semi-finished product shaft being located on the positioning assembly, the spline is processed on the outer circumferential surface of the end of the shaft rod away from the universal joint shell, and the shaft rod is sprayed with cooling liquid until the drive shaft is processed into a shape; based on the completion of the drive shaft processing, the drive shaft is grabbed; based on the completion of the drive shaft grabbing, the drive shaft is adjusted to a oil dripping posture; based on the drive shaft being in the oil dripping posture, the drive shaft is controlled to remain stationary and the accumulated stop duration is accumulated; based on the stop duration reaching a preset duration, the drive shaft is placed to the discharging assembly. In this way, the problem of how to efficiently clean the residual cooling liquid in the shaft hole after the spline of the drive shaft is processed is solved.

Description

Technical Field

[0001] This invention relates to the field of drive shaft machining technology, and more specifically, to a method for machining splines on a drive shaft. Background Technology

[0002] The drive shaft has a long, narrow shaft structure. One end is connected to a ball cage structure, while the outer circumference of the other end needs to be cold-rolled to form a spline. This spline end is hollow to reduce weight and facilitate the subsequent installation of connecting parts. During the machining of this hollow spline, continuous friction occurs between the machining tool and the drive shaft workpiece, easily generating a large amount of heat and causing wear on the machined surface. Therefore, a continuous supply of cooling oil is necessary. The cooling oil forms a lubricating film on the machining contact surface, reducing direct friction between the machining tool and the workpiece, lowering tool wear and the risk of scratches on the workpiece surface. Furthermore, it quickly dissipates the heat generated in the machining area, preventing softening and deformation of the workpiece due to localized overheating, thus ensuring the machining accuracy of the spline and the stability of the machining process.

[0003] However, because the splined end of the drive shaft is hollow after machining, the cooling oil injected during machining will remain in the hollow cavity due to gravity, forming residual cooling oil that cannot be drained on its own. After the drive shaft is machined, this residual cooling oil will slowly drip from inside the shaft onto the machining table, conveyor belt, floor, and other equipment surfaces during subsequent handling, storage, or transfer to the next workstation. This not only contaminates the machining environment but also requires additional manpower to clean up the dripping cooling oil, increasing the cleaning workload. Summary of the Invention

[0004] To address the problem of efficiently cleaning residual coolant from the shaft bore after machining splines on a drive shaft, this invention provides a method for machining splines on a drive shaft, comprising:

[0005] A semi-finished shaft is picked up from the feeding assembly; wherein the semi-finished shaft includes an integrally formed shaft rod and a universal joint housing; the end of the shaft rod away from the universal joint housing has a shaft hole; the shaft hole is coaxial with the shaft rod;

[0006] Once the semi-finished shaft has been gripped, place the semi-finished shaft onto the positioning component.

[0007] Based on the semi-finished shaft being located on the positioning assembly, splines are machined on the outer peripheral surface of the end of the shaft away from the universal joint housing, while coolant is sprayed onto the shaft until the drive shaft is formed.

[0008] Once the drive shaft is processed, the drive shaft is gripped.

[0009] Based on the completion of the gripping of the drive shaft, the drive shaft is adjusted to the dripping posture; when the drive shaft is in the dripping posture, the angle between the shaft and the horizontal plane is greater than 0, and the end of the shaft with splines is set downwards;

[0010] Based on the fact that the drive shaft is in the oil dripping posture, control the drive shaft to remain stationary and accumulate the pause time;

[0011] Once the pause duration reaches a preset duration, the drive shaft is placed into the unloading assembly.

[0012] In some embodiments, the gripping assembly includes a robotic arm, a first gripper, and a second gripper; the first gripper and the second gripper are respectively connected to the robotic arm;

[0013] The method for machining the spline of the drive shaft also includes:

[0014] Obtain the working status of the first gripper and the second gripper;

[0015] Since both the first gripper and the second gripper are in an unloaded state, the first gripper is controlled to perform the step of grabbing the semi-finished shaft from the feeding assembly.

[0016] In some embodiments, the drive shaft spline machining method further includes:

[0017] Based on the first gripper being in a gripping state and the second gripper being in an unloaded state, the working status of the positioning component is obtained;

[0018] Based on the positioning component being in a ready-to-unload state, the second gripper is controlled to perform the step of gripping the drive shaft after the processing of the drive shaft is completed.

[0019] In some embodiments, the drive shaft spline machining method further includes:

[0020] Since both the first gripper and the second gripper are in a gripping state, the second gripper is controlled to perform the step of adjusting the drive shaft to a dripping posture after the gripping of the drive shaft is completed.

[0021] In some embodiments, the drive shaft spline machining method further includes:

[0022] Based on the pause duration reaching a preset duration, and both the first gripper and the second gripper being in a gripping state, the first gripper is controlled to perform the step of placing the semi-finished shaft on the positioning component after the semi-finished shaft is gripped.

[0023] In some embodiments, the drive shaft spline machining method further includes:

[0024] Based on the first gripper being in an unloaded state and the second gripper being in a clamping state, the second gripper is controlled to perform the step of placing the drive shaft onto the unloading assembly based on the pause duration reaching a preset duration.

[0025] In some embodiments, when the semi-finished product shaft is located on the positioning assembly, the shaft is horizontally positioned;

[0026] The step of adjusting the drive shaft to a dripping position after the gripping of the drive shaft is completed includes:

[0027] Based on the completion of the gripping of the drive shaft, the first gripper and the second gripper are controlled to rotate synchronously around the rotation axis by a first preset angle until the drive shaft is in the dripping posture.

[0028] In some embodiments, the first preset angle is greater than 90°.

[0029] In some embodiments, the step of controlling the first gripper to perform the step of placing the semi-finished shaft on the positioning component based on the completion of the gripping of the semi-finished shaft after the pause duration reaches a preset duration and both the first gripper and the second gripper are in a gripping state includes:

[0030] Based on the pause duration reaching a preset duration, and both the first gripper and the second gripper being in a gripping state, the first gripper and the second gripper are controlled to rotate synchronously around the rotation axis by a second preset angle, and the robotic arm is controlled to move until the semi-finished shaft is placed on the positioning component; wherein, the sum of the second preset angle and the first preset angle is 180°;

[0031] The rotational speed during which the first gripper and the second gripper rotate synchronously at the first preset angle is the first rotational speed; the rotational speed during which the first gripper and the second gripper rotate synchronously at the second preset angle is the second rotational speed; the second rotational speed is less than the first rotational speed.

[0032] In some embodiments, the orientation of the universal joint housing relative to the shaft is an attitude orientation;

[0033] Both the first gripper and the second gripper are in the clamping state, and the orientation of the semi-finished product shaft is opposite to that of the drive shaft.

[0034] To address the problem of efficiently cleaning residual coolant from the shaft bore after machining splines on the drive shaft, this invention offers the following advantages:

[0035] After the drive shaft is machined, it is gripped and adjusted to a dripping position. In this position, the angle between the shaft and the horizontal plane is greater than 0, and the splined end of the shaft faces downwards. The drive shaft is then kept stationary for a cumulative pause time. Once the preset pause time is reached, the drive shaft is placed into the unloading assembly. This allows residual coolant inside the drive shaft's bore to drip slowly under gravity, effectively draining the coolant. This solves the problem of large amounts of residual coolant remaining in the shaft after splined shaft machining due to its hollow design, causing widespread dripping and affecting the cleanliness of the production line. It also ensures the cleanliness of the machined drive shaft. Attached Figure Description

[0036] Figure 1 A flowchart illustrating a method for machining a drive shaft spline according to one embodiment is shown.

[0037] Figure 2 A schematic diagram of the structure of a spline processing apparatus according to one embodiment is shown;

[0038] Figure 3 It shows Figure 2 A schematic diagram of the structure of the crawling component.

[0039] Reference numerals: 10 for loading assembly; 20 for unloading assembly; 30 for gripping assembly; 31 for robotic arm; 32 for first gripper; 33 for second gripper; 40 for positioning assembly; 50 for spline machining assembly; 60 for drive shaft; 70 for semi-finished product shaft. Detailed Implementation

[0040] 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.

[0041] 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.

[0042] The drive shaft 60 has an overall elongated shaft structure, with a ball cage structure connected to one end. The outer circumference of the other end needs to be formed into a spline through cold rolling and other processing techniques, and the spline end is hollow. During the machining of this hollow spline, continuous friction occurs between the machining tool and the drive shaft 60 workpiece, easily generating a large amount of heat and causing wear on the machined surface, thus requiring a continuous supply of cooling oil. However, because the spline end of the drive shaft 60 is hollow after machining, the cooling oil injected during machining will remain in the hollow cavity due to gravity, forming residual cooling oil that cannot be drained on its own. After the spline shaft is machined, this residual cooling oil will slowly drip from inside the shaft onto the machining table, conveyor belt, ground, and other equipment surfaces during subsequent handling, storage, or transfer to the next workstation. This not only contaminates the machining environment but also requires additional manpower to clean up the dripping cooling oil, increasing the cleaning workload.

[0043] Example 1:

[0044] Therefore, to solve the above problems, the present invention provides a method for machining the spline of a drive shaft 60. This method for machining the spline of a drive shaft 60 is applied to a spline machining device; such as... Figure 2 As shown, the spline processing device includes a feeding assembly 10, a discharging assembly 20, a gripping assembly 30, a positioning assembly 40, and a spline processing assembly 50. Figure 1 As shown, the spline machining method for drive shaft 60 includes steps S10 to S70, which will be described in detail below:

[0045] Step S10: Pick up the semi-finished shaft 70 from the feeding assembly 10. The semi-finished shaft 70 includes an integrally formed shaft and a universal joint housing. The integral forming ensures the structural strength of the semi-finished shaft 70, reducing the risk of breakage during processing or after it is put on the market. The end of the shaft furthest from the universal joint housing has a shaft hole, which is coaxial with the shaft, preventing deviations in the position of the splines during processing and ensuring processing accuracy.

[0046] Step S20: After the semi-finished shaft 70 is gripped, place it on the positioning component 40. The positioning component 40 provides stable support for the semi-finished shaft 70, preventing it from shaking during subsequent spline processing, thereby ensuring the stability and accuracy of spline processing.

[0047] Step S30: Based on the semi-finished shaft 70 being positioned on the positioning assembly 40, a spline is machined on the outer peripheral surface of the end of the shaft furthest from the universal joint housing. Simultaneously, coolant is sprayed onto the shaft until the drive shaft 60 is formed. By spraying coolant during spline machining, the heat generated during processing can be carried away, preventing the shaft from deforming due to overheating. This also reduces frictional wear between the machining tool and the shaft, extending the tool's service life.

[0048] Step S40: Based on the completion of machining of drive shaft 60, grasp drive shaft 60.

[0049] Step S50: Based on the completion of gripping the drive shaft 60, adjust the drive shaft 60 to a dripping oil posture. When the drive shaft 60 is in the dripping oil posture, the angle between the shaft and the horizontal plane is greater than 0, and the splined end of the shaft is facing downwards. It should be understood that adjusting the drive shaft 60 to a dripping oil posture with the shaft tilted and the splined end facing downwards can utilize gravity to cause the residual coolant in the shaft hole and inside the spline to flow towards the splined end, creating conditions for the coolant to drip out.

[0050] Step S60: Based on the fact that the drive shaft 60 is in the dripping oil posture, control the drive shaft 60 to remain stationary and accumulate the pause time to ensure that the coolant remaining in the shaft hole and spline has enough time to slowly drip down under the action of gravity, so as to avoid the coolant not being completely discharged due to insufficient residence time, and further ensure the adequacy of coolant discharge.

[0051] Step S70: Based on the pause time reaching the preset time, that is, the coolant in the shaft hole and spline has basically dripped off, the drive shaft 60 is placed in the unloading assembly 20 at this time. This can prevent the coolant from dripping off the drive shaft 60 during unloading and subsequent circulation, maintain the cleanliness of the drive shaft 60 after processing, and ensure the cleanliness of the unloading assembly 20 and the surrounding processing environment.

[0052] Furthermore, such as Figure 3 As shown, the gripping assembly 30 includes a robotic arm 31, a first gripper 32, and a second gripper 33. The first gripper 32 is connected to the robotic arm 31, and the second gripper 33 is connected to the robotic arm 31. The robotic arm 31 can provide moving support for the first gripper 32 and the second gripper 33, enabling the first gripper 32 and the second gripper 33 to be transferred to different positions within the spline machining device.

[0053] The spline machining method for the drive shaft 60 further includes step S80, which comprises steps S81 and S82. The spline machining method for the drive shaft 60 executes steps S81, S82, S10, S20, S30, S40, S50, S60, and S70 sequentially. Steps S81 and S82 will be described in detail below:

[0054] Step S81: Obtain the working status of the first gripper 32 and the second gripper 33, and determine whether the first gripper 32 and the second gripper 33 are under load. Avoid repeating the gripping action when the first gripper 32 or the second gripper 33 has already gripped the semi-finished shaft 70, and avoid collision or gripping failure of the semi-finished shaft 70.

[0055] Step S82: Based on the fact that both the first gripper 32 and the second gripper 33 are in an unloaded state, control the first gripper 32 to execute step S10 to ensure the stability and accuracy of the gripping process of the semi-finished shaft 70.

[0056] Furthermore, step S80 of the method for machining the spline of the drive shaft 60 also includes steps S83 and S84. The method for machining the spline of the drive shaft 60 executes steps S81, S83, S84, S40, S50, S60, and S70 sequentially. Steps S83 and S84 will be described in detail below:

[0057] Step S83: Based on the first gripper 32 being in a gripping state and the second gripper 33 being in an unloaded state, obtain the working state of the positioning component 40.

[0058] Step S84: Based on the positioning component 40 being in the unloading state, that is, when the drive shaft 60 has been processed on the positioning component 40, control the second gripper 33 to execute step S40, thereby avoiding accidental gripping during the processing of the drive shaft 60, which could damage the second gripper 33 or the semi-finished shaft 70. At the same time, the second gripper 33 is used to perform the action of gripping the drive shaft 60, without waiting for the first gripper 32 to release the workpiece before operation, which improves the utilization efficiency of the gripping component 30 and ensures the safety of the drive shaft 60.

[0059] Furthermore, step S80 of the method for machining the spline of the drive shaft 60 also includes step S85. The method for machining the spline of the drive shaft 60 executes steps S81, S85, S50, S60, and S70 sequentially. Step S85 will be described in detail below:

[0060] Step S85: Based on the fact that both the first gripper 32 and the second gripper 33 are in a gripping state, control the second gripper 33 to execute step S50. This prioritizes the drainage of coolant from the already processed drive shaft 60, effectively improving the parallelism and efficiency of the overall processing flow. If the semi-finished shaft 70 on the first gripper 32 is placed on the positioning component 40 first, the gripping component 30 needs to be rotated 180° first, and then the processed drive shaft 60 needs to be rotated to the dripping position. The entire rotation process has a large angle range, takes a long time, and reduces processing efficiency. In this invention, after adjusting the drive shaft 60 to the dripping position in step S50, the semi-finished shaft 70 on the first gripper 32 is placed on the positioning component 40, which can reduce the rotation angle of the robotic arm 31, thereby improving the overall processing efficiency. At the same time, timely adjustment of the drive shaft 60 to the oil dripping posture can quickly start the coolant dripping process, laying the foundation for the subsequent accumulation of pause time and ensuring that the coolant is fully discharged. This ensures that the drive shaft 60 is cleaned of coolant before unloading, ultimately maintaining the cleanliness of the drive shaft 60 after processing and avoiding the problem of coolant dripping in subsequent processes.

[0061] Furthermore, step S80 of the method for machining the spline of the drive shaft 60 also includes step S86. The method for machining the spline of the drive shaft 60 executes steps S81, S85, S50, S60, S70, and S86 sequentially. Step S86 will be described in detail below:

[0062] Step S86: When the pause time reaches the preset duration, it indicates that the drive shaft 60 held by the second gripper 33 has completed the coolant dripping and discharge. At this time, both the first gripper 32 and the second gripper 33 are in the gripping state, indicating that the positioning component 40 is in the space state ready for loading. By controlling the first gripper 32 to execute step S20, the process from the completion of coolant discharge of the drive shaft 60 to the loading of the semi-finished shaft 70 is seamlessly connected, avoiding processing gaps caused by waiting for the grippers to be idle or for the positioning component 40 to be controlled, and effectively improving the overall processing efficiency.

[0063] Furthermore, the spline machining method for the drive shaft 60 also includes step S87. The spline machining method for the drive shaft 60 sequentially executes steps S81, S85, S50, S60, S70, S86, and S87. Step S87 will be described in detail below:

[0064] Step S87: Based on the first gripper 32 being in an unloaded state and the second gripper 33 being in a clamping state, control the second gripper 33 to execute step S70. When the pause time reaches the preset time, the coolant dripping out of the drive shaft 60 held by the second gripper 33 has been completed. Control the second gripper 33 to place the drive shaft 60 into the unloading assembly 20. This maintains the cleanliness of the drive shaft 60 after processing and prevents coolant from contaminating the unloading assembly 20 and the surrounding environment.

[0065] Furthermore, when the semi-finished shaft 70 is positioned on the positioning assembly 40, the shaft is horizontally positioned, which allows the outer peripheral surface of the universal joint housing to be flat and easy to process, providing a stable processing foundation for the spline processing assembly 50, avoiding uneven contact between the processing tool and the outer peripheral surface of the shaft due to shaft tilt, and thus ensuring the tooth profile accuracy of spline processing.

[0066] Step S50 includes step S51. The spline machining method for the drive shaft 60 is performed sequentially through steps S81, S85, S51, S60, S70, and S86. Step S51 will be described in detail below:

[0067] Step S51: Based on the completion of gripping by the drive shaft 60, control the first gripper 32 and the second gripper 33 to rotate synchronously around the rotation axis by a first preset angle. The synchronous rotation ensures that the drive shaft 60 maintains a stable clamping state during the rotation process until the drive shaft 60 is in the dripping oil posture. This provides a reliable guarantee for the residual coolant inside the shaft hole and spline shaft hole to drip smoothly under the action of gravity, thereby achieving full discharge of coolant and avoiding the problem of coolant dripping during subsequent unloading and transfer.

[0068] Furthermore, the first preset angle is greater than 90°, which allows the drive shaft 60 to form a large tilt angle with the horizontal plane, and further strengthens the downward tilting tendency of the splined end of the shaft. This ensures that the coolant remaining in the shaft hole and spline has stronger flow force under the action of gravity, and gathers and drips to the spline end more quickly, avoiding the situation where coolant stagnates in the shaft hole or spline due to an angle that is too small and cannot be discharged. At the same time, the larger tilt angle can also shorten the time required for coolant to drip. Moreover, controlling the first gripper 32 and the second gripper 33 to rotate synchronously around the rotation axis by the first preset angle and maintain it for a preset time can reduce the torque on the workpiece held by the first gripper 32 and the second gripper 33, thereby improving the service life of the first gripper 32 and the second gripper 33.

[0069] Further, step S86 includes steps S861 and S862, where steps S861 and S862 are preferred embodiments of step S86. The spline machining method for the drive shaft 60 executes steps S81, S85, S51, S60, S70, S861, and S862 sequentially. Steps S861 and S862 will be described in detail below:

[0070] Step S861: Based on the pause duration reaching the preset duration, and both the first gripper 32 and the second gripper 33 being in a gripping state, control the first gripper 32 and the second gripper 33 to synchronously rotate around the rotation axis by a second preset angle, and control the robotic arm 31 to move until the semi-finished shaft 70 is placed on the positioning component 40. Rotating by the second preset angle ensures that the semi-finished shaft 70 is precisely rotated to a horizontal position, adapting to the loading requirements of the positioning component 40, avoiding the inability to place the semi-finished shaft 70 smoothly due to posture deviation, and ensuring the accuracy and smoothness of the loading of the semi-finished shaft 70. The sum of the second preset angle and the first preset angle is 180°.

[0071] Step S862: The rotational speed during the synchronous rotation of the first gripper 32 and the second gripper 33 from the first preset angle is the first rotational speed. The rotational speed during the synchronous rotation of the first gripper 32 and the second gripper 33 from the second preset angle is the second rotational speed, which is lower than the first rotational speed. Rotating from the first preset angle is to quickly adjust the drive shaft 60 to the dripping position. High precision is not required. A higher first rotational speed can shorten the rotation time of the first preset angle and improve process efficiency. Rotating from the second preset angle is to accommodate the placement of the semi-finished shaft 70. It is necessary to ensure that the posture of the semi-finished shaft 70 is accurately adapted to the positioning component 40. A lower second rotational speed can reduce the inertia during the rotation of the grippers, avoid the semi-finished shaft 70 from shaking due to excessive rotation speed, ensure the positional accuracy of the semi-finished shaft 70 when placed, and lay the foundation for the accuracy of subsequent shaft spline machining. At the same time, slow rotation can also reduce the frictional wear between the grippers and the semi-finished shaft 70 and extend the service life of the grippers. Therefore, in this embodiment, the second preset angle is set to less than 90° and the first preset angle is set to greater than 90°. Combined with the technical solution that the second rotation speed is less than the first rotation speed, it can not only improve the processing efficiency, but also improve the positioning accuracy of the semi-finished shaft 70 being fed to the positioning component 40.

[0072] Furthermore, the orientation of the universal joint housing relative to the shaft is the attitude orientation. Both the first gripper 32 and the second gripper 33 are in the clamping state, and the attitude orientation of the semi-finished product shaft 70 is opposite to that of the drive shaft 60. This allows the centers of gravity of the semi-finished product shaft 70 and the drive shaft 60 to form a symmetrical distribution on both sides of the robotic arm 31, reducing unilateral weight concentration caused by the same orientation, thereby achieving weight balance in the clamping state. Weight balance reduces deformation or vibration of the grippers and robotic arm 31 caused by uneven force, thus improving the overall stability of the clamping state and preventing the workpiece from shifting or falling off due to shaking during transfer or attitude adjustment, ensuring the reliable operation of the processing flow.

[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 machining splines on a drive shaft, applied to a spline machining device; the spline machining device includes a feeding assembly, a discharging assembly, a gripping assembly, a positioning assembly, and a spline machining assembly; characterized in that, The method for machining the spline of the drive shaft includes: A semi-finished shaft is picked up from the feeding assembly; wherein the semi-finished shaft includes an integrally formed shaft rod and a universal joint housing; the end of the shaft rod away from the universal joint housing has a shaft hole; the shaft hole is coaxial with the shaft rod; Once the semi-finished shaft has been gripped, place the semi-finished shaft onto the positioning component. Based on the fact that the semi-finished shaft is located on the positioning assembly, splines are machined on the outer peripheral surface of the end of the shaft that is away from the universal joint housing, and coolant is sprayed onto the shaft until the drive shaft is formed. Once the drive shaft is processed, the drive shaft is gripped. Based on the completion of the gripping of the drive shaft, the drive shaft is adjusted to the dripping posture; when the drive shaft is in the dripping posture, the angle between the shaft and the horizontal plane is greater than 0, and the end of the shaft with splines is set downwards; Based on the fact that the drive shaft is in the oil dripping posture, control the drive shaft to remain stationary and accumulate the pause time; Once the pause duration reaches a preset duration, the drive shaft is placed into the unloading assembly.

2. The method for machining a drive shaft spline according to claim 1, characterized in that, The gripping assembly includes a robotic arm, a first gripper, and a second gripper; the first gripper and the second gripper are respectively connected to the robotic arm. The method for machining the spline of the drive shaft also includes: Obtain the working status of the first gripper and the second gripper; Since both the first gripper and the second gripper are in an unloaded state, the first gripper is controlled to perform the step of grabbing the semi-finished shaft from the feeding assembly.

3. The method for machining a drive shaft spline according to claim 2, characterized in that, The method for machining the spline of the drive shaft also includes: Based on the first gripper being in a gripping state and the second gripper being in an unloaded state, the working status of the positioning component is obtained; Based on the positioning component being in a ready-to-unload state, the second gripper is controlled to perform the step of gripping the drive shaft after the processing of the drive shaft is completed.

4. The method for machining a drive shaft spline according to claim 3, characterized in that, The method for machining the spline of the drive shaft also includes: Since both the first gripper and the second gripper are in a gripping state, the second gripper is controlled to perform the step of adjusting the drive shaft to a dripping posture after the gripping of the drive shaft is completed.

5. The method for machining a drive shaft spline according to claim 4, characterized in that, The method for machining the spline of the drive shaft also includes: Based on the pause duration reaching a preset duration, and both the first gripper and the second gripper being in a gripping state, the first gripper is controlled to perform the step of placing the semi-finished shaft on the positioning component after the semi-finished shaft is gripped.

6. The method for machining a drive shaft spline according to claim 5, characterized in that, The method for machining the spline of the drive shaft also includes: Based on the first gripper being in an unloaded state and the second gripper being in a clamping state, the second gripper is controlled to perform the step of placing the drive shaft onto the unloading assembly based on the pause duration reaching a preset duration.

7. A method for machining a drive shaft spline according to claim 5, characterized in that, With the semi-finished product shaft positioned on the positioning assembly, the shaft is horizontally arranged. The step of adjusting the drive shaft to a dripping position after the gripping of the drive shaft is completed includes: Based on the completion of the gripping of the drive shaft, the first gripper and the second gripper are controlled to rotate synchronously around the rotation axis by a first preset angle until the drive shaft is in the dripping posture.

8. A method for machining a drive shaft spline according to claim 7, characterized in that, The first preset angle is greater than 90°.

9. A method for machining a drive shaft spline according to claim 8, characterized in that, The step of controlling the first gripper to perform the step of placing the semi-finished shaft on the positioning component after the semi-finished shaft is picked up, based on the pause duration reaching a preset duration and both the first gripper and the second gripper being in a gripping state, includes: Based on the pause duration reaching a preset duration, and both the first gripper and the second gripper being in a gripping state, the first gripper and the second gripper are controlled to rotate synchronously around the rotation axis by a second preset angle, and the robotic arm is controlled to move until the semi-finished shaft is placed on the positioning component; wherein, the sum of the second preset angle and the first preset angle is 180°; The rotational speed during which the first gripper and the second gripper rotate synchronously at the first preset angle is the first rotational speed; the rotational speed during which the first gripper and the second gripper rotate synchronously at the second preset angle is the second rotational speed; the second rotational speed is less than the first rotational speed.

10. A method for machining a drive shaft spline according to claim 4, characterized in that, The orientation of the universal joint housing relative to the shaft is the attitude orientation; Both the first gripper and the second gripper are in the clamping state, and the orientation of the semi-finished product shaft is opposite to that of the drive shaft.

Images