Method for aligning a cycloidal dividing workpiece based on a robot arm

Abstract

The present application relates to the technical field of workpiece positioning, and particularly relates to a cycloid rotation machining workpiece alignment method based on a mechanical arm, comprising the following steps: a workpiece is grabbed by a feeding mechanical arm, the workpiece is moved to a clamping position according to a preset path, and the workpiece is initially clamped; alignment detection is performed: alignment detection light is emitted to the workpiece, the workpiece rotates according to a current clamping posture and a preset rotation speed, and light and shadow flicker information of the workpiece edge is collected; when the light and shadow flicker information is greater than a threshold value, alignment adjustment is performed: the workpiece is adjusted in posture by the feeding mechanical arm based on the light and shadow flicker information, the workpiece is clamped again; the alignment detection and the alignment adjustment are repeated until the light and shadow flicker of the workpiece edge is less than or equal to the threshold value, and the workpiece alignment and clamping are completed. The workpiece alignment method provided by the present application takes into account the detection accuracy and efficiency, and has a relatively low landing threshold.

Description

Technical Field

[0001] This invention relates to the field of workpiece positioning technology, and more specifically to a workpiece alignment method based on a cycloidal rotary machining process using a robotic arm. Background Technology

[0002] Trochoidal rotary machining, an advanced machining technology based on the principle of rotary indexing, has become a core technology for machining key components such as synchronizer gear sleeve slide grooves, high-precision gear chamfering and deburring, and irregular curved surface structures (such as tenon grooves on aero-engine blades) due to its significant advantages in complex surface forming accuracy, cutting stability, and machining efficiency. The machining principle of this technology is to achieve precise cutting of material along a preset trochoidal path through the coordinated rotary indexing motion of the tool and the workpiece. Its machining accuracy is highly dependent on the spatial matching degree between the tool's trochoidal path and the workpiece's workpiece. Even a slight deviation in workpiece clamping and alignment will directly cause the trochoidal path to deviate from the machined area, leading to problems such as tooth asymmetry, groove width exceeding tolerances, and excessive burr residue.

[0003] Currently, the workpiece clamping and alignment process in cycloidal rotary machining is still limited by the inherent defects of traditional clamping and alignment detection technologies, making it difficult to meet the high-precision and high-efficiency machining requirements. Current mainstream contact-based detection methods (such as dial indicators and lever indicators) require manual handheld inspection tools to collect reference data point by point along the workpiece's circumference or curved surface to determine alignment deviations. For example, in the machining of synchronizer gear sleeve slider grooves, a single inspection requires the detection of radial runout, axial end face circular runout, and circumferential indexing error for at least three groove positions. While laser inspection can achieve non-contact online inspection, avoiding the cumbersome operation of contact inspection, its technical system has stringent requirements for supporting resources. It requires high-precision laser displacement sensors, a three-axis motion platform, and dedicated data acquisition cards, resulting in high equipment investment costs. Furthermore, the inspection data needs to be processed through professional data analysis software, requiring technicians with error tracing and algorithm parameter debugging capabilities. This makes it difficult for small and medium-sized enterprises to implement due to equipment, cost, and talent limitations.

[0004] In summary, current methods for detecting the alignment of cycloidal spin-machining workpieces suffer from drawbacks such as cumbersome processes, low efficiency, and high costs. Therefore, there is an urgent need for a workpiece alignment method for cycloidal spin-machining that can leverage existing automated equipment (such as robotic arms), balance detection accuracy and efficiency, and lower the barriers to implementation. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a cycloidal rotary machining workpiece alignment method based on a robotic arm, which balances detection accuracy and efficiency, and has a low barrier to entry for implementation.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: a cycloidal rotary machining workpiece alignment method based on a robotic arm, comprising the following steps:

[0007] The workpiece is picked up by the loading robotic arm and moved to the clamping position according to the preset path for initial clamping.

[0008] Perform alignment detection: emit alignment detection light to the workpiece, the workpiece rotates according to the current clamping posture and preset rotation speed, and collect the light and shadow flashing information of the workpiece edge;

[0009] When the light and shadow flicker information exceeds the threshold, alignment adjustment is performed: based on the light and shadow flicker information, the workpiece is repositioned by the loading robot arm.

[0010] Repeat the alignment detection and adjustment until the light and shadow flicker information at the edge of the workpiece is less than or equal to the threshold, and complete the workpiece alignment and clamping.

[0011] Furthermore, the alignment detection light is a parallel light ray, and the alignment detection light ray is perpendicular to the clamping plane.

[0012] Furthermore, the alignment detection light is emitted by several parallel light sources, which are arranged in a ring to form a parallel ring light. The outer diameter of the workpiece is obtained, and the diameter of the parallel ring light is adjusted based on the outer diameter of the workpiece so that the diameter of the parallel ring light is equal to the outer diameter of the workpiece.

[0013] Furthermore, when the collected light and shadow flickering information at the edge of the workpiece exceeds the threshold, the rotation speed of the workpiece is gradually reduced until the workpiece comes to a standstill. During the process of reducing the rotation speed of the workpiece, the change in the position of the light and shadow flickering is tracked, and the position of the light and shadow flickering when the workpiece is stationary is used as the adjustment baseline to adjust the posture of the workpiece.

[0014] Furthermore, the loading robotic arm grabs the stationary workpiece and changes the position of the adjustment baseline by rotating the workpiece. After changing the position of the adjustment baseline, it is detected whether there is a shadow extension at the adjustment baseline that is greater than the preset value.

[0015] If present, the stationary workpiece is picked up by the loading robot arm, and the tilt angle of the adjustment baseline is adjusted by changing the direction of the workpiece axis until the shadow extension at the adjustment baseline is less than or equal to the preset value.

[0016] Furthermore, the direction of changing the tilt angle of the adjustment baseline is: the opposite direction of the shadow extension direction at the adjustment baseline; the amount of changing the tilt angle of the adjustment baseline in a single step is: one adjustment step.

[0017] Furthermore, before performing alignment detection, the distance between the light source emitting alignment detection light to the workpiece and the end face of the workpiece is adjusted so that the edge of the light source coverage area is larger than the edge of the outer circle section of the workpiece.

[0018] Furthermore, the light and shadow flicker information at the edge of the workpiece is the light and shadow flicker information at the outer edge of the workpiece.

[0019] Furthermore, the light and shadow flicker information includes the light and shadow flicker frequency and the shadow extension amount; when the workpiece rotates at a preset rotation speed, if the light and shadow flicker frequency matches the workpiece rotation cycle and the shadow extension amount is greater than the threshold, then alignment adjustment is performed; if the light and shadow flicker frequency does not match the workpiece rotation cycle, then an abnormal prompt is issued directly.

[0020] Furthermore, light and shadow flickering information of the workpiece edge is acquired through several image acquisition devices, with the angle between the optical axis of the image acquisition devices and the clamping plane being 20-70°.

[0021] The technical principles of the above solution are as follows:

[0022] Non-contact light and shadow detection combined with automated adjustment by a robotic arm enables precise alignment of workpieces in cycloidal rotary machining. A ring of parallel light illuminates the outer cylindrical section of the workpiece. When clamped precisely, the workpiece's rotating projection is a perfect circle with a stable shadow; when there is eccentricity or tilt, the projection is elliptical, causing periodic light and shadow flickering. The flickering frequency matches the workpiece's rotation period, thus quantifying clamping deviation. Adjustment uses the flickering position when the workpiece is stationary as a baseline. First, the robotic arm rotates the workpiece to move the baseline to a non-clamping contact area to eliminate interference from impurities. Then, the workpiece's axis tilt is adjusted in 0.25° increments along the opposite direction of the shadow extension to ensure precise adjustment. This cycle of detection-adjustment-re-detection reduces deviation and verifies the matching of the flickering frequency and rotation frequency, avoiding problems such as clamp loosening and ensuring clamping stability.

[0023] The above approach has the following beneficial effects:

[0024] 1. This solution relies on the existing cycloidal rotary separator's loading robotic arm and CNC system, eliminating the need for expensive equipment such as high-precision laser displacement sensors and three-axis motion platforms, as well as the need for professional personnel to debug complex data analysis algorithms. Alignment detection can be achieved solely through annular parallel light rays and conventional image acquisition and recognition technology, reducing the cost of alignment detection and standardizing the operation process. Small and medium-sized enterprises can quickly implement this solution without having to train an additional technical team.

[0025] 2. Compared with traditional contact inspection, this solution improves the efficiency of alignment detection and adjustment through automated light and shadow detection and precise adjustment by robotic arms. By collecting the projected image of the workpiece in the rotating state to detect light and shadow flicker, it is easier to identify whether the workpiece is accurately aligned and clamped, reducing the difficulty of workpiece alignment and clamping detection. Moreover, since the light and shadow flicker information is collected in the workpiece's rotating state, it can provide more practical feedback on whether the workpiece can rotate smoothly under the current clamping posture.

[0026] Meanwhile, through designs such as light source distance calculation and shadow extension preset value linkage with machining accuracy, it meets the existing cycloidal rotary machining alignment accuracy requirements, meets the cycloidal rotary machining accuracy requirements of key components such as synchronizer sleeves and gear chamfers, and solves the contradiction that traditional methods are inefficient and have poor accuracy, and high accuracy and low efficiency.

[0027] 3. This solution effectively avoids interference factors such as burrs and impurities by allowing a margin in the diameter of the ring light source, avoiding blind spots with multiple image acquisition devices, and prioritizing the rotation of the workpiece adjustment baseline to avoid the contact area of ​​the fixture. Furthermore, by changing the direction of the workpiece axis to adjust the tilt angle of the adjustment baseline, the deviation between the workpiece axis and the fixture axis is corrected.

[0028] In addition, frequency matching verification can identify clamping instability issues such as loose fixtures and workpiece deformation in real time, triggering a shutdown alarm and recording abnormal parameters. This avoids the occurrence of defective parts such as tooth asymmetry and groove width exceeding tolerance in subsequent processing due to hidden deviations, significantly improving production stability. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the device structure according to an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the alignment detection disk structure according to an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram illustrating the alignment detection principle of an embodiment of the present invention;

[0032] Figure 4 This is a flowchart of a method according to an embodiment of the present invention.

[0033] The reference numerals in the accompanying drawings include: 10, loading robotic arm; 20, alignment robotic arm; 30, workpiece shaft clamp; 21, alignment detection plate; 22, image acquisition device; 23, parallel light source. Detailed Implementation

[0034] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] The following is a detailed description of the solution in this embodiment based on the cycloidal spinning machine tool:

[0036] like Figure 1The cycloidal spinning machine shown has a loading robot arm 10 installed beside it. The loading robot arm 10 is used for loading and unloading workpieces, enabling automated workpiece processing. The cycloidal spinning machine also integrates a positioning robot arm 20. Similar to existing robot arms, the positioning robot arm 20 mainly consists of a base, a vertical arm, a horizontal arm, and a rotating arm. The difference is that its base is mounted on a linear slide, allowing it to move along the slide to avoid interference with the loading robot arm 10. Furthermore, the timing of the positioning robot arm 20's movements is synchronized with that of the loading robot arm 10—after the loading robot arm 10 completes its initial clamping, it sends a reset completion signal to the machine tool's CNC system. Upon receiving this signal, the positioning robot arm 20 moves along the linear slide to a preset alignment detection position, preventing collisions caused by overlapping movement trajectories. The rotating arm of the positioning robot arm 20 is equipped with a light source for emitting alignment detection light. The installation angle of the light source can be finely adjusted via the rotating arm to ensure that the light direction remains perpendicular to the subsequent clamping plane.

[0037] The cycloidal rotary machining machine mainly consists of a machine base, a cutter shaft, a workpiece shaft, a cutter shaft motor, a workpiece shaft drive motor, a position adjustment slide, and a feed slide. The position adjustment slide and feed slide are mounted on the machine base. The cutter shaft motor and workpiece shaft drive motor are respectively mounted on the position adjustment slide and feed slide. The cutter shaft is driven by the cutter shaft motor, and the workpiece shaft is driven by the workpiece shaft drive motor. A workpiece shaft clamp 30 is mounted at the end of the workpiece shaft for clamping the workpiece. The cycloidal rotary machining principle is as follows: the workpiece is clamped in the workpiece shaft clamp 30, and the cutting tool is clamped in the cutter shaft. The workpiece shaft and cutter shaft rotate synchronously according to a preset speed ratio to achieve rotary indexing machining. Before performing cycloidal rotary machining, the workpiece clamping accuracy must be checked to ensure that the cycloidal path of the cutting tool accurately matches the part of the workpiece to be machined, avoiding machining errors.

[0038] The workpiece alignment and clamping process in this embodiment is referred to... Figure 4 As shown, the details are as follows:

[0039] Initial clamping:

[0040] First, the end effector (such as a pneumatic gripper) of the loading robot arm 10 grabs the workpiece and moves it to the clamping position of the workpiece shaft fixture 30 according to the preset path (the path planning must avoid the machine tool body, tool shaft and other components, and the path repeatability positioning accuracy ≤ ±0.02mm). The workpiece is initially clamped by the workpiece shaft fixture 30 of the cycloidal rotary separator. After clamping, the loading robot arm 10 separates from the workpiece and resets to the preset safety area of ​​the machine tool (this area has no spatial overlap with the clamping station and the alignment detection area, and reserves emergency avoidance space). At the same time, a reset ready signal is fed back to the CNC system.

[0041] Alignment detection preparation:

[0042] After receiving the reset ready signal, the alignment robot arm 20 moves the light source to the alignment detection position according to the preset path. In this embodiment, the light source is a parallel light source 23. The parallel light generated by the parallel light source 23 is used as the alignment detection light. The alignment detection light must be perpendicular to the clamping plane (i.e., parallel to the workpiece axis), and the light divergence angle is ≤5° to ensure the stability of the light illumination.

[0043] To improve detection accuracy, the light source adopts, for example... Figure 2 The ring structure shown consists of an alignment detection disk 21 and several parallel light sources 23. The alignment detection disk 21 is embedded with several slide rails, which are arranged along the radial line of the alignment detection disk 21 and are evenly spaced around the axis of the alignment detection disk 21 (the number of slide rails is ≥4 to ensure the uniformity of the distribution of the parallel light sources 23). Each slide rail is equipped with an independent parallel light source 23. The several parallel light sources 23 are arranged around each other to form a ring of parallel light rays. The diameter of the ring of parallel light rays can be adjusted by driving the parallel light sources 23 to move along their length direction through the slide rails.

[0044] Two adjustments must be completed before performing alignment testing:

[0045] Ring light source diameter adjustment: The outer diameter parameters of the workpiece being processed are read by the CNC system (e.g., workpiece outer diameter φ50mm). Based on the workpiece outer diameter, the slide rails are controlled to run synchronously, and the diameter of the ring parallel light 23 is adjusted. The diameter must match the workpiece outer diameter and leave a margin of 5%-10% (e.g., the ring light source diameter for a φ50mm workpiece is set to φ52.5-φ55mm). The adjustment error is ≤0.1mm to ensure that the parallel light can completely cover the edge of the workpiece outer circle section, while avoiding extra stray light from interfering with shadow detection.

[0046] Adjusting the distance between the light source and the workpiece end face: The distance needs to be calculated based on the divergence angle of the parallel light source 23. The calculation formula is: distance D ≥ workpiece radius R / sin(θ / 2) (where θ is the maximum divergence angle of the parallel light source 23, and in this embodiment θ=5°). In practice, it is recommended that the distance be 1.5-2 times the diameter of the workpiece (e.g., 75-100mm for a φ50mm workpiece) to ensure that the coverage of the light source is completely larger than the outer diameter of the workpiece, and that the shadow edge is clear and not blurry during the rotation of the workpiece.

[0047] Several image acquisition devices 22 are also arranged around the light source (the number of image acquisition devices 22 is ≥2, symmetrically arranged to avoid blind spots in the field of view of a single device). The image acquisition devices 22 are used to acquire images of workpiece shadows and light flicker information within the area covered by parallel light rays. In this embodiment, the image acquisition devices 22 need to meet the following parameter requirements: horizontal field of view (FOV) ≥60°, and the angle with the clamping plane is controlled between 20-70° (the angle design basis is: less than 20° is easily affected by reflection from the end face of the workpiece, and greater than 70° will cause shadow compression, both of which affect the recognition of light flicker; the preferred angle is 30-50°, which takes into account both shadow clarity and field of view coverage); frame rate ≥30fps to ensure real-time capture of light flicker; resolution ≥1920×1080 to accurately identify minute changes in the shadow edge; the lens focal length needs to match the detection distance (e.g., a 25mm focal length lens is selected when the detection distance is 100mm) to avoid image distortion.

[0048] Alignment detection execution:

[0049] After the workpiece is clamped by the workpiece shaft fixture 30, the alignment detection is achieved by the processing module (the processing module can be a CPU, DSP or FPGA, and is linked with the CNC system and the image acquisition device 22): the processing module controls the workpiece shaft to drive the workpiece shaft motor through the CNC system, so that the workpiece rotates with the workpiece shaft at a preset rotation speed according to the initial clamping posture; at the same time, the processing module controls the image acquisition device 22 to start, and collects the shadow image and light and shadow flicker information of the outer circle edge of the workpiece in real time.

[0050] Combination Figure 3 As shown, the judgment logic for alignment detection is as follows:

[0051] If the workpiece is clamped accurately, and the workpiece axis is completely coincident with the workpiece shaft axis, without eccentricity or tilt, then during the rotation of the workpiece, the 2D projection outline of its outer circular cross section will always be a perfect circle, the shadow area formed by parallel light illumination will be stable and without fluctuation, and the image acquisition device 22 will not have obvious light and shadow flickering information.

[0052] If there is a deviation in the workpiece clamping, and the workpiece axis does not coincide with the workpiece shaft axis, or is eccentric or tilted, then during the rotation of the workpiece, the 2D projection profile of its outer circular cross section is an ellipse. The elliptical profile causes the extension length and position of the shadow area to fluctuate periodically as the workpiece rotates. When the area of ​​the workpiece tilting outward passes through the area illuminated by parallel light, a shadow extension will occur. This fluctuation will repeat once for each rotation of the workpiece, thus forming a regular light and shadow flicker at the edge of the workpiece's outer circle. The image acquisition device 22 captures this light and shadow flicker information and transmits it to the processing module.

[0053] The processing module preprocesses and analyzes the light and shadow flicker information: the preprocessing uses a Gaussian filtering algorithm to remove image noise, an adaptive thresholding method to segment the shadow area, and a Canny edge detection algorithm to extract the shadow edge; the light and shadow flicker information includes the light and shadow flicker frequency and the shadow extension amount, and the analysis indicators include the light and shadow flicker frequency and the position offset (corresponding to the shadow extension amount); when there is light and shadow flicker and the position offset exceeds the preset threshold, it is determined that alignment adjustment needs to be performed.

[0054] Alignment adjustment:

[0055] The alignment adjustment is achieved through the processing module in coordination with the loading robotic arm 10 and the CNC system. Based on the light and shadow flashing information, the workpiece's posture is adjusted, and the second clamping is completed. The specific steps are as follows:

[0056] (1) Workpiece deceleration and baseline positioning adjustment

[0057] When the processing module determines that alignment adjustment needs to be performed, it controls the workpiece axis drive motor through the CNC system to gradually reduce the workpiece rotation speed until the workpiece comes to a stop. During the process of reducing the workpiece rotation speed, the processing module tracks the position change of the light and shadow flicker in real time. Since the area where the workpiece tilts outward will continuously trigger shadow fluctuations, the final position of the light and shadow flicker when the workpiece is at rest is used as the adjustment baseline. Subsequent adjustments are all based on this baseline to ensure that the adjustment is targeted.

[0058] (2) Posture adjustment (divided into two categories)

[0059] Rotation Adjustment: The loading robotic arm 10 grips the stationary workpiece again and rotates it around the workpiece's own axis, changing the adjustment baseline position to the non-workpiece axis clamping fixture 30 contact area. The reason for choosing the non-contact area is that the workpiece axis clamping fixture 30 contact point may experience slight deformation due to clamping pressure, or there may be impurities on the fixture surface, which can easily lead to shadow detection distortion. After changing the adjustment baseline position, the image acquisition device 22 acquires the image of the light source illumination area again and detects whether there is a shadow extension greater than the preset value in the projection area corresponding to the adjustment baseline. If there is no shadow extension, it indicates that the clamping deviation is caused by impurities such as burrs on the workpiece sidewall, and the rotation adjustment is completed. If the shadow extension is present, it indicates that the clamping deviation is caused by the workpiece tilting, and tilt adjustment needs to be performed.

[0060] Tilt Angle Adjustment: The loading robotic arm 10 grips a stationary workpiece, changing the spatial angle of the workpiece's axis to adjust the tilt angle of the adjustment baseline. The adjustment rules are as follows: ① Adjustment Direction: Opposite to the direction of shadow extension at the adjustment baseline to ensure precise compensation of tilt deviation; ② Adjustment Step: The single adjustment amount is 0.25°; ③ Number of Adjustments: After each adjustment, the image acquisition device 22 re-detects the shadow extension amount, repeating the adjustment until the shadow extension at the adjustment baseline is less than or equal to the preset value.

[0061] (3) Re-clamp

[0062] After the attitude adjustment is completed, the loading robot arm 10 moves the workpiece to the clamping position of the workpiece shaft clamp 30. The workpiece shaft clamp 30 clamps the workpiece again, and the clamping pressure is consistent with the initial clamping to avoid new deviations caused by pressure changes. After clamping is completed, the loading robot arm 10 resets to the safe area.

[0063] Cyclic testing and stability verification:

[0064] Repeat the above alignment detection and alignment adjustment steps until, during the alignment detection process, all light and shadow flickering information at the edge of the workpiece is less than or equal to the preset threshold. At this point, the workpiece is deemed to be aligned and the final clamping is completed, and the cycloidal spinning process can be started.

[0065] In addition, this embodiment also adds workpiece clamping stability detection: the processing module extracts the light and shadow flicker frequency from the light and shadow flicker information. With respect to the workpiece rotation frequency , For the workpiece rotation speed, perform matching verification—if (That is, the light flashes once for each revolution of the workpiece), indicating that the workpiece is stably fixed and has not moved relative to the workpiece axis clamp 30 during rotation. If the light flashing information is greater than the threshold at this time, only the above-mentioned alignment adjustment needs to be performed; if If the light and shadow flicker information exceeds the threshold, it indicates that the workpiece is not stably fixed (such as loose fixture or workpiece deformation). The processing module immediately triggers an abnormal prompt: an audible and visual alarm (buzzer sounds + indicator light flashes) is used, and the cycloidal rotary separator is stopped at the same time. The CNC system records the abnormal parameters to facilitate manual troubleshooting.

[0066] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A workpiece alignment method for cycloidal rotary machining based on a robotic arm, characterized in that, Includes the following steps: The workpiece is picked up by the loading robotic arm and moved to the clamping position according to the preset path for initial clamping. Perform alignment detection: emit alignment detection light to the workpiece, the workpiece rotates according to the current clamping posture and preset rotation speed, and collect the light and shadow flicker information of the workpiece edge, the light and shadow flicker information includes the light and shadow flicker frequency and the shadow extension amount; When the workpiece rotates at the preset rotation speed, if the light and shadow flashing frequency does not match the workpiece rotation cycle, an abnormal prompt will be issued directly; if the light and shadow flashing frequency matches the workpiece rotation cycle and the shadow extension is greater than the threshold, alignment adjustment will be performed: gradually reduce the workpiece rotation speed until the workpiece stops. During the reduction of workpiece rotation speed, the position change of the flickering light and shadow is tracked. The position of the flickering light and shadow when the workpiece is stationary is used as the adjustment baseline to adjust the workpiece's posture. The posture adjustment includes: grabbing the stationary workpiece with a loading robot arm and changing the position of the adjustment baseline by rotating the workpiece; after changing the position of the adjustment baseline, detecting whether there is a shadow extension at the adjustment baseline greater than a preset value; if so, grabbing the stationary workpiece with the loading robot arm and adjusting the tilt angle of the adjustment baseline by changing the direction of the workpiece axis until the shadow extension at the adjustment baseline is less than or equal to the preset value; and then re-clamping the workpiece. Repeat the alignment detection and alignment adjustment until the shadow extension of the workpiece edge is less than or equal to the threshold, thus completing the workpiece alignment and clamping.

2. The workpiece alignment method for cycloidal rotary machining based on a robotic arm according to claim 1, characterized in that, The alignment detection light is a parallel light ray, and the alignment detection light ray is perpendicular to the clamping plane.

3. The workpiece alignment method for cycloidal rotary machining based on a robotic arm according to claim 2, characterized in that, The alignment detection light is emitted by several parallel light sources, which are arranged in a ring to form a parallel light ring. The outer diameter of the workpiece is obtained, and the diameter of the parallel light ring is adjusted based on the outer diameter of the workpiece so that the diameter of the parallel light ring is equal to the outer diameter of the workpiece.

4. The workpiece alignment method for cycloidal rotary machining based on a robotic arm according to claim 1, characterized in that, The direction of changing the tilt angle of the adjustment baseline is: the opposite direction of the shadow extension direction at the adjustment baseline; the amount of changing the tilt angle of the adjustment baseline in a single step is: one adjustment step.

5. The workpiece alignment method for cycloidal rotary machining based on a robotic arm according to claim 1, characterized in that, Before performing alignment detection, adjust the distance between the light source that emits alignment detection light to the workpiece and the end face of the workpiece so that the edge of the light source coverage area is larger than the edge of the outer circle section of the workpiece.

6. The workpiece alignment method for cycloidal rotary machining based on a robotic arm according to claim 1, characterized in that, The light and shadow flickering information at the edge of the workpiece refers to the light and shadow flickering information at the outer circular edge of the workpiece.

7. The workpiece alignment method for cycloidal rotary machining based on a robotic arm according to claim 1, characterized in that, The light and shadow flickering information of the workpiece edge is collected by several image acquisition devices. The angle between the optical axis of the image acquisition device and the clamping plane is 20-70°.

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