Shaft hole assembly method and system, and storage medium

A shaft hole assembly system, wherein the shaft hole assembly system is applied to a shaft hole assembly device;

• the shaft hole assembly device comprises an assembly shaft, and an assembly workpiece having an assembly hole and an assembly plane;
• the shaft hole assembly system comprises:
• a plane calibration module, a hole positioning module and a hole inserting module;
• the plane calibration module is configured to perform plane calibration on the assembly shaft in an assembly task coordinate system to obtain a position of the assembly plane, wherein a plane where the assembly plane is located is a plane where an x-axis and a y-axis of the assembly task coordinate system are located;
• and a direction where the assembly shaft is located is a z-axis of the assembly task coordinate system;
• the hole positioning module is configured to control the assembly shaft to move along a first direction of the z-axis according to the position of the assembly plane, so as to contact the plane where the x-axis and y-axis are located, wherein the first direction of the z-axis is a direction in which the assembly shaft approaches the assembly plane;
• the hole positioning module is further configured to control the assembly shaft to traverse the plane where the x-axis and y-axis are located with a spiral line trajectory, and detect a sudden change position of a force in a z-axis direction to obtain a position of the assembly hole;
• and
• the hole inserting module is configured to control the assembly shaft to move along the first direction of the z-axis according to the position of the assembly hole, so as to achieve the hole inserting.