Production line for forklift portal frame welding and control method

Abstract

The invention discloses a production line for forklift portal frame welding and a control method. The production line comprises an assembling area, an on-line conveying line, a double-layer conveying line, a welding area, a carrying robot, a welding workstation, an RGV trolley and an off-line conveying line. The assembling area is arranged on the side edge of the on-line conveying line and used for manually assembling the inner door frame, the middle door frame and the outer door frame and pasting product information codes at set positions. The double-layer conveying line and the upper conveying line are arranged in parallel, and the portal frame is transferred to the double-layer conveying line through the translation mechanism. A carrying rail is arranged, so that the RGV trolley and the carrying robot are arranged on the same rail, the portal corresponding to the to-be-welded area is transferred to an RGV feeding position through the RGV trolley, and the carrying robot is matched for feeding; the multiple welding workstations are arranged in the welding area, the fed portal frame is clamped, welding seams are welded, and after welding is completed, the carrying robot carries the welded portal frame to the off-line conveying line. According to the invention, the automation and intelligence level of the forklift production line can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of forklift gantry welding production, and more particularly, to a production line and a control method for forklift gantry welding. Background Art

[0002] As a key component of forklifts, the mast is divided into three types: outer mast, middle mast, and inner mast according to their usage principles and structural characteristics. The three masts need to be assembled together to form a forklift mast after being organized, welded, and painted. Existing mast welding lines are mostly designed separately for the outer mast welding line and the inner middle mast welding line. Then, at the end of the mast welding line, the corresponding inner, middle, and outer masts are manually matched and hung together for painting to achieve the matching of the masts during the painting and assembly. The separate design of the outer mast welding line and the inner middle mast welding line will increase the space occupied and equipment investment, and the manual matching at the offline position will waste human resources. Therefore, how to achieve the simultaneous production of the inner, middle, and outer masts and automatically match the inner, middle, and outer masts at the same time without manual matching is of great significance. Summary of the Invention

[0003] The present invention provides a production line and a control method for forklift mast welding, which solves the problems of low efficiency and low automation level in the existing forklift mast production, requiring manual pairing. It can improve the automation and intelligence level of the forklift mast production line and improve production efficiency.

[0004] To achieve the above objectives, the present invention provides the following technical solutions:

[0005] A production line for forklift gantry welding, comprising: an assembly area, an upstream conveyor line, a double-layer conveyor line, a welding area, a handling robot, a welding workstation, an RGV trolley, and an downstream conveyor line;

[0006] The assembly area is set on the side of the upper conveyor line, and the assembly area is used to manually assemble the inner door frame, the middle door frame and the outer door frame and affix product information codes at set positions;

[0007] The upper conveyor line is used to manually prime the area where the gantry gap is greater than 2mm and to identify and check the gantry model;

[0008] The double-layer conveyor line is arranged in parallel with the upper conveyor line, and the gantry of the upper conveyor line is transferred to the double-layer conveyor line by a transfer and translation mechanism. The double-layer conveyor line sends the gantry to the welding area to wait for welding by the upper-first-lower conveying logic;

[0009] Set up the transport track so that the RGV trolley and the transport robot can be set on the same track. The RGV trolley can transfer the corresponding gantry from the RGV loading position in the welding area to the welding area to cooperate with the transport robot to load the material.

[0010] A plurality of welding workstations are arranged in the welding area to clamp the loading gantry and weld the welds. After welding is completed, the welding gantry is transported to the offline conveyor line by a transport robot.

[0011] Preferably, the on-line conveyor line is provided with a barcode scanner to scan the product information code when the gantry passes by to preliminarily confirm the gantry product information.

[0012] Preferably, the on-line conveyor line is provided with a laser line scanning station, which identifies the gantry model through the laser line scanning photo and compares it with the information scanned and identified by the barcode scanner at the front end, and releases it when the identified information is consistent.

[0013] Preferably, it further comprises: a cooling zone;

[0014] The cooling zone is provided with three double-layer buffer lines, which are used for buffering the inner mast, middle mast and outer mast that have not been completely cooled after welding;

[0015] According to the gantry product information, the three different types of gantry after welding on the offline conveyor line are translated to the corresponding double-layer cache line through a translation mechanism for caching and cooling.

[0016] Preferably, it also includes: an inner and middle mast turning down line and an outer mast turning down line;

[0017] The inner and middle mast turning and unloading lines and the outer mast turning and unloading lines are both provided with a repair welding station and a correction station;

[0018] The gantry with the temperature in the cooling zone reduced to below 100°C is transported to the inner and middle gantry turning-over lines and the outer gantry turning-over lines through a translation mechanism for online repair welding and correction. After the correction is completed, the gantry is automatically turned over and taken offline.

[0019] Preferably, the welding workstation comprises: a servo hydraulic clamp and a welding robot;

[0020] The welding workstation controls the servo hydraulic clamp to move to the required position according to the signal transmitted by the transport robot and the length and opening size of the gantry. After the transport robot completes the transport, the servo hydraulic clamp automatically positions and clamps the gantry.

[0021] The welding robot welds the weld seam of the positioned and clamped portal frame according to a set path.

[0022] Accordingly, the present invention also provides a control method for forklift mast welding, using the above-mentioned production line, comprising:

[0023] Scan the gantry on the upstream conveyor line and enter the online primer station for manual primer after preliminarily confirming the gantry product information;

[0024] The gantry after the primer is completed is transported to the laser line scanning station for gantry model identification and compared with the gantry product information obtained by the front end. If the information is inconsistent, an alarm will be issued and manual confirmation will be processed. If the information is consistent, it will be transported to the welding area;

[0025] After receiving the transport signal, the RGV trolley shovels the gantry out of the RGV loading position in the welding area and transports it to the welding area;

[0026] After receiving the welding completion signal sent by the welding workstation, the handling robot moves the gantry from the RGV trolley to the welding workstation for positioning, clamping and welding.

[0027] Preferably, it also includes:

[0028] After the gantry welding is completed, the welding workstation sends a welding completion signal to the handling robot, so that the handling robot moves the welded gantry to the offline conveyor line and moves another gantry to be welded from the RGV loading position to the welding workstation.

[0029] Preferably, it also includes:

[0030] Multiple welding workstations are set up, and the handling robot performs loading and unloading operations on multiple welding workstations in a first-up-then-down manner.

[0031] Preferably, it also includes:

[0032] Obtain the welding time of the welding workstation and the production line operation rhythm, and calculate the handling capacity of the handling robot. If the handling capacity of the handling robot cannot meet the handling requirements of the production rhythm, coordinate the operation of the RGV trolley to reduce the moving distance of the handling robot to ensure the production rhythm requirements.

[0033] The present invention provides a production line and control method for forklift mast welding. An upstream conveyor line and a double-layer conveyor line transport masts from the assembly area to the welding area. A welding workstation, RGV trolley, and handling robot are installed in the welding area to transport and weld the masts. The welded masts are then transferred to the downstream conveyor line. This solves the problem of manual pairing, low efficiency, and low automation level in existing forklift mast production. It can improve the automation and intelligence level of the forklift mast production line, thereby increasing production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments.

[0035] Figure 1 The present invention provides a structural schematic diagram of a production line for welding forklift masts.

[0036] Figure 2 A schematic diagram of a moving mechanism is provided for an embodiment of the present invention.

[0037] Figure 3 A schematic diagram of the connection between a moving mechanism and a double-layer conveyor line is provided for an embodiment of the present invention.

[0038] Figure 4 It is a schematic diagram of a control method for forklift mast welding provided by the present invention. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the solutions of the embodiments of the present invention, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings and implementation methods.

[0040] In view of the problems of low efficiency and low automation level in the current forklift mast welding, the present invention provides a production line and control method for forklift mast welding, which solves the problems that the existing forklift mast production requires manual pairing, has low efficiency and low automation level, can improve the automation and intelligence level of the forklift mast production line, and improve production efficiency.

[0041] like Figure 1 As shown, a production line for forklift gantry welding includes: an assembly area, an upstream conveyor line, a double-layer conveyor line, a welding area, a handling robot, a welding workstation, an RGV trolley, and a downstream conveyor line. The assembly area is set on the side of the upstream conveyor line. The assembly area is used to manually assemble the inner gantry, middle gantry, and outer gantry and affix product information codes at set positions. The upstream conveyor line is used to manually prime the gantry where the gap is greater than 2mm and to identify and verify the gantry model. The double-layer conveyor line is set parallel to the upstream conveyor line. The gantry of the upstream conveyor line is transferred to the double-layer conveyor line by a transfer and translation mechanism. The double-layer conveyor line sends the gantry to the welding area to wait for loading and welding through the up-first-then-down conveying logic. A transport track is set so that the RGV trolley and the handling robot are set on the same track. The corresponding gantry is transferred from the RGV loading position in the welding area to the welding area by the RGV trolley. A plurality of welding workstations are arranged in the welding area to clamp the loading gantry and weld the welds. After welding is completed, the welding gantry is transported to the offline conveyor line by a transport robot.

[0042] Specifically, the inner, middle, and outer masts are manually assembled and coded in the assembly area. Product information codes are affixed at fixed locations, and then manually hoisted to the upstream conveyor line. Where gaps greater than 2mm are manually primed and the mast model is verified. A double-deck conveyor track feeds materials using a first-up, then-down logic, waiting for welding in the welding area. Based on mast type information transmitted from the front end, the RGV (Removed Vehicle) receives a signal, and its telescopic fork moves to the corresponding position, stably transferring the mast from the RGV loading station in the welding area of ​​the conveyor line to the welding area. This facilitates loading with a handling robot, improving loading efficiency and meeting cycle times. The RVG loading station is located near the handling robot, enabling the robot to move the workpiece to the welding station without moving, simply steering. The welding station positions and clamps the mast, then welds it. Once welding is complete, the welding station sends a signal to the handling robot, which then moves the mast to the downstream conveyor line. This production line enhances the automation and intelligence of forklift door production lines, improving production efficiency.

[0043] Furthermore, the on-line conveyor line is provided with a barcode scanner to scan the product information code when the gantry passes by to preliminarily confirm the gantry product information.

[0044] Furthermore, the on-line conveyor line is provided with a laser line scanning station, which identifies the gantry model through the laser line scanning photo and compares it with the information scanned and identified by the barcode scanner at the front end, and releases it when the identified information is consistent.

[0045] In practice, the laser line scan station must pre-photograph all gantry features to create a feature library for comparison and recall of gantry signals. The laser line scan station identifies the gantry model using line scan photos, then compares this with the information identified by the front-end barcode scanner for secondary error correction. If the scanned information matches the laser line scan, the gantry is released and transported via a translation mechanism to a double-layer conveyor line for delivery to the welding area. Simultaneously, the identified gantry information is transmitted to the handling robot and welding workstation. Inconsistencies between the scanned information and the laser line scan are reported as an alarm, requiring manual confirmation.

[0046] The production line also includes: a cooling area; the cooling area is provided with three double-layer cache lines, which are respectively used for caching the inner gantry, middle gantry and outer gantry that have not been completely cooled after welding; according to the gantry product information, the three different types of gantry after welding on the offline conveyor line are translated to the corresponding double-layer cache lines for caching and cooling through the translation mechanism.

[0047] Specifically, after the gantry is off the line, it is transported to the rear end by the off-line conveyor line. There is a translation mechanism at the rear end of the conveyor line. According to the gantry product information, the three different types of off-line gantries, inner, middle and outer, are translated to the three double-layer conveyor lines through the translation mechanism. The three double-layer cache lines here are used as a cooling warehouse to cache the gantries that have not been completely cooled after welding. At the same time, the inner, middle and outer gantries on the same line are classified here, so that the three lines can store the corresponding inner, middle and outer gantry caches respectively. The imbalance of the welding rhythm of the inner, middle and outer gantries is balanced through the cache, so that the inner, middle and outer gantries can be matched when the rear-end gantry is off the line, avoiding the concentrated off-line of a certain type of gantry, and manually finding the inner, middle and outer gantries for matching and sending them to the painting line.

[0048] The production line also includes: an inner and middle mast turning-over line and an outer mast turning-over line; the inner and middle mast turning-over line and the outer mast turning-over line are both provided with a repair welding station and a correction station; the masts whose temperature in the cooling zone is reduced to below 100°C are transferred to the inner and middle mast turning-over line and the outer mast turning-over line respectively through a translation mechanism for online repair welding and correction, and are automatically turned over and taken offline after the correction is completed.

[0049] Specifically, after being stored in the buffer cooling warehouse, the door frame is cooled to about 100° after welding and then transported to the correction station. According to the structural characteristics of the inner, middle and outer door frames, the correction is divided into two lines, one line for outer door frame correction, and the other line for inner and middle door frame correction. After the correction is completed, it will automatically turn over and go offline.

[0050] Furthermore, the welding workstation includes: a servo hydraulic clamp and a welding robot; the welding workstation transmits a signal based on the transport robot, controls the movement of the servo hydraulic clamp to the desired position according to the gantry length and the opening size, and after the transport robot completes the transport, the servo hydraulic clamp automatically positions and clamps the gantry; the welding robot welds the weld according to the set path on the positioned and clamped gantry.

[0051] Specifically, the servo-hydraulic clamp, based on signals transmitted by the handling robot, moves to the desired position in advance based on the gantry length and opening dimensions. Once the handling robot completes the work, the servo-hydraulic clamp automatically positions and clamps the gantry. To address the structural characteristics of the gantry and the location of the welds, the welding workstation utilizes a dual-machine, single-station layout. Two welding robots are located at either end of the workstation. The two robots have different arm spans, tailored to the weld characteristics at the upper and lower ends of the gantry. This ensures product weldability while reducing costs.

[0052] Further, if Figure 2 and Figure 3As shown, the translation mechanism utilizes a track-mounted shifter with a narrow pre-buried track gauge, flush with the ground to prevent hazards from passing vehicles or people in the passageway. The trolley height can be adjusted to accommodate both the channel steel line station and the robotic welding line. This allows for direct transfer of welded parts to the over-span trolley conveyor chain. The trolley features a transfer function, allowing workpieces to be directly transferred to the upper conveyor line of the robotic welding line upon reaching the upper conveyor line. The system is designed for manual and automatic modes. In automatic mode, the over-span trolley's transport is controlled by the master control system. When a free position is available on the robotic welding line, it automatically moves to the upper conveyor line to transport workpieces. In manual mode, the over-span trolley is manually controlled and can be used to arbitrarily direct material from the transport gantry to the robotic welding line. When the automatic welding line is full, the over-span trolley remains in place until all workpieces have been loaded onto the line, then automatically returns. Manual mode requires authorization to operate. For lower conveyor lines, which involve two levels of conveying, the translation mechanism utilizes a scissor lift mechanism to facilitate transfer to and from the upper conveyor level. It is designed with automatic and manual modes. When manual adjustment is required, manual operation can be performed offline. The front conveying automatically stops at the waiting station. At the same time, transfer and translation trolleys are also set at the front and back ends of the rear cooling storage. The translation trolley at the front end of the cooling storage automatically transfers the gantry to the three different cooling conveyor lines of inner, middle and outer according to the different types of gantry after welding. The translation trolley at the back end of the cooling storage transfers the inner, middle and outer gantry to the correction station according to the inner, middle and outer gantry required to be offline to ensure matching when offline.

[0053] As can be seen, the present invention provides a production line for welding forklift masts. An upstream conveyor line and a double-layer conveyor line transport masts from the assembly area to the welding area. A welding workstation, RGV trolley, and handling robot are installed in the welding area to transport and weld the masts. The welded masts are then transferred to the downstream conveyor line. This solves the problem of manual pairing, low efficiency, and low automation level in existing forklift mast production. It can improve the automation and intelligence level of the forklift mast production line, thereby enhancing production efficiency.

[0054] Accordingly, if Figure 4 As shown, the present invention also provides a control method for forklift mast welding, using the above-mentioned production line, comprising:

[0055] S1: Scan the gantry on the upstream conveyor line and enter the online priming station for manual priming after preliminarily determining the gantry product information.

[0056] S2: The gantry after the primer is completed is transported to the laser line scanning station for gantry model identification and compared with the gantry product information obtained by the front end. If the information is inconsistent, an alarm will be issued and manual confirmation will be processed. If the information is consistent, it will be transported to the area to be welded.

[0057] S3: After receiving the transport signal, the RGV trolley shovels the gantry out of the RGV loading position in the welding area and transfers it to the welding area.

[0058] S4: After receiving the welding completion signal sent by the welding workstation, the handling robot moves the gantry from the RGV trolley to the welding workstation for positioning, clamping and welding.

[0059] Furthermore, the method further comprises:

[0060] S5: After the gantry welding is completed, the welding workstation sends a welding completion signal to the handling robot, so that the handling robot moves the welded gantry to the offline conveyor line and moves another gantry to be welded from the RGV loading position to the welding workstation.

[0061] Furthermore, the method further includes: setting up a plurality of welding workstations, and the handling robot performs loading and unloading operations on the plurality of welding workstations in a first-up and then-down order.

[0062] Furthermore, the method also includes: obtaining the welding time of the welding workstation and the production line operation rhythm, calculating the handling capacity of the handling robot, and if the handling capacity of the handling robot cannot meet the handling requirements of the production rhythm, then coordinating the RGV trolley to cooperate in the operation to reduce the moving distance of the handling robot to ensure the production rhythm requirements.

[0063] In one embodiment, the control process for the automated co-production of 1-3.8t inner, middle, and outer masts and their automatic pairing and delivery to the next process, the coating line, is as follows:

[0064] The 1-3.8t inner, middle and outer gantries are manually assembled and coded in the assembly area. The product information code is affixed at a fixed position and then manually lifted to the upper conveyor line. A barcode scanner is fixed on the upper conveyor line. When the gantry passes through, it is scanned to preliminarily confirm the gantry product information. Then it enters the online primer station. For the parts with assembly gaps greater than 2mm, manual primer is performed first to ensure the stability of robot welding in the subsequent process. After the primer is completed, the gantry is transported to the laser line scanning station through the conveyor line to identify the gantry model through the line scanning photo, and then a secondary error correction and identification is performed with the information scanned and identified by the front-end barcode scanner. If the scanned code information is consistent with the laser line scanning identification information, it is released and transferred to the double-layer conveyor line through the translation mechanism and sent to the welding area. At the same time, the identified gantry information is transmitted to the handling robot and welding workstation. If the scanned code information and the laser line scanning identification information are inconsistent, an alarm is triggered and the process is manually confirmed. The double-layer conveyor track uses a first-up, then-down logic to feed materials, waiting for welding in the waiting area. Based on the type of gantry information transmitted by the front end, the RGV trolley receives a signal and moves its telescopic fork to the corresponding position to stably shovel the gantry from the RGV loading position in the waiting area of ​​the conveyor line to the welding area. It cooperates with the handling robot to load the materials, improving the handling robot's loading efficiency and meeting the cycle time requirements. The RVG and the handling robot share the same track, and the RVG trolley is close to the handling robot, allowing the handling robot to move the workpiece to the welding workstation without moving, only turning. After the gantry welding is completed, the welding workstation sends a signal to the handling robot, which then moves the gantry to the offline conveyor line. The robots maintain a first-up, then-down logic for loading and unloading between multiple welding workstations. After the gantry is off the line, it is transported to the rear end of the conveyor line. There is a translation trolley mechanism at the rear end of the conveyor line. The translation mechanism can translate the three different types of off-line gantries, inner, middle and outer, to three double-layer cache lines respectively. After being stored in the cache cooling warehouse, the temperature of the gantry after welding is cooled to about 100° and then it can be transported to the correction station. After the correction is completed, it will automatically turn over and go off the line.

[0065] As can be seen, the present invention provides a control method for forklift mast welding. The method uses an upstream conveyor line and a double-layer conveyor line to transport masts from the assembly area to the welding area. A welding workstation, RGV trolley, and handling robot are installed in the welding area to transport and weld the masts. The welded masts are then transferred to the downstream conveyor line. This method addresses the issues of manual pairing, low efficiency, and low automation levels in existing forklift mast production. It can improve the automation and intelligence levels of the forklift mast production line, thereby increasing production efficiency.

[0066] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in this industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with this profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. A production line for forklift mast welding, characterized in that: include: Assembly area, upstream conveyor line, double-layer conveyor line, welding area, handling robot, welding workstation, RGV trolley and downstream conveyor line; The assembly area is set on the side of the upper conveyor line, and the assembly area is used to manually assemble the inner door frame, the middle door frame and the outer door frame and affix product information codes at set positions; The upper conveyor line is used to manually prime the area where the gantry gap is greater than 2mm and to identify and check the gantry model; The double-layer conveyor line is arranged in parallel with the upper conveyor line, and the gantry of the upper conveyor line is transferred to the double-layer conveyor line by a transfer and translation mechanism. The double-layer conveyor line sends the gantry to the welding area to wait for welding by the upper-first-lower conveying logic; Set up the transport track so that the RGV trolley and the transport robot can be set on the same track. The RGV trolley can transfer the corresponding gantry from the RGV loading position in the welding area to the welding area to cooperate with the transport robot to load the material. A plurality of welding workstations are arranged in the welding area to clamp the loading gantry and weld the welds. After welding is completed, the welding gantry is transported to the offline conveyor line by a transport robot.

2. The production line for forklift mast welding according to claim 1, characterized in that: The on-line conveyor line is provided with a barcode scanner to scan the product information code when the gantry passes by to preliminarily confirm the gantry product information.

3. The production line for forklift mast welding according to claim 2, characterized in that: The on-line conveyor line is equipped with a laser line scanning station, which identifies the gantry model through the laser line scanning photo and compares it with the information scanned and identified by the barcode scanner at the front end, and releases it when the identified information is consistent.

4. The production line for forklift mast welding according to claim 3, characterized in that: Also includes: Cooling area; The cooling zone is provided with three double-layer buffer lines, which are used for buffering the inner mast, middle mast and outer mast that have not been completely cooled after welding; According to the gantry product information, the three different types of gantry after welding on the offline conveyor line are translated to the corresponding double-layer cache line through a translation mechanism for caching and cooling.

5. The production line for forklift mast welding according to claim 4, characterized in that: Also includes: The inner and middle masts are turned over and offline, and the outer masts are turned over and offline; The inner and middle mast turning and unloading lines and the outer mast turning and unloading lines are both provided with a repair welding station and a correction station; The gantry with the temperature in the cooling zone reduced to below 100°C is transported to the inner and middle gantry turning-over lines and the outer gantry turning-over lines through a translation mechanism for online repair welding and correction. After the correction is completed, the gantry is automatically turned over and taken offline.

6. The production line for forklift mast welding according to any one of claims 1 to 5, characterized in that: The welding workstation includes: a servo hydraulic clamp and a welding robot; The welding workstation controls the servo hydraulic clamp to move to the required position according to the signal transmitted by the transport robot and the length and opening size of the gantry. After the transport robot completes the transport, the servo hydraulic clamp automatically positions and clamps the gantry. The welding robot welds the weld seam of the positioned and clamped portal frame according to a set path.

7. A control method for forklift mast welding, using the production line according to claim 6, characterized in that: include: Scan the gantry on the upstream conveyor line and enter the online primer station for manual primer after preliminarily confirming the gantry product information; The gantry after the primer is completed is transported to the laser line scanning station for gantry model identification and compared with the gantry product information obtained by the front end. If the information is inconsistent, an alarm will be issued and manual confirmation will be processed. If the information is consistent, it will be transported to the welding area; After receiving the transport signal, the RGV trolley shovels the gantry out of the RGV loading position in the welding area and transports it to the welding area; After receiving the welding completion signal sent by the welding workstation, the handling robot moves the gantry from the RGV trolley to the welding workstation for positioning, clamping and welding.

8. The control method for forklift mast welding according to claim 7, characterized in that: Also includes: After the gantry welding is completed, the welding workstation sends a welding completion signal to the handling robot, so that the handling robot moves the welded gantry to the offline conveyor line and moves another gantry to be welded from the RGV loading position to the welding workstation.

9. The control method for forklift mast welding according to claim 8, characterized in that: Also includes: Multiple welding workstations are set up, and the handling robot performs loading and unloading operations on multiple welding workstations in a first-up-then-down manner.

10. The control method for forklift mast welding according to claim 9, characterized in that: Also includes: Obtain the welding time of the welding workstation and the production line operation rhythm, and calculate the handling capacity of the handling robot. If the handling capacity of the handling robot cannot meet the handling requirements of the production rhythm, coordinate the operation of the RGV trolley to reduce the moving distance of the handling robot to ensure the production rhythm requirements.

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