A multi-layer car side push type feeding and discharging system based on visual guidance and a control method thereof

Abstract

The present application relates to the technical field of automatic production equipment, in particular to a multi-layer trolley side-pushing type feeding and discharging system based on visual guidance and a control method thereof, comprising a trolley base and a supporting system, a multi-layer silo storage unit, a side-pushing type cylinder execution mechanism, a visual guidance detection device, a trolley guiding and positioning assembly, a protection and safety assembly, and an electric control system. The present application solves the technical problems of low feeding precision, poor orderliness, unstable trolley docking, insufficient protection, and complicated operation and maintenance of the existing multi-layer trolley feeding and discharging system, realizes high-precision and orderly side-pushing feeding and discharging of multi-layer materials, has high stability of trolley docking, high integration and modularity of the overall structure, and is convenient to operate and maintain, safe and perfect in protection, and can be widely applied to the side-pushing type feeding and discharging process of multi-layer materials in the automatic production lines of automobile parts, 3C electronic products, precision hardware, etc., greatly improving the feeding and discharging rhythm and production efficiency of the production line.

Description

Technical Field

[0001] This invention relates to the field of automated production equipment technology, specifically to a vision-guided multi-layer material cart side-push loading and unloading system and its control method. Background Technology

[0002] With the continuous improvement of automation in the manufacturing industry, automated loading and unloading systems, as the core link of the production line, directly affect the production cycle and product quality of the entire production line in terms of loading efficiency, positioning accuracy, and material storage density. In the mass production of precision parts, traditional single-layer, top-out loading and unloading equipment can no longer meet the production requirements of high-density storage, low workpiece damage, and high-precision positioning. Multi-layer material cart loading and unloading systems have become the development trend.

[0003] The multi-layer hopper design significantly increases the material storage capacity per loading cycle, reducing the frequency of manual replenishment. Compared to traditional ejector loading, side-push loading ensures more even force distribution on the workpiece, effectively preventing deformation and scratches during ejection. Meanwhile, production lines increasingly demand automation and intelligence in their loading and unloading systems, requiring precise triggering and closed-loop control through visual inspection to avoid errors caused by manual intervention. Therefore, developing a vision-guided multi-layer trolley side-push loading and unloading system is crucial for improving the efficiency and stability of automated production lines.

[0004] Existing technical solutions: Currently, in the field of automated material handling, multi-layer material cart-type loading and unloading equipment and side-push actuators have been applied. However, the existing technical solutions most similar to this system still have many shortcomings, mainly falling into the following two categories: Some multi-layer material cart loading and unloading systems use manual or simple limit switches to control the cylinder action, without professional visual guidance and detection devices. The timing of cylinder extension is not precisely matched with the positioning of the material cart, which can easily lead to problems such as cylinder malfunction and workpiece ejection position deviation. This can cause the gripping mechanism to fail to grip accurately, or even cause collision damage between the workpiece and the equipment.

[0005] In addition, some side-push loading and unloading systems have unreasonable cylinder layouts, with multiple sets of cylinders lacking a clear hierarchical triggering sequence, or the triggering logic not matching the number of layers in the hopper. This can easily lead to multiple workpieces being pushed out simultaneously and workpieces interfering with each other, thus damaging the workpiece's posture. Furthermore, the material cart lacks dedicated guiding and positioning components, resulting in low positioning accuracy during docking, which further exacerbates loading deviations.

[0006] In addition, the existing multi-layer material cart loading and unloading systems have low structural integration and lack protective devices. Core components such as cylinders and sensors are directly exposed and are easily contaminated by dust and debris in the production environment, affecting the service life of the equipment. At the same time, the moving and fixing structure of the material cart is rudimentary and has poor stability. During the side-push loading process, the material cart is prone to deflection, reducing the loading accuracy.

[0007] Disadvantages of existing technology: First, the lack of precise visual guidance control results in low loading accuracy. Existing multi-layer material cart loading and unloading systems mostly use simple limit switches or manual control, which cannot detect the material cart positioning status, cylinder extension position, and workpiece arrival status in real time. The action triggering lacks closed-loop control, which easily leads to malfunctions and positioning deviations, affecting the gripping efficiency.

[0008] Second, the cylinder grading triggering logic is missing, resulting in poor material loading order. In some side-push loading and unloading systems, multiple sets of cylinders do not have a preset extension sequence, or the sequence does not match the number of layers in the hopper, causing multiple workpieces to be pushed out simultaneously, interfering with each other, disrupting the workpiece posture, or even causing workpiece jamming.

[0009] Third, the material cart's guiding and positioning structure is inadequate, resulting in poor docking stability. Existing material carts lack dedicated guide blocks for movement and docking guidance, and their support and fixing structures are rudimentary. Under the reaction force of side-push feeding, the material cart is prone to shifting, causing changes in the relative position of the hopper and the side-push cylinder, exacerbating feeding deviations.

[0010] Fourth, the structure has low integration and insufficient protection and stability. The core components of the existing equipment lack protection and are easily contaminated by dust and debris; the design of the material cart base and support structure is unreasonable, and the mobility and stability cannot be balanced. The overall structural rigidity is insufficient, and vibration is likely to occur during operation.

[0011] Fifth, manual material replenishment and equipment maintenance are inconvenient. Some multi-layer silo structures are cumbersome in design, making workpiece placement and replenishment operations inconvenient; at the same time, the core components have a low degree of modularity, making disassembly and replacement difficult when a fault occurs, resulting in low maintenance efficiency. Summary of the Invention

[0012] The purpose of this invention is to provide a vision-guided multi-layer material cart side-push loading and unloading system and its control method to solve the problems mentioned in the background art.

[0013] To achieve the above objectives, the present invention provides the following technical solution: a vision-guided multi-layer material cart side-push loading and unloading system and its control method, comprising a material cart base and support system and an electrical control system. Multi-layer material storage units are installed at the four corner positions of the surface of the material cart base and support system for high-density layered storage of workpieces. Three sets of side-push cylinder actuators are arranged on the outer side of the material cart base and support system to provide lateral thrust for pushing out workpieces. A vision-guided detection device is installed on the surface of the front set of side-push cylinder actuators. A material cart guide and positioning component is arranged on one side of the material cart base and support system to achieve precise docking and positioning between the material cart base and support system and the entire system equipment. Protective and safety components are provided on the surfaces of the material cart base and support system and the side-push cylinder actuators to achieve core component protection and equipment operation safety interlocking. The electronic control system is electrically connected to the visual guidance detection device, the side-push cylinder actuator, and the protection and safety components. It receives the detection signal from the visual guidance detection device and controls multiple sets of cylinders of the side-push cylinder actuator to extend and retract in a graded manner according to a preset number sequence, thereby realizing closed-loop control of the side-push operation.

[0014] Preferably, the material cart base and support system includes a material cart base, casters, adjustable support feet, and side brackets, with the casters and adjustable support feet evenly installed at the bottom of the material cart base.

[0015] Preferably, a side bracket is installed on the surface of the material cart base, and a base lifting assembly is provided below the material cart base. The base lifting assembly is used to lift the material cart base. The base lifting assembly includes a support base, a lifting cylinder and a cylinder cover. A lifting cylinder is installed at each of the four corners of the support base. The lifting cylinder can lift the material cart base, and a cylinder cover is fitted on the outer shell of the lifting cylinder.

[0016] Preferably, the multi-layer silo storage unit includes a U-shaped bracket, support blocks, and hinge plates. The U-shaped bracket is fixed to the surface of the material cart base, and multiple sets of support blocks are hinged to the inner wall of the U-shaped bracket, and the support blocks are hinged to each other through hinge plates.

[0017] Preferably, the side-push cylinder actuator includes a cylinder mounting bracket, a side-push cylinder, and a pressure block. Multiple sets of side-push cylinders are fixed to the surface of the cylinder mounting bracket, and a pressure block is installed at the output end of the side-push cylinder.

[0018] Preferably, the visual guidance detection device includes a sensing sheet, a photoelectric switch, a sensor bracket, and a photoelectric sensor, wherein the sensing sheet is fixed on the material cart base.

[0019] Preferably, the photoelectric switch is fixed to the cylinder mounting bracket via a bracket, and the photoelectric switch cooperates with the sensing plate to sense the position of the material cart base; the sensor bracket is fixed to the surface of the cylinder mounting bracket, and the surface of the cylinder mounting bracket is provided with multiple sets of photoelectric sensors.

[0020] Preferably, the material cart guiding and positioning assembly includes at least two guide blocks, which are high-strength wear-resistant metal blocks, and are respectively fixed at the docking end of the equipment and the corresponding position of the material cart.

[0021] Preferably, the protection and safety components include a light grid and a protective cover. The protective cover is a metal protective structure that covers the outside of the side-push cylinder to provide dust and collision protection for the side-push cylinder, thereby extending the service life of the components. The light grid is installed on the surface of the material cart base and is used to warn whether personnel or foreign objects have accidentally entered the work area.

[0022] This invention also provides a control method for a vision-guided multi-layer material cart side-push loading and unloading system, applied to the aforementioned system, comprising the following steps: S1: During the material cart docking stage, the manual pusher moves the material cart along the guide block's trajectory to the equipment docking position, lowers the adjustable support feet to fix the material cart, and the photoelectric switch detects that the material cart has docked in place and sends a signal to the electrical control system; S2: In the initial triggering stage, the electronic control system controls the first set of side push cylinders to extend. After the photoelectric sensor detects that the side push cylinder has extended to the position, the system waits for the material grabbing signal from the gripping mechanism. S3: In the stage of graded side push, after the gripping mechanism completes the gripping of the previous workpiece, it sends a signal to the electronic control system. The electronic control system triggers the next set of side push cylinders to extend according to the preset logic, and pushes the workpiece to the gripping position. This process is repeated to achieve graded side push of multiple sets of side push cylinders. S4: Grasping and Resetting Stage. After the gripping mechanism completes the workpiece gripping, the electronic control system controls the corresponding side push cylinder to retract. The photoelectric sensor detects that the side push cylinder has retracted into place and then resets the signal. S5: Safety interlock phase. Throughout the entire operation, the grating monitors the working area in real time. If personnel or foreign objects are detected entering the area, a signal is immediately sent to the electronic control system, and the system immediately stops the operation of all cylinders.

[0023] Compared with the prior art, the beneficial effects of the present invention are: 1. Visual-guided closed-loop control ensures high feeding accuracy and reliability. Photoelectric sensors monitor the material cart positioning, cylinder extension, and workpiece arrival status in real time, providing precise signals for graded cylinder triggering. This achieves closed-loop control of the side-pushing action, completely preventing cylinder malfunctions, ensuring the positioning accuracy of the workpiece pushed to the gripping position, and improving the gripping efficiency of the gripping mechanism.

[0024] 2. Cylinder-based staged triggering ensures orderly material feeding. Based on the multi-layered hopper layout, multiple sets of cylinders are pre-set with an extension sequence. Combined with visual guidance signals, this achieves staged and sequential side-pushing, effectively avoiding the problem of simultaneous ejection and interference of multiple workpieces. This ensures stable workpiece posture during cylinder side-pushing, preventing deviation or tipping.

[0025] 3. Precise material cart guidance and positioning, and high docking stability. A dedicated guide block ensures precise guidance for the material cart's movement and docking. The combination of adjustable support legs and casters balances the cart's mobility with stability, effectively preventing cart offset caused by the side-push loading reaction force, ensuring the relative position of the hopper and cylinder remains unchanged, and further improving loading accuracy.

[0026] 4. Optimized structural design, high integration and protection. Adopting a modular metal frame structure, the installation positions of each functional component are precise, the overall structure has high rigidity, and vibration is minimal during operation; the protective cover provides comprehensive protection for core components such as cylinders and sensors, effectively isolating dust and debris contamination and extending the equipment's service life.

[0027] 5. High ease of operation and maintenance. The multi-layer silo adopts a modular design, making workpiece placement and manual replenishment convenient; the material cart can move flexibly via casters, and slides along the guide blocks during docking, eliminating the need for complex alignment operations; core components are all modularly installed using welded brackets, making disassembly, replacement, and maintenance convenient and reducing operation and maintenance costs.

[0028] 6. Comprehensive safety protection and high operational safety. The system is equipped with a light grating as a safety interlock device, enabling immediate shutdown protection in case of accidental personnel entry, fundamentally preventing safety accidents. Simultaneously, the pre-compression design of the pressure block on the workpieces in the hopper further ensures the safety of the equipment and workpieces during the side-pushing process.

[0029] 7. High storage density and improved feeding efficiency. The multi-layer silo layout significantly increases the material storage capacity per feeding, reduces the frequency of manual replenishment, and, combined with the high-speed and orderly action of the cylinder-driven staged side push, effectively improves the loading and unloading cycle time and production efficiency of the entire production line.

[0030] 8. High versatility and expandability. The material bins and cylinders of this system can be modularly replaced according to the size and specifications of the workpieces. The positions of the guide blocks and support structures can be flexibly adjusted, making it suitable for loading and unloading precision workpieces of different types and sizes. At the same time, the number of material bin layers and cylinder groups can be expanded according to the needs of the production line, which has broad application prospects. Attached Figure Description

[0031] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the workpiece separation state structure of the present invention; Figure 3 This is a schematic diagram of a partial explosion structure of the present invention; Figure 4 This is a schematic diagram of the exploded structure of the present invention; Figure 5 This is an enlarged structural schematic diagram of the material cart base and support system of the present invention; Figure 6 This is a schematic diagram of the original state of the multi-layer silo storage unit of the present invention; Figure 7 This is a schematic diagram of the working state of the multi-layer silo storage unit of the present invention; Figure 8 This is an enlarged structural schematic diagram of the visual guidance detection device of the present invention; Figure 9 This is an enlarged structural schematic diagram of the base lifting assembly of the present invention.

[0032] In the diagram: 1. Cart base and support system; 11. Cart base; 12. Side bracket; 13. Casters; 14. Adjustable support feet; 2. Multi-layer silo storage unit; 21. U-shaped bracket; 22. Support block; 23. Hinge piece; 3. Side-push cylinder actuator; 31. Cylinder mounting bracket; 32. Side-push cylinder; 33. Pressure block; 4. Visual guidance detection device; 41. Sensor plate; 42. Photoelectric switch; 43. Sensor bracket; 44. Photoelectric sensor; 62. Grating; 5. Cart guide and positioning assembly; 51. Guide block; 6. Protection and safety assembly; 61. Grating; 62. Protective cover; 7. Electrical control system; 8. Base lifting assembly; 81. Support seat; 82. Lifting cylinder; 83. Cylinder cover. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. In addition, the terms "first," "second," "third," "upper," "lower," "left," "right," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. At the same time, in the description of the present invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. 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.

[0034] The present invention provides a vision-guided multi-layer material cart side-push loading and unloading system and its control method, the structure of which is as follows: Figure 1 , Figure 5as well as Figure 9 As shown, the system includes a material cart base and support system 1 for providing load-bearing and movable fixed support for the entire system, and an electrical control system 7 for control. The material cart base and support system 1 includes a material cart base 11, casters 13, adjustable support feet 14, and side brackets 12. The material cart base 11 is a high-strength metal welded frame structure. The casters 13 and adjustable support feet 14 are evenly installed at the bottom of the material cart base 11. The side brackets 12 are installed on the surface of the material cart base 11. A base lifting assembly 8 is provided below the material cart base 11. The base lifting assembly 8 is used to lift the material cart base 11 to accommodate a lower height material cart base 11. The base lifting assembly 8 includes a support seat 81, a lifting cylinder 82, and a cylinder cover 83. A lifting cylinder 82 is installed at each of the four corners of the support seat 81. The lifting cylinder 82 can lift the material cart base 11, and the cylinder cover 83 is fitted on the outer shell of the lifting cylinder 82.

[0035] During implementation, the material cart can be moved and fixed flexibly by means of casters 13 and adjustable support feet 14. The adjustable support feet 14 are spaced apart from the casters 13. After the material cart is docked in place, the adjustable support feet 14 are adjusted downward to make them contact the ground, so as to achieve stable fixing of the material cart and prevent the material cart from deviating during side pushing.

[0036] Furthermore, such as Figure 2 , Figure 6 as well as Figure 7 As shown, multi-layer storage units 2 are installed at the four corners of the material cart base and the surface of the support system 1. The multi-layer storage units 2 are used for high-density layered storage of workpieces. The multi-layer storage units 2 include U-shaped brackets 21, support blocks 22 and hinge pieces 23. The U-shaped brackets 21 are fixed to the surface of the material cart base 11. Multiple sets of support blocks 22 are hinged to the inner wall of the U-shaped brackets 21, and the support blocks 22 are hinged to each other through the hinge pieces 23.

[0037] Specifically, the multi-layer hopper storage unit 2 has a modular structure and is arranged in multiple layers at designated positions on the base of the material cart. The inner wall of the hopper is smooth and polished to reduce friction between the workpiece and the hopper. An elastic pressure block is installed near the side push end inside the hopper. The elastic pressure block flexibly pre-presses the workpiece inside the hopper to ensure the stability of the workpiece's posture during the cylinder side push process and to prevent the workpiece from shifting, tipping, or being scratched.

[0038] Furthermore, such as Figure 3 as well as Figure 8As shown, three sets of side-push cylinder actuators 3 are provided on the outer side of the material cart base and support system 1 to provide lateral thrust for pushing out workpieces. The side-push cylinder actuator 3 includes a cylinder mounting bracket 31, a side-push cylinder 32, and a pressure block 33. Multiple sets of side-push cylinders 32 are fixed on the surface of the cylinder mounting bracket 31. The output end of the side-push cylinder 32 is equipped with a pressure block 33. The multiple sets of side-push cylinders 32 and the support block 22 form a one-to-one correspondence of the multi-layer material bins. Each set of side-push cylinders 32 corresponds to the workpiece side-push station of one layer of material bin. The output end of the side-push cylinder 32 faces the inside of the material bin and is precisely aligned with the workpiece pushing position in the material bin. The side-push cylinder 32 is connected to the electrical control system 7 through the air circuit.

[0039] During implementation, under the control of the electronic control system 7, the cylinders extend and retract in stages according to the numbering sequence preset in the pneumatic circuit diagram. The side thrust cylinder 32 is a high-precision thrust cylinder to ensure uniform side thrust and accurate extension position.

[0040] Furthermore, such as Figure 4 as well as Figure 8 As shown, a visual guidance detection device 4 is mounted on the surface of a set of side-push cylinder actuators 3 on the front side. The visual guidance detection device 4 includes a sensing plate 41, a photoelectric switch 42, a sensor bracket 43, and a photoelectric sensor 44. The sensing plate 41 is fixed on the material cart base 11. The photoelectric switch 42 is fixed to the cylinder mounting bracket 31 through the bracket. The photoelectric switch 42 and the sensing plate 41 are used to sense the arrival of the material cart base 11. The sensor bracket 43 is fixed to the surface of the cylinder mounting bracket 31. Multiple sets of photoelectric sensors 44 are provided on the surface of the cylinder mounting bracket 31.

[0041] Specifically, photoelectric sensors 44 are distributed at key locations such as the material cart docking end, the cylinder extension end, and the workpiece gripping position (S1~S7), respectively detecting the docking status of the material cart, the extension status of the cylinder, and the workpiece being pushed out to the gripping position. The detection signals of the photoelectric sensors 44 are transmitted to the electronic control system 7 in real time, serving as the core basis for the graded triggering of the cylinder.

[0042] Furthermore, such as Figure 2 as well as Figure 3 As shown, a material cart guide and positioning component 5 is provided on one side of the material cart base and support system 1. The material cart guide and positioning component 5 is used to achieve precise docking and positioning of the material cart base and support system 1 with the entire system equipment. The material cart guide and positioning component 5 includes at least two guide blocks 51. The guide blocks 51 are high-strength wear-resistant metal blocks. The high-strength wear-resistant metal blocks can maintain high guiding accuracy even after long-term use, avoiding positioning deviation caused by guide wear. They are fixed at the docking end of the equipment and the corresponding position of the material cart, respectively. The docking surface of the guide block 51 is a matching inclined surface / straight groove surface.

[0043] During implementation, when the material cart moves to the docking area of ​​the equipment, it slides along the docking surface trajectory of the guide block 51 to achieve precise alignment between the material cart and the equipment, ensuring the coaxiality of the hopper, the cylinder output end, and the workpiece gripping position; the connection between the guide block 51 and the material cart / equipment is detachable and fixed, which facilitates adjustment of the position according to actual docking requirements.

[0044] Furthermore, such as Figure 5 as well as Figure 8 As shown, the material cart base and support system 1 and the side-push cylinder actuator 3 are provided with a protection and safety component 6. The protection and safety component 6 is used to realize the protection of core components and the safe interlock of equipment operation. The protection and safety component 6 includes a light grid 61 and a protective cover 62. The protective cover 62 is a metal protective structure that covers the outside of the side-push cylinder 32 to prevent dust and debris in the production environment from contaminating the components of the side-push cylinder 32, and at the same time avoid the components from being damaged by collisions, so as to extend the service life of the components. The light grid 61 is installed on the surface of the material cart base 11 and is electrically connected to the electrical control system 7. It is a safety protection detection component of the equipment. The light grid 61 is used to warn whether personnel or foreign objects have accidentally entered the work area.

[0045] During implementation, the grating 61 is a safety interlock device that is linked with the electrical control system 7. When the grating 61 detects personnel or foreign objects entering the equipment's working area, it immediately sends a stop signal to the electrical control system 7. After receiving the signal, the electrical control system 7 immediately controls all cylinders to stop operating, ensuring the safe operation of the equipment. The cylinders can only be restarted after the foreign object is removed and the grating 61's detection signal is restored.

[0046] The electronic control system 7 of the present invention is electrically connected to the visual guidance detection device 4, the side-push cylinder actuator 3, and the protection and safety component 6. It receives the detection signal from the visual guidance detection device 4 and controls multiple sets of cylinders of the side-push cylinder actuator 3 to extend and retract in a graded manner according to a preset numbering sequence, thereby realizing closed-loop control of the side-push operation.

[0047] This invention also provides a control method for a vision-guided multi-layer material cart side-push loading and unloading system, applied to the aforementioned system, comprising the following steps: S1: During the material cart docking stage, the manual pusher moves the material cart along the trajectory of the guide block 51 to the docking position of the equipment, lowers the adjustable support foot 14 to fix the material cart, and the photoelectric switch 42 detects that the material cart has docked in place and sends a signal to the electrical control system 7. S2: In the initial triggering stage, the electronic control system 7 controls the first set of side push cylinders 32 to extend. After the photoelectric sensor 44 detects that the side push cylinder 32 has extended to the position, the system waits for the material grabbing signal from the grabbing mechanism. S3: In the stage of graded side push, after the gripping mechanism completes the gripping of the previous workpiece, it sends a signal to the electronic control system 7. The electronic control system 7 triggers the next set of side push cylinders 32 to extend according to the preset logic, and pushes the workpiece to the gripping position. This process is repeated to realize the graded side push of multiple sets of side push cylinders 32. S4: Grasping and Resetting Stage. After the gripping mechanism completes the workpiece gripping, the electronic control system 7 controls the corresponding side push cylinder 32 to retract. The photoelectric sensor 44 detects that the side push cylinder 32 has retracted into place and then the signal is reset. S5: Safety interlock phase. Throughout the entire operation, the grating 61 monitors the working area in real time. If personnel or foreign objects are detected entering the area, a signal is immediately sent to the electronic control system 7, and the system immediately stops the operation of all cylinders.

[0048] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A vision-guided multi-layer material cart side-push loading and unloading system, comprising a material cart base and support system (1) and an electrical control system (7), characterized in that: Multi-layer storage units (2) are installed at the four corners of the surface of the material cart base and support system (1). The multi-layer storage units (2) are used for high-density layered storage of workpieces. Three sets of side-push cylinder actuators (3) are provided on the outside of the material cart base and support system (1) to provide side thrust for pushing out workpieces. A visual guidance detection device (4) is installed on the surface of the front set of side-push cylinder actuators (3). A material cart guide positioning component (5) is provided on one side of the material cart base and support system (1). The material cart guide positioning component (5) is used to achieve precise docking and positioning of the material cart base and support system (1) and the entire system equipment. Protective and safety components (6) are provided on the surface of the material cart base and support system (1) and the side-push cylinder actuators (3). The protective and safety components (6) are used to achieve interlocking of core component protection and equipment operation safety. The electronic control system (7) is electrically connected to the visual guidance detection device (4), the side-push cylinder actuator (3), and the protection and safety components (6). By receiving the detection signal from the visual guidance detection device (4), and controlling multiple sets of cylinders of the side-push cylinder actuator (3) to extend and retract in a graded manner according to the preset number sequence, the closed-loop control of the side-push operation is realized.

2. The vision-guided multi-layer material cart side-push loading and unloading system according to claim 1, characterized in that: The material cart base and support system (1) includes a material cart base (11), a side bracket (12), casters (13), and adjustable support feet (14), with the casters (13) and adjustable support feet (14) evenly installed at the bottom of the material cart base (11).

3. The vision-guided multi-layer material cart side-push loading and unloading system according to claim 2, characterized in that: The surface of the material cart base (11) is equipped with a side bracket (12), and a base lifting assembly (8) is provided below the material cart base (11). The base lifting assembly (8) is used to lift the material cart base (11). The base lifting assembly (8) includes a support base (81), a lifting cylinder (82) and a cylinder cover (83). The support base (81) is equipped with lifting cylinders (82) at the four corners. The lifting cylinders (82) can lift the material cart base (11), and the cylinder cover (83) is fitted on the outer shell of the lifting cylinder (82).

4. The vision-guided multi-layer material cart side-push loading and unloading system according to claim 1, characterized in that: The multi-layer silo storage unit (2) includes a U-shaped bracket (21), support blocks (22) and hinge pieces (23). The U-shaped bracket (21) is fixed to the surface of the material cart base (11). Multiple sets of support blocks (22) are hinged to the inner wall of the U-shaped bracket (21), and the support blocks (22) are hinged to each other through the hinge pieces (23).

5. A vision-guided multi-layer material cart side-push loading and unloading system according to claim 1, characterized in that: The side-push cylinder actuator (3) includes a cylinder mounting bracket (31), a side-push cylinder (32) and a pressure block (33). Multiple sets of side-push cylinders (32) are fixed on the surface of the cylinder mounting bracket (31), and a pressure block (33) is installed at the output end of the side-push cylinder (32).

6. The vision-guided multi-layer material cart side-push loading and unloading system according to claim 1, characterized in that: The visual guidance detection device (4) includes a sensor sheet (41), a photoelectric switch (42), a sensor bracket (43), and a photoelectric sensor (44). The sensor sheet (41) is fixed on the material cart base (11).

7. A vision-guided multi-layer material cart side-push loading and unloading system according to claim 6, characterized in that: The photoelectric switch (42) is fixed to the cylinder mounting bracket (31) by a bracket. The photoelectric switch (42) and the sensing plate (41) are used to sense the position of the material cart base (11). The sensor bracket (43) is fixed to the surface of the cylinder mounting bracket (31). The surface of the cylinder mounting bracket (31) is provided with multiple sets of photoelectric sensors (44).

8. A vision-guided multi-layer material cart side-push loading and unloading system according to claim 1, characterized in that: The material cart guiding and positioning component (5) includes at least two guide blocks (51), which are high-strength wear-resistant metal blocks and are fixed at the corresponding positions of the equipment docking end and the material cart, respectively.

9. A vision-guided multi-layer material cart side-push loading and unloading system according to claim 1, characterized in that: The protection and safety component (6) includes a grating (61) and a protective cover (62). The protective cover (62) is a metal protective structure that covers the outside of the side-push cylinder (32) to provide dust and collision protection for the side-push cylinder (32) and extend the service life of the component. The grating (61) is installed on the surface of the material cart base (11) and is used to warn whether personnel or foreign objects have accidentally entered the work area.

10. A control method for a vision-guided multi-layer material cart side-push loading and unloading system, applied to the system described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1: Material cart docking stage, the manual pusher moves the material cart along the trajectory of the guide block (51) to the docking position of the equipment, and lowers the adjustable support foot (14) to fix the material cart. The photoelectric switch (42) detects that the material cart is docked in place and sends a signal to the electrical control system (7); S2: Initial triggering stage, the electrical control system (7) controls the first set of side push cylinders (32) to extend. After the photoelectric sensor (44) detects that the side push cylinder (32) has extended in place, the system waits for the material picking signal from the gripping mechanism; S3: Graded side push stage, after the gripping mechanism completes the gripping of the previous workpiece, it sends a signal to the electrical control system (7). The electrical control system (7) triggers the next set of side push cylinders (32) to extend according to the preset logic, and pushes the workpiece to the gripping position. The graded side push of multiple sets of side push cylinders (32) is realized in sequence. S4: Grabbing and Resetting Stage. After the gripping mechanism completes the gripping of the workpiece, the electrical control system (7) controls the corresponding side-push cylinder (32) to retract. The photoelectric sensor (44) detects that the side-push cylinder (32) has retracted into place and then the signal is reset. S5: Safety Interlocking Stage. During the entire working process, the grating (61) detects the working area in real time. If personnel or foreign objects are detected to have entered the area, a signal is immediately sent to the electrical control system (7), and the system immediately stops the action of all cylinders.

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