Positioning system, method, storage medium and computer program product for product pallets

Abstract

The application relates to the technical field of new energy vehicles, in particular to a positioning system and method for product trays, a storage medium and a computer program product, wherein the system comprises: a damping unit; a trial teaching unit, wherein the trial teaching unit is fixed on a roller line, and motion parameters in the process that a product tray on the roller line collides with the trial teaching unit are collected; a controller, which is used for calculating a target damping corresponding to the product tray according to the motion parameters; and an upper computer, which is used for controlling the damping unit to output a target resistance according to the target damping, so that the positioning of the product tray is realized based on the damping unit outputting the target damping. Therefore, the problems that the buffering effect of mixed-line production of different product trays is poor, the positioning effect is inaccurate, the workload of manual debugging is large, and the difficulty is high in the prior art are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of new energy vehicles, in particular to a positioning system and method for product trays, a storage medium and a computer program product. BACKGROUND

[0002] With the gradual rise of customization in the new energy vehicle consumer market, automobile manufacturers are increasingly emphasizing the flexibility of production lines. This is particularly true for batteries, electric drives, and electronic controls, which are core components of new energy vehicles. Mixed production of multiple products on a production line is now the norm. Electric drive production assembly lines often mix multiple products, and the different types of products result in differences in the quality of trays on the roller line.

[0003] In related technologies, the traditional roller line damping unit can only select a corresponding damping unit based on the mass characteristics of the product. The general stop position is placed in the middle of the mother tray to facilitate stable positioning. Since the damping unit has only one damping state, when the product mass is much greater than the initial adjustment value of the damping unit, the tray will bounce after hitting the damping unit, making it impossible to accurately position the lifting tray. When the product mass is much smaller than the damping unit, the tray will be slowed down after hitting the damping unit and will stop moving before reaching the precise positioning position, also making it impossible to accurately position.

[0004] Even if the masses of different product trays are not significantly different, the unstable impact state of the damping unit has a significant impact on product assembly quality, especially for certain pre-installed parts and pre-installed tooling. Although there is a damping unit on the market that can be manually adjusted, the adjustment method is to manually adjust the damping force by repeatedly hitting the damping unit with the same tray. However, because there are no specific parameters to correspond to, the experience of the operator is required to be high, and multiple damping units on the line need to be adjusted one by one, which is a large amount of work and cannot guarantee the stability and uniformity of the damping unit blocking effect. At the same time, this damping unit also has only one damping state, and it also faces the problem of poor buffering effect and poor positioning effect for different products with large quality differences in mixed production. SUMMARY

[0005] The present application provides a positioning system and method for product trays, a storage medium and a computer program product to solve the problems of poor buffering effect, inaccurate positioning, and large and difficult manual debugging work in related technologies for mixed production of different product trays.

[0006] The first aspect of this application provides a product pallet positioning system, including: a damping unit; a teaching unit, wherein the teaching unit is fixed on a roller conveyor and collects motion parameters of the product pallet impacting the teaching unit on the roller conveyor; a controller, used to calculate the target damping corresponding to the product pallet based on the motion parameters; and a host computer, used to control the damping unit to output the target resistance based on the target damping, and to realize the positioning of the product pallet based on the damping unit outputting the target damping.

[0007] Optionally, motion parameters include the impact pressure value and the actual displacement of the product tray.

[0008] Optionally, the trial teaching unit includes: a main body of equipment, a linear damping mechanism, a grating displacement sensor, a pressure sensor, and a linear slide rail. The linear damping mechanism is fixed above the main body of equipment, the grating displacement sensor is connected to the sliding assembly via a connecting rod, the pressure sensor is fixed at the front end of the sliding assembly, the linear slide rail is fixed to the main body of equipment, and a slider is provided on the linear slide rail, which fixes the sliding assembly. The product tray impacts the sliding assembly, and the slider moves on the linear slide rail and impacts the linear damping mechanism until the product tray comes to a stop. The pressure sensor collects the impact pressure value, and the grating displacement sensor collects the actual displacement of the product tray.

[0009] Optionally, it also includes: a teaching device for controlling the teaching mode of the teaching unit and forwarding the motion parameters collected by the teaching unit to the controller; the teaching unit also includes: a communication module for communicating with the teaching device.

[0010] Optionally, the trial teaching unit also includes a display screen for displaying the impact pressure value and actual displacement.

[0011] Optionally, the controller is also used to calculate the target damping corresponding to the product tray based on the collision pressure value and the actual displacement.

[0012] Optionally, the damping unit includes: a cylinder body, a hydraulic damper, a throttle adjustment screw turbine, a micro servo motor, a worm gear, and a blocking lever. The hydraulic damper is connected to the cylinder piston rod of the cylinder body. The throttle adjustment screw turbine is fixed on the cylinder body and has a spline sliding fit with the hydraulic damper. The worm gear is fixed on the shaft of the micro servo motor, and the blocking lever is fixed above the cylinder body. The micro servo motor rotates to drive the throttle adjustment screw turbine of the hydraulic damper to adjust the damping parameters of the hydraulic damper.

[0013] The second aspect embodiment of the present application provides a positioning method of a product tray. The method is positioned by using the positioning system of the product tray. The method comprises the following steps: acquiring motion parameters of the product tray during the process of hitting the teaching unit on the roller line; calculating the target damping corresponding to the product tray according to the motion parameters; and controlling the damping unit to output the target damping force according to the target damping. The damping unit based on the output target damping realizes the positioning of the product tray.

[0014] The third aspect embodiment of the present application provides a computer readable storage medium, which stores a computer program or instructions. When the computer program or instructions are executed, the positioning method of the product tray is realized.

[0015] The fourth aspect embodiment of the present application provides a computer program product, which comprises a computer program or instructions. When the computer program or instructions are executed, the positioning method of the product tray is realized.

[0016] Therefore, the present application has the following beneficial effects:

[0017] In the present application, the teaching unit accurately reads the motion parameters of the product tray during the process of hitting the teaching unit on the roller line and uploads the motion parameters to the teaching device. The teaching device forwards the motion parameters to the controller. The controller calculates the target damping corresponding to the product tray according to the obtained motion parameters and interacts with the upper computer. The upper computer controls the damping unit to output the target damping force according to the obtained target damping. Thus, the closed-loop control of the damping unit on the whole line is realized, the manual debugging workload is greatly reduced, and the debugging difficulty is reduced. In addition, the damping unit can set different damping parameters according to different quality trays. The same damping unit realizes the automatic control of the damping force of the damping unit, effectively reduces the vibration of the tray, realizes the accurate positioning, is more intelligent, and ensures the automatic assembly quality.

[0018] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0020] Figure 1 FIG. 1 is a block diagram of a positioning system of a product tray according to an embodiment of the present application;

[0021] Figure 2 FIG. 2 is a structural schematic diagram of a teaching unit according to an embodiment of the present application;

[0022] Figure 3 FIG. 3 is a structural schematic diagram of a positioning system of a product tray according to an embodiment of the present application;

[0023] Figure 4 A structural schematic diagram of a damping unit according to an embodiment of the present application;

[0024] Figure 5 A flowchart of a positioning method of a product tray according to an embodiment of the present application;

[0025] Label explanation: 110-damping unit, 120-teaching unit, 130-controller, 150-teaching device, 160-display, 2-1-equipment body, 2-2-linear damping mechanism, 2-3-grating displacement sensor, 2-4-pressure sensor, 2-5-straight line slide rail, 2-6-communication module, 2-7-display screen, 2-8-sliding assembly, 4-1-cylinder body, 4-2-hydraulic buffer, 4-3-throttle adjusting screw turbine, 4-4-micro servo motor, 4-5-worm and 4-6-blocking lever. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below with reference to the accompanying drawings. Examples of the embodiments are shown in the drawings, in which the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0027] The positioning system, method, storage medium and computer program product of a product tray according to an embodiment of the present application are described below with reference to the accompanying drawings. In view of the poor buffering effect, inaccurate positioning effect, large and difficult manual debugging workload of mixed production of different product trays in the background art, the present application provides a positioning system of a product tray. In the system, the teaching unit accurately reads the motion parameters of the product tray on the roller line during the impact of the teaching unit and uploads them to the teaching device. The teaching device forwards the motion parameters to the controller. The controller calculates the target damping corresponding to the product tray according to the obtained motion parameters and interacts with the upper computer. The upper computer controls the damping unit to output the target damping force according to the obtained target damping. The damping unit based on the output target damping realizes the positioning of the product tray. Thus, the problems of poor buffering effect, inaccurate positioning effect, large and difficult manual debugging workload of mixed production of different product trays in the related art are solved.

[0028] Specifically, Figure 1 A block diagram of a positioning system of a product tray according to an embodiment of the present application.

[0029] As Figure 1 shown, the positioning system of the product tray includes a damping unit 110, a teaching unit 120, a controller 130 and an upper computer 140.

[0030] The test unit 120 is fixed on the roller line to collect the motion parameters of the product tray in the process of impacting the test unit 120 on the roller line; the controller 130 is used for calculating the target damping corresponding to the product tray according to the motion parameters; and the host computer 140 is used for controlling the damping unit 110 to output the target resistance according to the target damping, so that the product tray is positioned based on the damping unit 110 outputting the target damping.

[0031] The motion parameters include the impact pressure value and the actual displacement of the product tray.

[0032] It can be understood that the test unit 120 is fixed on the roller line to collect the motion parameters of the product tray in the process of impacting the test unit 120 on the roller line, the controller 130 calculates the target damping corresponding to the product tray according to the motion parameters and marks, the controller 130 can automatically name the damping unit 110, the controller 130 interacts with the host computer 140, the host computer 140 controls the damping unit 110 to output the target resistance according to the target damping, and the product tray is positioned based on the damping unit 110 outputting the target damping, which is more intelligent.

[0033] In the embodiment of the application, as shown in Figure 2 The test unit 120 includes a device main body 2-1, a linear damping mechanism 2-2, a grating displacement sensor 2-3, a pressure sensor 2-4, a linear slide rail 2-5 and a sliding assembly 2-8.

[0034] The linear damping mechanism 2-2 is fixed above the device main body 2-1, the connecting rod of the grating displacement sensor 2-3 is connected with the sliding assembly 2-8, the pressure sensor 2-4 is fixed at the front end of the sliding assembly 2-8, the linear slide rail 2-5 is fixed on the device main body 2-1, the linear slide rail 2-5 is provided with a sliding block, the sliding block fixes the sliding assembly 2-8, the product tray impacts the sliding assembly 2-8, the sliding block moves on the linear slide rail 2-5 and impacts the linear damping mechanism 2-2 until the product tray is stationary, the pressure sensor 2-4 collects the impact pressure value, and the grating displacement sensor 2-3 collects the actual displacement of the product tray.

[0035] It can be understood that the product tray moves to the test unit 120, contacts the sliding assembly 2-8 and pushes it to move, the pressure sensor 2-4 obtains the impact pressure value, the sliding assembly 2-8 first compresses the grating displacement sensor 2-3, then contacts the linear damping mechanism 2-2, and then continues to compress until the speed of the tray and the sliding assembly 2-8 is zero, so that the impact pressure value and the actual displacement of the product tray are obtained.

[0036] In the embodiment of the application, the test unit 120 further includes a communication module 2-6. As Figure 3As shown, the positioning system of the product tray in the embodiment of the present application further comprises a teaching device 150, wherein the communication module 2-6 is configured to communicate with the teaching device 150, the teaching device 150 is configured to control the teaching mode of the teaching unit 120 and forward the motion parameters collected by the teaching unit 120 to the controller 130.

[0037] It can be understood that the teaching device 150 is connected to the communication module 2-6 of the teaching unit 120, sets the teaching mode, ensures the accuracy of the motion parameters, and uploads the motion parameters to the controller 130 to complete data collection. This data collection is more convenient and accurate, and by this way, the teaching device 150 is placed in other scenes that need to be buffered, the kinetic energy parameters of the moving mechanism can be quickly read, which helps to more intuitively and accurately understand the motion state and verify the stability of the mechanism.

[0038] In the embodiment of the present application, the teaching unit 120 further comprises a display screen 2-7.

[0039] The display screen 2-7 is configured to display the collision pressure value and the actual displacement, and is respectively installed at the tail and the side of the device main body 2-1.

[0040] It should be noted that the teaching unit 120 can be placed in other application scenarios through the connecting piece, which is used to measure the kinetic energy of the moving mechanism and display on the display 160.

[0041] In the embodiment of the present application, the controller 130 is further configured to calculate the target damping corresponding to the product tray according to the collision pressure value and the actual displacement.

[0042] It can be understood that the controller 130 calculates the target damping corresponding to the product tray according to the collision pressure value and the actual displacement through an internal algorithm.

[0043] Specifically, the product tray moves to the teaching unit 120, contacts the sliding assembly 2-8 and pushes it to move, the pressure sensor 2-4 obtains the collision pressure value, the sliding assembly 2-8 first compresses the grating displacement sensor 2-3, and then contacts the linear damping mechanism 2-2, at this time, the first section displacement S1 is recorded, the time t1 is recorded, and the force is extremely small and is ignored. Then, continue to compress until the tray and the sliding assembly 2-8 speed is zero to obtain the second section displacement S2 and the force F(s). Considering that the displacement S2 is low kinetic energy, the force can be linear, and the high kinetic energy force is nonlinear. The teaching unit 120 needs to completely absorb all the kinetic energy of the tray, so the force at each position is a function of displacement, and the function is related to the size of the kinetic energy. The tray speed V = S1 / t1, and the kinetic energy Ek = F(s)*S2. According to the above data, the controller 130 can calculate the total mass of the tray m = 2Ek / V2. According to the kinetic energy Ek and the speed V, the controller can calculate the servo encoder value corresponding to the throttle area S of the hydraulic blocking unit, and control the corresponding damping unit 110 servo motor to accurately adjust the throttle, so that the damping unit 110 obtains the corresponding damping.

[0044] In the embodiment of the present application, as shown in Figure 4 The damping unit 110 includes a cylinder body 4-1, a hydraulic buffer 4-2, a throttle adjusting screw turbine 4-3, a micro servo motor 4-4, a worm 4-5 and a blocking lever 4-6.

[0045] The hydraulic buffer 4-2 is connected with the cylinder piston rod of the cylinder body 4-1, the throttle adjusting screw turbine 4-3 is fixed on the cylinder body 4-1, the throttle adjusting screw turbine 4-3 is in spline sliding fit with the hydraulic buffer 4-2, the worm 4-5 is fixed on the shaft of the micro servo motor 4-4, and the blocking lever 4-6 is fixed above the cylinder body 4-1.

[0046] It can be understood that the micro servo motor 4-4 drives the hydraulic buffer 4-2 and the throttle adjusting screw turbine 4-3 to adjust the damping parameters of the hydraulic buffer by rotating, so as to realize the setting of multiple damping parameters of the same damping unit.

[0047] It should be noted that the micro servo motor 4-4 includes a micro cylinder, a motor, a force sensor, a servo driver, a reduction box and a position sensor, wherein the position sensor adopts but is not limited to a reluctance encoder, and can also be an optical encoder according to the working condition requirement.

[0048] Specifically, the adjustable hydraulic damper is used inside the damping unit and is provided with the micro servo motor 4-4 for control, so as to accurately adjust the damping parameters. Different mass trays can be provided with different damping parameters, the same damping unit realizes automatic control of the damping force of the damping unit, effectively reduces the vibration of the tray, and realizes accurate positioning.

[0049] According to the product pallet positioning system proposed in this application embodiment, the trial teaching unit accurately reads the motion parameters of the product pallet impacting the trial teaching unit on the roller conveyor and uploads them to the trial teaching device. The trial teaching device forwards the motion parameters to the controller. The controller calculates the target damping corresponding to the product pallet based on the obtained motion parameters and interacts with the host computer. The host computer controls the damping unit to output the target resistance based on the obtained target damping, thereby realizing closed-loop control of the damping unit of the entire line, greatly reducing the workload of manual debugging and reducing the debugging difficulty. In addition, the damping unit can be set with different damping parameters according to different pallets of different masses. The damping force of the same damping unit can be automatically controlled, effectively reducing pallet vibration, achieving accurate positioning, making it more intelligent, and ensuring the quality of automatic assembly.

[0050] Next, the product tray positioning method according to the embodiments of this application is described with reference to the accompanying drawings.

[0051] like Figure 5 As shown, the product pallet positioning method utilizes a product pallet positioning system as described in any of the above embodiments for positioning, wherein the method includes the following steps:

[0052] In step S101, the motion parameters of the product pallet impacting the teaching unit on the roller conveyor are obtained.

[0053] The motion parameters include the collision pressure value, the actual displacement of the product tray, the weight of the product tray, the speed and kinetic energy, etc., which are not specifically limited here.

[0054] It is understood that the embodiments of this application can accurately read the above-mentioned motion parameters through the teaching unit, and then calculate the damping state data to obtain the best buffer positioning effect.

[0055] In step S102, the target damping corresponding to the product pallet is calculated based on the motion parameters.

[0056] It is understood that in this embodiment of the application, the motion parameters obtained by the teaching unit are uploaded to the controller through the teaching device. The controller uses an internal algorithm to convert the obtained motion parameters into the target damping of the corresponding product tray and generates a product and damping information table for programming control.

[0057] In step S103, the target resistance is controlled by the damping unit to output the target resistance, and the product pallet is positioned based on the output target damping of the damping unit.

[0058] It is understood that, in the embodiments of this application, the damping unit can be controlled by the host computer to output the target resistance according to the target damping, and the product pallet can be positioned based on the damping unit that outputs the target damping.

[0059] It should be noted that the controller can control multiple miniature servo motors with N damping units, where N can be an integer greater than or equal to 1, without specific limitations. The current position information of each servo motor is confirmed via a miniature servo motor encoder. The controller can be individually programmed for one-button model switching, or the damping force of one or more damping units can be controlled individually via a PLC.

[0060] Specifically, the controller interacts with the host computer to monitor and control the damping data of the damping unit for a specific product. It controls the throttling parameters of the hydraulic buffer in the stop unit via a servo motor to provide the required damping force for the corresponding product. Programmable control is implemented based on the generated product and damping information table, and there are two programming control methods, as detailed below:

[0061] The first method involves independent control by a PLC (Programmable Logic Controller): The controller provides the PLC with product information windows, damping windows, and servo status windows for each damping unit. After RFID (Radio Frequency Identification) identifies the pallet information, it sends the information to the PLC. The PLC then calls the corresponding product damping parameters from within the controller and commands the controller to quantitatively adjust the hydraulic buffer damping value via a micro servo motor. Encoder code information is fed back to the PLC to confirm the current position, achieving closed-loop control. In this method, the damping unit controller does not participate in logic control; it only executes corresponding actions according to the PLC logic, and its status information is also fed back to the PLC. The display shows the PLC's instruction information and current status information for each damping unit in real time for error correction and debugging verification.

[0062] The second method involves using its own ladder diagram programming interface for logic programming control. After the RFID identifies the pallet information, it sends it to the PLC. The PLC then issues instructions, including the workstation number and product information. The controller calls the product damping information and controls the miniature servo motor of the damping unit to rotate to the corresponding position. The encoder then feeds back the current value to the controller.

[0063] Therefore, the embodiments of this application can automatically adjust the damping force of the damping unit in the above manner to ensure the smooth buffering and precise positioning of trays for different products in mixed production of electric drive lines, greatly reducing the workload of manual debugging and lowering the debugging difficulty. At the same time, it ensures the smooth buffering and precise positioning of trays for different products in mixed production lines, with a high level of intelligence, realizing closed-loop control, and being stable and reliable.

[0064] According to the control method of the engine system provided in the embodiment of the present application, the test teaching unit accurately reads the motion parameters of the product tray on the roller line in the process of hitting the test teaching unit and uploads the motion parameters to the test teacher, the test teacher forwards the motion parameters to the controller, the controller calculates the target damping corresponding to the product tray according to the obtained motion parameters, and interacts with the upper computer, the upper computer controls the damping unit to output the target resistance according to the obtained target damping, so that the closed-loop control of the damping unit of the whole line is realized, the manual debugging workload is greatly reduced, and the debugging difficulty is reduced. In addition, the damping unit can set different damping parameters according to different quality trays, the same damping unit realizes automatic control of the damping force of the damping unit, effectively reduces the vibration of the tray, realizes accurate positioning, is more intelligent, and ensures the automatic assembly quality.

[0065] The embodiment of the present application provides a computer readable storage medium, which stores a computer program or instructions, and the computer program or instructions are executed to realize the positioning method of the product tray.

[0066] The embodiment of the present application also provides a computer program product, which includes a computer program or instructions, and the computer program or instructions are executed to realize the positioning method of the product tray.

[0067] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0068] In addition, the terms "first", "second" are only for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one feature. In the description of the present application, the meaning of "N" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0069] Any process or method described in a flowchart or otherwise described herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing the specified logical functions or steps, and the various embodiments of the application include alternative implementations of the described processes or methods, in which the order of steps can be changed, including the use of simultaneous steps or reverse order of steps, where necessary and / or desirable, and in which certain steps can be combined, deleted, modified, or changed to other data processing procedures, as will be apparent to those skilled in the art.

[0070] It should be understood that portions of the application can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if implemented in hardware, and in another embodiment, any of the following technologies, or a combination thereof, can be used: discrete logic circuitry having logic gates for implementing logic functions upon an application of data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.

[0071] Those of ordinary skill in the art can understand that all or part of the steps carried out by the method of the above-mentioned embodiments can be completed by programs instructing relevant hardware, and the above-mentioned programs can be stored in a computer readable storage medium, and when executed, include one or a combination of the steps of the method embodiments.

[0072] Although the embodiments of the application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the application, and those of ordinary skill in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the application.

Claims

1. A product pallet positioning system, characterized in that, include: Damping unit; The test teaching unit, fixed on a roller conveyor, collects motion parameters of the product pallet impacting the test teaching unit. The test teaching unit includes: a main body, a linear damping mechanism, a grating displacement sensor, a pressure sensor, a linear guide rail, and a sliding assembly. The linear damping mechanism is fixed above the main body of the equipment. The grating displacement sensor is connected to the sliding assembly. The pressure sensor is fixed to the front end of the sliding assembly. The linear slide rail is fixed on the main body of the equipment. A slider is provided on the linear slide rail, and the slider fixes the sliding assembly. The product tray impacts the sliding assembly, the slider moves on the linear slide rail and impacts the linear damping mechanism until the product tray comes to a stop, the pressure sensor collects the impact pressure value, and the grating displacement sensor collects the actual displacement of the product tray; The controller is used to calculate the target damping corresponding to the product tray based on the motion parameters; The host computer is used to control the damping unit to output the target resistance according to the target damping, and to realize the positioning of the product tray based on the damping unit that outputs the target damping.

2. The product pallet positioning system according to claim 1, characterized in that, The motion parameters include the impact pressure value and the actual displacement of the product tray.

3. The product pallet positioning system according to claim 1, characterized in that, Also includes: The test teaching device is used to control the test teaching mode of the test teaching unit and forward the motion parameters collected by the test teaching unit to the controller; The trial teaching unit further includes a communication module for communicating with the trial teaching device.

4. The product pallet positioning system according to claim 1, characterized in that, The trial teaching unit also includes: A display screen is used to display the collision pressure value and the actual displacement.

5. The product pallet positioning system according to claim 2, characterized in that, The controller is also used for: The target damping corresponding to the product tray is calculated based on the collision pressure value and the actual displacement.

6. The product pallet positioning system according to claim 1, characterized in that, The damping unit includes: a cylinder body, a hydraulic damper, a throttle adjustment screw turbine, a micro servo motor, a worm gear, and a blocking lever, wherein... The hydraulic damper is connected to the cylinder piston rod of the cylinder body, the throttling adjusting screw turbine is fixed on the cylinder body, the throttling adjusting screw turbine is in spline sliding engagement with the hydraulic damper, the worm gear is fixed on the shaft of the micro servo motor, and the blocking lever is fixed above the cylinder body; The micro servo motor rotates to drive the throttling adjustment screw turbine of the hydraulic buffer to adjust the damping parameters of the hydraulic buffer.

7. A method for positioning a product pallet, characterized in that, The method utilizes the product pallet positioning system according to any one of claims 1-6 for positioning, wherein the method includes the following steps: Obtain motion parameters during the impact of the product pallet on the roller conveyor line into the teaching unit; Calculate the target damping corresponding to the product pallet based on the motion parameters; The target damping control unit outputs a target resistance based on the target damping, and the product tray is positioned based on the output target damping.

8. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, the product pallet positioning method of claim 7 is implemented.

9. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed, the product pallet positioning method of claim 7 is implemented.

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