A switching control method and device for an unpowered pallet

Abstract

The application discloses a kind of switching control method and device of unpowered tray, obtain gas source start signal, to make the positioning mechanism based on the positioning pin rail lock of unpowered equipment to be switched is unlocked by the gas source start signal;Obtain the positioning pin shaft value corresponding to the vehicle model to be processed;According to the positioning pin shaft value, switching signal is generated, to make the power servo shaft according to the position of the positioning pin of unpowered tray to be switched after unlocking is adjusted, obtains unpowered tray after switching;Obtain gas source off signal, to make the positioning mechanism based on the positioning pin of unpowered tray after switching is locked by the gas source off signal;Generation opening signal, to make the dead mechanism according to the positioning pin of unpowered tray after switching is opened dead by the opening signal.The application realizes the switching automation of vehicle type corresponding tray, improves switching efficiency.

Description

Technical Field

[0001] The present invention relates to the field of mechanical control, and in particular to a switching control method and device for an unpowered pallet. Background Art

[0002] The existing conventional non-powered pallets of power chain pallets are single-vehicle production models and are only suitable for a single vehicle model. To switch between different pallet models, it is necessary to manually replace the dedicated pallet or manually insert and remove the positioning pin position to switch the vehicle model, and manual pallet switching is inefficient.

[0003] Therefore, there is an urgent need for a switching control strategy for unpowered pallets to solve the problem of low pallet switching efficiency. Summary of the Invention

[0004] The embodiments of the present invention provide a switching control method and device for an unpowered pallet to solve the problem of low pallet switching efficiency.

[0005] In order to solve the above problem, an embodiment of the present invention provides a switching control method for an unpowered pallet, comprising:

[0006] Obtaining an air source start signal, and transmitting the air source start signal to a positioning mechanism, so that the positioning mechanism unlocks a positioning pin guide rail lock of the unpowered device to be switched based on the air source start signal;

[0007] Get the positioning pin axis value corresponding to the vehicle model to be processed;

[0008] Generate a switching signal according to the positioning pin axis value, and transmit the switching signal to the power servo axis, so that the power servo axis adjusts the position of the positioning pin of the unlocked unpowered pallet to be switched according to the switching signal to obtain the switched unpowered pallet;

[0009] Obtaining an air source shutoff signal, and transmitting the air source shutoff signal to the positioning mechanism, so that the positioning mechanism locks the positioning pin of the switched unpowered tray based on the air source shutoff signal;

[0010] An opening signal is generated and transmitted to a locking mechanism, so that the locking mechanism opens and locks the positioning pin of the switched unpowered pallet according to the opening signal.

[0011] As an improvement to the above solution, before obtaining the gas source start signal and transmitting the gas source start signal to the positioning mechanism, the method includes:

[0012] receiving a switching signal generated when the unpowered pallet to be switched reaches a switching position;

[0013] Transmitting the switching signal to the positioning mechanism so that the positioning mechanism positions and locks the unpowered pallet to be switched according to the switching signal;

[0014] A locking signal is generated and transmitted to a locking mechanism, so that the locking mechanism positions and locks the positioning pin to be switched based on the locking signal.

[0015] As an improvement of the above-mentioned scheme, the unpowered pallet to be switched includes: a positioning pin, a positioning and power air source docking mechanism, a positioning pin sliding mechanism, a positioning pin locking mechanism and a pallet rack; the positioning and power air source docking mechanism, the positioning pin sliding mechanism and the positioning pin locking mechanism are arranged on the pallet rack; the positioning pin and the switching holding shaft are arranged above the positioning pin sliding mechanism, the positioning pin is connected to the positioning pin locking mechanism, the positioning and power air source docking mechanism and the positioning pin sliding mechanism are arranged above the pallet rack, and the positioning and power air source docking mechanism and the positioning pin sliding mechanism are connected.

[0016] As an improvement to the above solution, the positioning mechanism, the locking mechanism and the power servo shaft are arranged on a base.

[0017] As an improvement to the above solution, the power servo shaft adjusts the position of the positioning pin of the unlocked unpowered pallet to be switched according to the switching signal to obtain the switched unpowered pallet, including:

[0018] The power servo axis obtains the position adjustment amount of the positioning pin of each unpowered pallet to be switched according to the switching signal;

[0019] The power servo axis adjusts the position of the locating pin of each unpowered tray to be switched according to the locating pin position adjustment amount, and scans the adjusted locating pins of the unpowered tray to be switched to obtain a first locating pin distribution feature;

[0020] The power servo axis determines whether the first locating pin distribution feature is the same as the second locating pin distribution feature of the vehicle to be processed: if so, the power servo axis generates a switched unpowered pallet; if not, the power servo axis generates an adjustment failure prompt.

[0021] Accordingly, an embodiment of the present invention further provides a switching control device for an unpowered pallet, comprising: an unlocking module, a data acquisition module, a switching module, a locking module, and a locking module;

[0022] The unlocking module is used to obtain an air source start signal and transmit the air source start signal to the positioning mechanism, so that the positioning mechanism unlocks the positioning pin guide rail lock of the unpowered device to be switched based on the air source start signal;

[0023] The data acquisition module is configured to acquire a positioning pin shaft value corresponding to a vehicle model to be processed.

[0024] The switching module is configured to generate a switching signal according to the positioning pin shaft value, and transmit the switching signal to a power servo shaft, so that the power servo shaft adjusts a position of a positioning pin of the unlocked no-power tray to be switched according to the switching signal, and obtains a switched no-power tray.

[0025] The locking module is configured to acquire a gas source shutdown signal, and transmit the gas source shutdown signal to the positioning mechanism, so that the positioning mechanism locks the positioning pin of the switched no-power tray based on the gas source shutdown signal.

[0026] The locking module is configured to acquire a gas source shutdown signal, and transmit the gas source shutdown signal to the positioning mechanism, so that the positioning mechanism locks the positioning pin of the switched no-power tray based on the gas source shutdown signal.

[0027] As an improvement of the above-mentioned scheme, before the gas source start signal is acquired and transmitted to the positioning mechanism, the method further comprises:

[0028] Receiving a switching signal generated when the no-power tray to be switched reaches a switching position;

[0029] Transmitting the switching signal to the positioning mechanism, so that the positioning mechanism positions and locks the no-power tray to be switched according to the switching signal;

[0030] Generating a locking signal, transmitting the locking signal to the locking mechanism, so that the locking mechanism locks the positioning pin to be switched based on the locking signal.

[0031] As an improvement of the above-mentioned scheme, the no-power tray to be switched comprises a positioning pin, a positioning and power gas source docking mechanism, a positioning pin sliding mechanism, a positioning pin locking mechanism and a tray rack; the positioning and power gas source docking mechanism, the positioning pin sliding mechanism and the positioning pin locking mechanism are arranged on the tray rack; the positioning pin and the switching shaft are arranged above the positioning pin sliding mechanism, the positioning pin is connected to the positioning pin locking mechanism, the positioning and power gas source docking mechanism and the positioning pin sliding mechanism are arranged above the tray rack, and the positioning and power gas source docking mechanism and the positioning pin sliding mechanism are connected.

[0032] As an improvement of the above-mentioned scheme, the positioning mechanism, the locking mechanism and the power servo shaft are arranged on a base.

[0033] As an improvement of the above-mentioned scheme, the power servo shaft adjusts the position of the positioning pin of the unlocked no-power tray to be switched according to the switching signal, and obtains the switched no-power tray, which comprises:

[0034] The power servo shaft obtains the positioning pin position adjustment amount of each to-be-switched non-powered tray according to the switching signal;

[0035] The power servo shaft adjusts the position of the positioning pin of each to-be-switched non-powered tray according to the positioning pin position adjustment amount, and scans the adjusted to-be-switched non-powered tray positioning pin to obtain a first positioning pin distribution feature;

[0036] The power servo shaft judges whether the first positioning pin distribution feature is the same as a second positioning pin distribution feature of a to-be-processed vehicle model; if yes, the power servo shaft generates a switched non-powered tray; if not, the power servo shaft generates an adjustment failure prompt.

[0037] As can be seen from the above, the present application has the following beneficial effects:

[0038] The present application provides a non-powered tray switching control method, obtains a gas source start signal, transmits the gas source start signal to a positioning mechanism, so that the positioning mechanism unlocks the positioning pin guide rail lock of the to-be-switched non-powered equipment based on the gas source start signal; obtains the positioning pin shaft value corresponding to the to-be-processed vehicle model; generates a switching signal according to the positioning pin shaft value, transmits the switching signal to a power servo shaft, so that the power servo shaft adjusts the position of the positioning pin of the unlocked to-be-switched non-powered tray according to the switching signal, and obtains a switched non-powered tray; obtains a gas source off signal, transmits the gas source off signal to the positioning mechanism, so that the positioning mechanism locks the positioning pin of the switched non-powered tray based on the gas source off signal; generates an opening signal, transmits the opening signal to a locking mechanism, so that the locking mechanism opens the locking of the positioning pin of the switched non-powered tray according to the opening signal. The present application adjusts the positioning pin of the non-powered tray, so that the non-powered tray can be connected with multiple vehicle models, and through the unlocking, switching, locking and locking of the positioning pin of the non-powered tray, the quick model replacement of the non-powered tray is realized, so that the switching of different vehicle models can be realized. Compared with the prior art of setting non-powered trays of different models and manually switching, the present application realizes the switching automation of the tray corresponding to the vehicle model, and improves the switching efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a flowchart of the non-powered tray switching control method provided by an embodiment of the present application;

[0040] Figure 2 is a structural schematic diagram of the non-powered tray switching control device provided by an embodiment of the present application;

[0041] Figure 3This is a schematic diagram of the structure of a terminal device provided by one embodiment of the present invention;

[0042] Figure 4 It is a structural diagram of a vehicle type and a multi-vehicle type servo switching system for an unpowered pallet provided by an embodiment of the present invention;

[0043] Figure 5 It is a structural schematic diagram of a vehicle type and a multi-vehicle type servo switching system for an unpowered pallet provided by another embodiment of the present invention;

[0044] Figure 6 This is a structural diagram of an unpowered pallet to be switched provided by another embodiment of the present invention;

[0045] Figure 7 It is a structural schematic diagram of a docking device provided in another embodiment of the present invention. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0047] Example 1

[0048] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a switching control method for an unpowered pallet provided by an embodiment of the present invention. Figure 1 As shown, this embodiment includes steps 101 to 105, and each step is specifically as follows:

[0049] Step 101: Acquire an air source start signal, and transmit the air source start signal to a positioning mechanism, so that the positioning mechanism unlocks the positioning pin guide rail lock of the unpowered device to be switched based on the air source start signal.

[0050] In this embodiment, before obtaining the gas source start signal and transmitting the gas source start signal to the positioning mechanism, the following steps are included:

[0051] receiving a switching signal generated when the unpowered pallet to be switched reaches a switching position;

[0052] Transmitting the switching signal to the positioning mechanism so that the positioning mechanism positions and locks the unpowered pallet to be switched according to the switching signal;

[0053] A locking signal is generated and transmitted to a locking mechanism, so that the locking mechanism positions and locks the positioning pin to be switched based on the locking signal.

[0054] Step 102: Obtain the positioning pin axis value corresponding to the vehicle model to be processed.

[0055] In a specific embodiment, the positioning pin shaft value corresponding to the vehicle model to be processed is retrieved from the database, and the user enters the positioning pin shaft value of each vehicle model into the database in advance.

[0056] Step 103: Generate a switching signal based on the positioning pin axis value, and transmit the switching signal to the power servo axis so that the power servo axis adjusts the position of the positioning pin of the unlocked unpowered pallet to be switched according to the switching signal to obtain the switched unpowered pallet.

[0057] In this embodiment, the power servo shaft adjusts the position of the positioning pin of the unlocked unpowered pallet to be switched according to the switching signal to obtain the switched unpowered pallet, including:

[0058] The power servo axis obtains the position adjustment amount of the positioning pin of each unpowered pallet to be switched according to the switching signal;

[0059] The power servo axis adjusts the position of the locating pin of each unpowered tray to be switched according to the locating pin position adjustment amount, and scans the adjusted locating pins of the unpowered tray to be switched to obtain a first locating pin distribution feature;

[0060] The power servo axis determines whether the first locating pin distribution feature is the same as the second locating pin distribution feature of the vehicle to be processed: if so, the power servo axis generates a switched unpowered pallet; if not, the power servo axis generates an adjustment failure prompt.

[0061] In a specific embodiment, the power servo axis can monitor the axis value of the positioning pin to determine whether the positioning pin has moved to the desired position.

[0062] Step 104: Acquire an air source shutoff signal, and transmit the air source shutoff signal to the positioning mechanism, so that the positioning mechanism locks the positioning pin of the switched unpowered pallet based on the air source shutoff signal.

[0063] In this embodiment, the positioning mechanism unlocks the guide rail locking mechanism on the unpowered pallet by ventilation and feeds back the unlocked state, and can also lock the guide rail locking mechanism on the unpowered pallet by cutting off the air and feed back the locked state.

[0064] Step 105: Generate an opening signal, and transmit the opening signal to the locking mechanism, so that the locking mechanism opens and locks the positioning pin of the switched unpowered pallet according to the opening signal.

[0065] In this embodiment, before obtaining the gas source start signal and transmitting the gas source start signal to the positioning mechanism, the following steps are included:

[0066] receiving a switching signal generated when the unpowered pallet to be switched reaches a switching position;

[0067] Transmitting the switching signal to the positioning mechanism so that the positioning mechanism positions and locks the unpowered pallet to be switched according to the switching signal;

[0068] A locking signal is generated and transmitted to a locking mechanism, so that the locking mechanism positions and locks the positioning pin to be switched based on the locking signal.

[0069] As an improvement of the above-mentioned scheme, the unpowered pallet to be switched includes: a positioning pin, a positioning and power air source docking mechanism, a positioning pin sliding mechanism, a positioning pin locking mechanism and a pallet rack; the positioning and power air source docking mechanism, the positioning pin sliding mechanism and the positioning pin locking mechanism are arranged on the pallet rack; the positioning pin and the switching holding shaft are arranged above the positioning pin sliding mechanism, the positioning pin is connected to the positioning pin locking mechanism, the positioning and power air source docking mechanism and the positioning pin sliding mechanism are arranged above the pallet rack, and the positioning and power air source docking mechanism and the positioning pin sliding mechanism are connected.

[0070] For a better description of the unpowered pallet to be switched, see Figure 6 , including 01 workpiece locating pin A (i.e. the locating pin described in the present invention), 02 switching shaft holding A, 03 sliding mechanism A (i.e. the locating pin sliding mechanism described in the present invention), 04 docking positioning air connection block A (i.e. the positioning and power air source docking mechanism described in the present invention), 05 workpiece locating pin B, 06 switching shaft holding B, 07 sliding mechanism B, 08 docking positioning air connection block B.

[0071] In this embodiment, the positioning mechanism, the locking mechanism and the power servo shaft are arranged on a base.

[0072] In a specific embodiment, for better explanation, see Figure 7The docking device includes: 01 docking positioning air block pressure block B, 02 docking positioning air block B, 03 shaft holding detection B, 04 shaft holding V-shaped upper chuck B, 05 shaft holding V-shaped lower chuck B, 06 shaft holding mechanism B, 07 sliding servo module mechanism B, 08 docking positioning air block pressure block A, 10 docking positioning air block limit block A, 09 shaft holding detection A, 11 shaft holding V-shaped upper chuck A, 12 shaft holding V-shaped lower chuck A, 13 shaft holding mechanism A, and 14 sliding servo module mechanism A.

[0073] In a specific embodiment, the relative positions of the positioning pin, the positioning and power air source docking mechanism, the positioning pin sliding mechanism, the positioning pin locking mechanism, the tray rack, the positioning mechanism, the locking mechanism, the power servo shaft, and the base are shown in FIG. Figure 4 .

[0074] In a specific embodiment, the unpowered pallet includes: an unpowered pallet to be switched and an unpowered pallet that has been switched, and the corresponding working conditions are specifically: the upper process robot puts down the workpiece → the unpowered pallet takes over the workpiece → the lower process robot takes out the workpiece → the unpowered pallet circulates down to reach the vehicle model switching position (the present invention starts to be executed at this time) → the unpowered pallet corresponding to the vehicle model is switched → the unpowered pallet circulates up to reach the workpiece pick-up position (the present invention is completed at this time) → enters the next vehicle model production cycle.

[0075] It should be noted that, see Figure 5 The workpiece is set at the loading position of the unpowered pallet, and the vehicle type switching of the unpowered pallet is connected to the multi-vehicle servo switching system. The multi-vehicle servo switching system includes but is not limited to: a positioning mechanism, a locking mechanism and a power servo axis.

[0076] In a specific embodiment, the switching step flow is described as follows:

[0077] ①The unpowered pallet is dragged to the switching position by the accumulation chain;

[0078] ②Switch the system positioning mechanism to position and lock the unpowered pallet;

[0079] ③ Switch the system locking mechanism to position and lock the main positioning pin;

[0080] ④Switch the system power servo axis to monitor the current vehicle status and position the pin axis value;

[0081] ⑤ Switch the system positioning mechanism to ventilate and unlock the main positioning pin guide rail lock;

[0082] ⑥ The system power servo axis is switched to match the axis value of the next model. The mobile locking mechanism carries the main positioning pin of the unpowered pallet to switch the axis value and feedback is sent to the model production system to complete the switch;

[0083] ⑦ Switch the system positioning mechanism to disconnect the air source, lock the guide rail lock of the unpowered tray, and lock the position of the two main positioning pins of the unpowered tray;

[0084] ⑧ Switch the system locking mechanism to open the locking of the main positioning pin;

[0085] ⑨ The switching system positioning mechanism exits positioning, and the unpowered pallet enters the accumulation chain circulation system and is put into the production cycle of the current model.

[0086] See also Figure 2 , Figure 2 2 is a schematic structural diagram of a switching control device for an unpowered pallet provided by an embodiment of the present invention, comprising: an unlocking module 201, a data acquisition module 202, a switching module 203, a locking module 204, and a locking module 205;

[0087] The unlocking module is used to obtain an air source start signal and transmit the air source start signal to the positioning mechanism, so that the positioning mechanism unlocks the positioning pin guide rail lock of the unpowered device to be switched based on the air source start signal;

[0088] The data acquisition module is used to obtain the positioning pin axis value corresponding to the vehicle model to be processed;

[0089] The switching module is used to generate a switching signal according to the positioning pin axis value, and transmit the switching signal to the power servo axis, so that the power servo axis adjusts the position of the positioning pin of the unlocked unpowered pallet to be switched according to the switching signal to obtain the switched unpowered pallet;

[0090] The locking module is used to obtain an air source shutoff signal and transmit the air source shutoff signal to the positioning mechanism, so that the positioning mechanism locks the positioning pin of the switched unpowered tray based on the air source shutoff signal;

[0091] The locking module is used to generate an opening signal and transmit the opening signal to the locking mechanism, so that the locking mechanism opens and locks the positioning pin of the switched unpowered tray according to the opening signal.

[0092] As an improvement to the above solution, before obtaining the gas source start signal and transmitting the gas source start signal to the positioning mechanism, the method includes:

[0093] receiving a switching signal generated when the unpowered pallet to be switched reaches a switching position;

[0094] Transmitting the switching signal to the positioning mechanism so that the positioning mechanism positions and locks the unpowered pallet to be switched according to the switching signal;

[0095] A locking signal is generated and transmitted to a locking mechanism, so that the locking mechanism positions and locks the positioning pin to be switched based on the locking signal.

[0096] As an improvement of the above-mentioned scheme, the unpowered pallet to be switched includes: a positioning pin, a positioning and power air source docking mechanism, a positioning pin sliding mechanism, a positioning pin locking mechanism and a pallet rack; the positioning and power air source docking mechanism, the positioning pin sliding mechanism and the positioning pin locking mechanism are arranged on the pallet rack; the positioning pin and the switching holding shaft are arranged above the positioning pin sliding mechanism, the positioning pin is connected to the positioning pin locking mechanism, the positioning and power air source docking mechanism and the positioning pin sliding mechanism are arranged above the pallet rack, and the positioning and power air source docking mechanism and the positioning pin sliding mechanism are connected.

[0097] As an improvement to the above solution, the positioning mechanism, the locking mechanism and the power servo shaft are arranged on a base.

[0098] As an improvement to the above solution, the power servo shaft adjusts the position of the positioning pin of the unlocked unpowered pallet to be switched according to the switching signal to obtain the switched unpowered pallet, including:

[0099] The power servo axis obtains the position adjustment amount of the positioning pin of each unpowered pallet to be switched according to the switching signal;

[0100] The power servo axis adjusts the position of the locating pin of each unpowered tray to be switched according to the locating pin position adjustment amount, and scans the adjusted locating pins of the unpowered tray to be switched to obtain a first locating pin distribution feature;

[0101] The power servo axis determines whether the first locating pin distribution feature is the same as the second locating pin distribution feature of the vehicle to be processed: if so, the power servo axis generates a switched unpowered pallet; if not, the power servo axis generates an adjustment failure prompt.

[0102] This embodiment obtains an air source start signal and transmits the air source start signal to a positioning mechanism, so that the positioning mechanism unlocks the positioning pin guide rail lock of the unpowered device to be switched based on the air source start signal; obtains the positioning pin axis value corresponding to the vehicle type to be processed; generates a switching signal based on the positioning pin axis value, and transmits the switching signal to a power servo axis, so that the power servo axis adjusts the position of the unlocked positioning pin of the unpowered pallet to be switched based on the switching signal to obtain the switched unpowered pallet; obtains an air source shutdown signal and transmits the air source disconnection signal to the positioning mechanism, so that the positioning mechanism locks the positioning pin of the switched unpowered pallet based on the air source disconnection signal; generates an opening signal and transmits the opening signal to a locking mechanism, so that the locking mechanism opens and locks the positioning pin of the switched unpowered pallet based on the opening signal. The present invention adjusts the positioning pin of the unpowered pallet, so that the unpowered pallet can be connected to multiple vehicle types. By unlocking, switching, locking, and locking the positioning pins of the unpowered pallet, the unpowered pallet can be quickly changed in model, thereby enabling switching between different vehicle types. Compared with the prior art which provides different types of unpowered pallets and switches them manually, the present invention realizes the automation of switching pallets corresponding to vehicle types, thereby improving the switching efficiency.

[0103] Example 2

[0104] See also Figure 3 , Figure 3 It is a schematic diagram of the terminal device structure provided by one embodiment of the present invention.

[0105] A terminal device of this embodiment includes: a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program, the steps of the switching control method for each unpowered tray in the embodiment are implemented, such as Figure 1 Alternatively, when the processor executes the computer program, the functions of the modules in the above-mentioned device embodiments are realized, for example: Figure 2 All modules of the switching control device of the unpowered pallet are shown.

[0106] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the switching control method of the unpowered pallet as described in any of the above embodiments.

[0107] Those skilled in the art will understand that the schematic diagram is merely an example of a terminal device and does not constitute a limitation on the terminal device. The terminal device may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0108] The processor 301 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor 301 is the control center of the terminal device, connecting various parts of the entire terminal device using various interfaces and lines.

[0109] The memory 302 can be used to store the computer programs and / or modules. The processor 301 implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory 302. The memory 302 can mainly include a program storage area and a data storage area. The program storage area can store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created based on the use of the mobile phone (such as audio data, a phone book, etc.). In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0110] Wherein, if the module / unit integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0111] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, in the drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art can understand and implement the present invention without inventive effort.

[0112] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A switching control method for an unpowered pallet, characterized in that: include: Obtaining an air source start signal, and transmitting the air source start signal to a positioning mechanism, so that the positioning mechanism unlocks a positioning pin guide rail lock of the unpowered device to be switched based on the air source start signal; Before obtaining the air source start signal and transmitting the air source start signal to the positioning mechanism, the method includes: receiving a switching signal generated when the unpowered tray to be switched reaches the switching position; transmitting the switching signal to the positioning mechanism, so that the positioning mechanism positions and locks the unpowered tray to be switched according to the switching signal; generating a locking signal, and transmitting the locking signal to the locking mechanism, so that the locking mechanism positions and locks the positioning pin to be switched based on the locking signal; Get the positioning pin axis value corresponding to the vehicle model to be processed; Generate a switching signal according to the positioning pin axis value, and transmit the switching signal to the power servo axis, so that the power servo axis adjusts the position of the positioning pin of the unlocked unpowered pallet to be switched according to the switching signal to obtain the switched unpowered pallet; Acquire an air source shutoff signal, and transmit the air source shutoff signal to the positioning mechanism, so that the positioning mechanism locks the positioning pin of the switched unpowered tray based on the air source shutoff signal; An opening signal is generated and transmitted to a locking mechanism, so that the locking mechanism opens and locks the positioning pin of the switched unpowered pallet according to the opening signal.

2. The switching control method of the unpowered pallet according to claim 1, characterized in that: The unpowered pallet to be switched includes: a positioning pin, a positioning and power air source docking mechanism, a positioning pin sliding mechanism, a positioning pin locking mechanism and a pallet rack; the positioning and power air source docking mechanism, the positioning pin sliding mechanism and the positioning pin locking mechanism are arranged on the pallet rack; the positioning pin and the switching holding shaft are arranged above the positioning pin sliding mechanism, the positioning pin is connected to the positioning pin locking mechanism, the positioning and power air source docking mechanism and the positioning pin sliding mechanism are arranged above the pallet rack, and the positioning and power air source docking mechanism and the positioning pin sliding mechanism are connected.

3. The switching control method of the unpowered pallet according to claim 1, characterized in that: The positioning mechanism, the locking mechanism and the power servo shaft are arranged on a base.

4. The switching control method of the unpowered pallet according to claim 1, characterized in that: The power servo shaft adjusts the position of the positioning pin of the unlocked unpowered pallet to be switched according to the switching signal to obtain the switched unpowered pallet, including: The power servo axis obtains the position adjustment amount of the positioning pin of each unpowered pallet to be switched according to the switching signal; The power servo axis adjusts the position of the locating pin of each unpowered tray to be switched according to the locating pin position adjustment amount, and scans the adjusted locating pins of the unpowered tray to be switched to obtain a first locating pin distribution feature; The power servo axis determines whether the first locating pin distribution feature is the same as the second locating pin distribution feature of the vehicle to be processed: if so, the power servo axis generates a switched unpowered pallet; if not, the power servo axis generates an adjustment failure prompt.

5. A switching control device for an unpowered pallet, characterized in that: include: Unlocking module, data acquisition module, switching module, locking module and braking module; The unlocking module is used to obtain an air source start signal and transmit the air source start signal to the positioning mechanism, so that the positioning mechanism unlocks the positioning pin guide rail lock of the unpowered device to be switched based on the air source start signal; Before obtaining the air source start signal and transmitting the air source start signal to the positioning mechanism, the method includes: receiving a switching signal generated when the unpowered tray to be switched reaches the switching position; transmitting the switching signal to the positioning mechanism, so that the positioning mechanism positions and locks the unpowered tray to be switched according to the switching signal; generating a locking signal, and transmitting the locking signal to the locking mechanism, so that the locking mechanism positions and locks the positioning pin to be switched based on the locking signal; The data acquisition module is used to obtain the positioning pin axis value corresponding to the vehicle model to be processed; The switching module is used to generate a switching signal according to the positioning pin axis value, and transmit the switching signal to the power servo axis, so that the power servo axis adjusts the position of the positioning pin of the unlocked unpowered pallet to be switched according to the switching signal to obtain the switched unpowered pallet; The locking module is configured to obtain an air source shutoff signal and transmit the air source shutoff signal to the positioning mechanism, so that the positioning mechanism locks the positioning pin of the switched unpowered tray based on the air source shutoff signal; The locking module is used to generate an opening signal and transmit the opening signal to the locking mechanism, so that the locking mechanism opens and locks the positioning pin of the switched unpowered tray according to the opening signal.

6. The switching control device for the unpowered pallet according to claim 5, characterized in that: The unpowered pallet to be switched includes: a positioning pin, a positioning and power air source docking mechanism, a positioning pin sliding mechanism, a positioning pin locking mechanism and a pallet rack; the positioning and power air source docking mechanism, the positioning pin sliding mechanism and the positioning pin locking mechanism are arranged on the pallet rack; the positioning pin and the switching holding shaft are arranged above the positioning pin sliding mechanism, the positioning pin is connected to the positioning pin locking mechanism, the positioning and power air source docking mechanism and the positioning pin sliding mechanism are arranged above the pallet rack, and the positioning and power air source docking mechanism and the positioning pin sliding mechanism are connected.

7. The switching control device for the unpowered pallet according to claim 5, characterized in that: The positioning mechanism, the locking mechanism and the power servo shaft are arranged on a base.

8. The switching control device for the unpowered pallet according to claim 5, characterized in that: The power servo shaft adjusts the position of the positioning pin of the unlocked unpowered pallet to be switched according to the switching signal to obtain the switched unpowered pallet, including: The power servo axis obtains the position adjustment amount of the positioning pin of each unpowered pallet to be switched according to the switching signal; The power servo axis adjusts the position of the locating pin of each unpowered tray to be switched according to the locating pin position adjustment amount, and scans the adjusted locating pins of the unpowered tray to be switched to obtain a first locating pin distribution feature; The power servo axis determines whether the first locating pin distribution feature is the same as the second locating pin distribution feature of the vehicle to be processed: if so, the power servo axis generates a switched unpowered pallet; if not, the power servo axis generates an adjustment failure prompt.

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