Forklift frame outer wall plate detection and correction device and correction method thereof

Abstract

This invention discloses a forklift frame outer wall panel detection and correction device and its correction method, belonging to the field of forklift technology. The forklift frame outer wall panel detection and correction device includes a detection unit, including at least one coordinate measuring machine for collecting three-dimensional coordinate data of key feature points of the forklift frame outer wall panel; a correction unit, including a gantry frame slidably mounted on a ground rail, a moving platform, and correction components; and a control unit, including a control cabinet integrated within the gantry frame. This device uses at least one coordinate measuring machine to collect three-dimensional coordinate data of key feature points, which can flexibly adapt to the complex structure of the outer wall panel and achieve full coverage of three-dimensional data of key feature points in the entire area. Through the control of a first computer for data acquisition and synchronous integration, a second computer completes accurate calculation of flatness and key hole system position based on a three-dimensional error model, which greatly improves the accuracy and comprehensiveness of error detection and provides reliable data support for subsequent accurate correction.

Description

Technical Field

[0001] This invention belongs to the field of forklift technology, specifically relating to a forklift frame outer wall panel detection and correction device and its correction method. Background Technology

[0002] As a core material handling equipment in logistics transportation and warehousing operations, the forklift's frame is a key structural component that bears the weight of the entire vehicle and ensures driving stability and operational safety. The manufacturing process of a forklift frame involves cutting, bending, assembling, and welding multiple steel plates of various specifications. The thermal stress generated during welding inevitably causes deformation of the outer wall panels of the frame, a problem that is particularly prominent in multiple production batches.

[0003] To mitigate the negative impacts of welding deformation, existing technologies have adopted process measures such as pre-setting anti-deformation tooling, optimizing welding sequence, and controlling welding parameters. However, in actual production, uncontrollable factors such as dynamic fluctuations in ambient temperature and humidity and material differences between different batches of steel can still cause cumulative deformation of 0.5-3mm in the outer wall panels of the chassis. This deformation directly results in visible seams of more than 0.8mm after the chassis is assembled with the counterweight, which not only seriously affects the product's appearance quality but may also reduce the assembly accuracy and structural stability of the chassis, increasing the risk of failure during subsequent use.

[0004] Currently, the detection of deformation of forklift frame outer panels often relies on manual measurement using tools such as rulers and dial indicators. This method is not only inefficient but also only obtains local two-dimensional dimensional data, failing to accurately capture the three-dimensional spatial position deviation of key feature points of the outer panel, resulting in inaccurate judgment of deformation errors. In terms of correction, it often depends on manual experience to use mechanical tapping or simple hydraulic devices for overall correction. This lacks differentiated and precise processing of the deformed area, and the magnitude and location of the correction force are difficult to control precisely, which can easily cause secondary deformation and fail to form a closed-loop quality control system.

[0005] The aforementioned technical deficiencies result in a low first-pass yield for forklift chassis products under the current production model. A large number of defective products require multiple rework repairs, which not only increases labor and material costs but also severely impacts production efficiency. Therefore, this invention proposes a forklift chassis outer wall panel inspection and correction device and method. Summary of the Invention

[0006] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0007] In view of the problems existing in the above and / or prior art, the present invention is proposed.

[0008] Therefore, the purpose of this invention is to overcome the shortcomings of the prior art and provide a forklift frame outer wall panel detection and correction device and correction method.

[0009] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a forklift frame outer wall panel detection and correction device, comprising:

[0010] The detection unit includes at least one coordinate measuring machine for acquiring three-dimensional coordinate data of key feature points on the outer wall panel of the forklift frame. The correction unit includes a gantry frame slidably mounted on a ground rail, a moving platform, and a correction component. The moving platform is mounted on the gantry frame, and the correction component is located at the lower end of the moving platform for applying a controllable correction force to the deformed area of ​​the outer wall panel of the forklift frame. The control unit includes a control cabinet integrated within the gantry frame, wherein the control cabinet houses a first computer and a second computer; The first computer is electrically connected to the coordinate measuring machine and is used to control the movement of the coordinate measuring machine and the acquisition of three-dimensional coordinate data, and to transmit the acquired three-dimensional coordinate data to the second computer. The second computer has a built-in three-dimensional error model and mechanical analysis module, which is used to receive and analyze the three-dimensional coordinate data and calculate the flatness error of the outer wall plate and the position error of the key hole system.

[0011] Furthermore, the detection unit includes two coordinate measuring machines, each comprising a base, articulated arms, and a probe head. The articulated arms are connected by a rotary joint, which includes a roll joint and a pitch joint.

[0012] Furthermore, the probe adopts a contact-type detection structure, which is used to conform to the key feature points of the outer wall panel of the forklift frame to complete the three-dimensional coordinate data acquisition, and the probe is detachably connected to the articulated arm.

[0013] Furthermore, the adjusting column is threadedly connected to the moving platform. The height of the correction bracket and the correction hammer can be adjusted by rotating the adjusting column to meet the correction requirements of forklift frame outer wall panels of different thicknesses.

[0014] Furthermore, the correction component includes an adjustment column inserted into the mobile platform, a correction bracket fixed at the bottom of the adjustment column, and correction copper hammers driven by servo hydraulic cylinders on both sides of the correction bracket.

[0015] Furthermore, the two coordinate measuring machines are symmetrically arranged on both sides of the gantry frame to synchronously collect the three-dimensional coordinate data of key feature points on both sides of the forklift frame outer wall panel. The first computer receives the two sets of data and transmits them to the second computer after synchronous integration.

[0016] Furthermore, the servo hydraulic cylinder is electrically connected to the second computer, which, based on the mechanical analysis results, controls the servo hydraulic cylinder to output a corresponding thrust, thereby driving the straightening copper hammer to apply a precise straightening force to the deformed area.

[0017] Furthermore, the second computer has a built-in preset threshold adjustment module, which can adjust the preset thresholds for flatness error and key hole system position error according to the inspection standards of different specifications of forklift frame outer wall panels.

[0018] Furthermore, the control cabinet is also equipped with a data storage module for storing the collected three-dimensional coordinate data, error analysis results, correction paths, and correction force parameters.

[0019] This invention also provides a correction method for a forklift frame outer wall panel detection and correction device, which includes the following steps: S1: Fix the outer wall panel of the forklift frame to be inspected to the inspection station, ensuring that its position matches the working range of the inspection unit and the correction unit; S2: The first computer controls the movement of the coordinate measuring machine of the detection unit, drives the probe to collect the three-dimensional coordinate data of key feature points of the forklift frame outer wall panel, and transmits the data to the second computer; S3: The second computer processes the three-dimensional coordinate data through the three-dimensional error model, calculates the flatness error of the outer wall panel and the position error of the key hole system, and compares them with the preset threshold. S4: If the error is greater than the preset threshold, the second computer plans the correction path and determines the target correction position and the required correction force based on the error distribution characteristics and mechanical analysis module; S5: The second computer controls the gantry frame to move along the ground rail, so that the moving platform can drive the straightening components to the target straightening position, drive the servo hydraulic cylinder to drive the straightening copper hammer to output the corresponding straightening force, and straighten the deformed area of ​​the outer wall panel. S6: After the correction is completed, the detection unit re-collects the three-dimensional coordinate data of the key feature points of the outer wall panel, and the second computer performs error analysis again; if the error is not greater than the preset threshold, the correction is deemed qualified; if it is still greater than the preset threshold, steps S4~S5 are repeated until the error is qualified. S7: Store the three-dimensional coordinate data, error analysis results, correction path and correction force parameters of this operation to the data storage module, and then cut the qualified forklift frame outer wall panel.

[0020] The beneficial effects of this invention are as follows: This device uses at least one coordinate measuring machine to collect three-dimensional coordinate data of key feature points. Preferably, two coordinate measuring machines are symmetrically arranged to simultaneously collect data from both sides of the outer wall panel. Combined with the roll, pitch, and rotation degrees of freedom of the articulated arm, it can flexibly adapt to the complex structure of the outer wall panel and achieve full coverage of three-dimensional data of key feature points in the entire area. Through the control of the first computer for data acquisition and synchronous integration, the second computer completes the accurate calculation of flatness and key hole system position based on the three-dimensional error model. Compared with manual measurement using rulers and dial indicators, this significantly improves the accuracy and comprehensiveness of error detection, providing reliable data support for subsequent accurate correction.

[0021] Compared to traditional manual tapping or simple hydraulic devices for overall correction, this device uses a second computer's mechanical analysis module to plan a dedicated correction path based on error distribution characteristics. It controls the moving platform to precisely position itself in the deformed area, while a servo hydraulic cylinder drives the correction hammer to output a suitable and precise correction force, achieving differentiated and targeted correction for different deformed areas. The threaded connection design between the adjustable column and the moving platform allows for flexible adjustment of the correction component height to accommodate the correction needs of outer wall panels of different thicknesses, further improving correction adaptability. Closed-loop control during the correction process effectively avoids secondary deformation caused by excessive correction force or positional deviation, significantly improving the correction pass rate.

[0022] This invention utilizes the collaborative operation of dual computers in the control unit to construct a fully automated closed-loop operation mode encompassing data acquisition, error analysis, path planning, precise correction, and re-inspection. This eliminates the need for manual intervention in the detection and correction process, significantly reducing manual workload and resolving the issues of disconnected detection and correction and low efficiency in traditional methods. Simultaneously, the control cabinet's data storage module can completely retain three-dimensional coordinate data, error analysis results, correction parameters, and other information, facilitating production traceability and process optimization. The preset threshold adjustment module can adapt to the detection standards of different specifications of outer wall panels, improving the device's versatility. The integrated closed-loop operation significantly improves the first-pass yield of forklift frame outer wall panels, reduces labor and material costs associated with rework and repair, and substantially enhances production efficiency.

[0023] This invention effectively eliminates the cumulative deformation of the outer wall panel of the frame through precise detection and correction, avoiding obvious seams after the frame and counterbalance are assembled. This not only improves the appearance quality of the product, but also improves the assembly accuracy of the frame. The corrected outer wall panel structure is more evenly stressed, which can effectively improve the load-bearing capacity and structural stability of the frame, reduce the risk of failure during the subsequent use of the forklift, and extend the service life of the entire vehicle.

[0024] In summary, this invention has a reasonable structure and a high degree of automation, which can effectively solve the technical problems of low accuracy, poor efficiency and easy secondary deformation in the existing forklift frame outer wall panel detection and correction. It takes into account both versatility and traceability, can reduce production costs, improve product quality and production efficiency, adapt to the needs of large-scale and multi-specification forklift frame production, and has good industrial application value. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0026] Figure 2 This is a structural diagram of the coordinate measuring machine of the present invention.

[0027] Figure 3 This is a schematic diagram of the working state of the correction unit of the present invention.

[0028] Figure 4 This is a schematic diagram of the overall structure of the correction unit of the present invention.

[0029] In the diagram: 1. Detection unit; 11. Coordinate measuring machine; 111. Base; 112. Articulated arm; 113. Probe head; 114. Rotary joint; 2. Correction unit; 21. Ground rail; 22. Gantry frame; 23. Moving platform; 24. Correction assembly; 241. Adjusting column; 242. Correction bracket; 243. Servo hydraulic cylinder; 244. Correction hammer; 3. Control unit; 31. Control cabinet. Detailed Implementation

[0030] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the examples in the specification.

[0031] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0032] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0033] Example 1 Reference Figures 1-4 This is the first embodiment of the present invention. This embodiment provides a forklift frame outer wall panel detection and correction device, comprising: The detection unit 1 includes at least one coordinate measuring machine 11, used to collect three-dimensional coordinate data of key feature points of the forklift frame outer wall panel; The correction unit 2 includes a gantry frame 22 slidably mounted on a ground rail 21, a moving platform 23, and a correction component 24. The moving platform 23 is mounted on the gantry frame 22, and the correction component 24 is located at the lower end of the moving platform 23 for applying a controllable correction force to the deformed area of ​​the forklift frame outer wall panel. Control unit 3 includes control cabinet 31 integrated within gantry rack 22, with control cabinet 31 housing a first computer and a second computer; The first computer is electrically connected to the coordinate measuring machine 11 and is used to control the movement of the coordinate measuring machine 11 and the acquisition of three-dimensional coordinate data, and to transmit the acquired three-dimensional coordinate data to the second computer. The second computer has a built-in three-dimensional error model and mechanical analysis module, which is used to receive and analyze three-dimensional coordinate data and calculate the flatness error of the outer wall plate and the position error of the key hole system.

[0034] During use, the control cabinet 31 is started to power on the first and second computers synchronously and complete the system initialization. Then, the outer wall panel of the forklift frame to be tested and corrected is placed in the designated testing area to ensure the stability of the outer wall panel and avoid displacement during subsequent testing and correction. At the same time, the sliding flexibility of the gantry frame 22 on the ground rail 21, the smoothness of the movement of the moving platform 23 and the correction component 24 are checked, and the measurement reference of the coordinate measuring machine 11 is calibrated to ensure that the operation of each unit of the equipment is synchronized and the parameters are accurate.

[0035] The first computer in control unit 3 sends motion and data acquisition commands to the coordinate measuring machine 11, controlling the coordinate measuring machine 11 to acquire three-dimensional coordinate data of key feature points of the forklift frame outer wall panel. After acquisition, the first computer synchronously transmits all three-dimensional coordinate data to the second computer. The second computer receives the three-dimensional coordinate data transmitted by the first computer, analyzes the data using the built-in three-dimensional error model, compares it with standard three-dimensional parameters, and calculates the flatness error and key hole system position error of the forklift frame outer wall panel. Then, through the built-in mechanical analysis module, it accurately calculates the magnitude, direction, and point of application of the required correction force based on the error data, generates correction commands, and transmits them to the moving platform 23 and the correction component 24.

[0036] The synchronous control and data transmission of the first computer ensures that the acquisition process is orderly and efficient, avoids data loss or transmission delay, and guarantees data integrity and timeliness; the three-dimensional error model can accurately quantify the flatness and key hole system position errors, avoiding subjective errors in human judgment; the mechanical analysis module calculates correction parameters in combination with error data, ensuring that the correction force is controllable and accurate, providing a scientific basis for subsequent targeted correction, avoiding over-correction or under-correction, and improving correction accuracy.

[0037] The mobile platform 23 receives correction instructions from the second computer, moving the correction component 24 to the deformation area of ​​the outer wall panel. The gantry frame 22 can slide along the ground rail 21, cooperating with the mobile platform 23 to adjust the spatial position of the correction component 24. The correction component 24 applies a controllable correction force to the deformation area according to preset correction parameters. By continuously applying a stable correction force, the flatness error of the outer wall panel and the positional error of the key hole system are gradually eliminated. During the correction process, the second computer receives dynamic data fed back by the coordinate measuring machine 11 in real time and fine-tunes the correction parameters. The cooperation between the gantry frame 22 and the mobile platform 23 can flexibly adjust the position of the correction component 24 to adapt to the deformation correction needs of different areas of the outer wall panel. The application of controllable correction force can achieve precise correction and avoid damage to non-deformed areas. Dynamic fine-tuning of parameters during the correction process ensures that the correction effect meets the standard requirements and improves the correction pass rate.

[0038] Example 2 The difference between this embodiment and embodiment 1 is that the detection unit 1 includes two coordinate measuring machines 11. Each coordinate measuring machine 11 includes a base 111, an articulated arm 112, and a probe head 113. The articulated arms 112 are connected by a rotary joint 114, which includes a roll joint and a pitch joint.

[0039] The probe 113 adopts a contact-type detection structure, which is used to conform to the key feature points of the outer wall panel of the forklift frame to complete the three-dimensional coordinate data acquisition. The probe 113 is detachably connected to the articulated arm 112.

[0040] Furthermore, the adjustable column 241 is threadedly connected to the moving platform 23. By rotating the adjustable column 241, the height of the correction bracket 242 and the correction hammer 244 can be adjusted to meet the correction requirements of forklift frame outer wall panels of different thicknesses.

[0041] Furthermore, the correction component 24 includes an adjustment column 241 inserted into the mobile platform 23, a correction bracket 242 fixed at the bottom of the adjustment column 241, and correction copper hammers 244 driven by servo hydraulic cylinders 243 on both sides of the correction bracket 242.

[0042] Example 3 The difference between this embodiment and embodiment 2 is that two coordinate measuring machines 11 are symmetrically arranged on both sides of the gantry frame 22 to synchronously collect the three-dimensional coordinate data of key feature points on both sides of the outer wall panel of the forklift frame. The first computer receives the two sets of data and transmits them to the second computer after completing synchronous integration.

[0043] The servo hydraulic cylinder 243 is electrically connected to the second computer. Based on the mechanical analysis results, the second computer controls the servo hydraulic cylinder 243 to output the corresponding thrust, which drives the straightening copper hammer 244 to apply a precise straightening force to the deformed area.

[0044] The second computer has a built-in preset threshold adjustment module, which can adjust the preset thresholds for flatness error and key hole position error according to the inspection standards of different specifications of forklift frame outer wall panels.

[0045] Furthermore, the control cabinet 31 is also equipped with a data storage module for storing the acquired three-dimensional coordinate data, error analysis results, correction path, and correction force parameters.

[0046] During use, based on the thickness of the outer wall panel of the forklift frame to be inspected and corrected, the adjusting column 241, which is threadedly connected to the moving platform 23, is rotated. By adjusting the lifting and lowering of the adjusting column 241, the bottom-fixed correction bracket 242 and the correction hammer 244 are simultaneously lifted and lowered until the correction hammer 244 reaches the working height suitable for the thickness. The outer wall panel is then stably placed in the designated inspection area to avoid displacement. At the same time, two coordinate measuring machines 11 are debugged to check the stability of the base 111 and the rotational flexibility of the articulated arm 112. It is confirmed that the contact probe 113 is firmly connected to the articulated arm 112. Before operation, the appropriate probe 113 is selected, the measurement reference is calibrated, and the operation of each unit of the equipment is synchronized. The height adaptation adjustment can meet the correction requirements of outer wall panels of different thicknesses, improving the versatility of the device; the initial debugging of the dual coordinate measuring machine 11 ensures the synchronization of subsequent measurements; the roll joint and pitch joint can improve the degree of freedom of movement of the articulated arm 112; the firm connection of the contact probe 113 prevents it from falling off during the measurement process; stable workpiece positioning and equipment reference calibration eliminate initial errors, laying the foundation for accurate measurement and correction.

[0047] The dual coordinate measuring machine 11 works in conjunction with the flexibly rotatable articulated arm 112 to expand the measurement coverage, reduce measurement blind spots, and improve data acquisition efficiency. The contact probe 113 provides close-fitting acquisition, improving the acquisition accuracy of three-dimensional coordinate data and ensuring data authenticity. The detachable probe 113 facilitates maintenance and replacement, reduces equipment downtime costs, and ensures continuous progress of data acquisition.

[0048] The three-dimensional error model can more accurately quantify errors and avoid misjudgments caused by the limitations of single measurement data. The mechanical analysis module matches the characteristic calculation parameters of the correction component 24 to ensure that the force of the servo hydraulic cylinder 243 driving the correction hammer 244 is controllable, providing a scientific basis for subsequent accurate correction and preventing over-correction or under-correction. When the outer wall panel needs to be corrected, according to the instructions of the second computer, the gantry frame 22 slides along the ground rail 21, and the moving platform 23 drives the correction component 24 to move synchronously, aligning the correction hammer 244 with the deformed area of ​​the outer wall panel. The servo hydraulic cylinder 243 drives the correction hammers 244 on both sides to act synchronously, applying a preset controllable correction force to the deformed area, gradually eliminating flatness and key hole system position errors. During the correction process, the dual coordinate measuring machine 11 continuously collects the dynamic coordinate data of the key feature points of the outer wall panel and feeds it back to the second computer, which then fine-tunes the driving parameters of the servo hydraulic cylinder 243 and the force of the correction hammer 244. The two servo hydraulic cylinders 243 drive the straightening copper hammers 244 to work synchronously, which can balance the straightening force and avoid secondary deformation caused by unilateral force. The straightening copper hammers 244 are soft and can reduce damage to the surface of the outer wall panel, taking into account both the straightening effect and the appearance of the workpiece. The dynamic fine-tuning parameters can adapt to the straightening progress in real time, improving the straightening accuracy and efficiency.

[0049] Example 4 This embodiment provides a correction method for a forklift frame outer wall panel detection and correction device, which uses the forklift frame outer wall panel detection and correction device as described in Embodiment 3, and includes the following steps: S1: Fix the outer wall panel of the forklift frame to be inspected to the inspection station, ensuring that its position matches the working range of inspection unit 1 and correction unit 2; S2: The first computer controls the movement of the coordinate measuring machine 11 of the detection unit 1, drives the probe 113 to collect the three-dimensional coordinate data of key feature points of the outer wall panel of the forklift frame, and transmits the data to the second computer. S3: The second computer processes the three-dimensional coordinate data through the three-dimensional error model, calculates the flatness error of the outer wall panel and the position error of the key hole system, and compares them with the preset threshold. S4: If the error is greater than the preset threshold, the second computer plans the correction path and determines the target correction position and the required correction force based on the error distribution characteristics and mechanical analysis module; S5: The second computer controls the gantry frame 22 to move along the ground rail 21, so that the moving platform 23 drives the straightening component 24 to be positioned at the target straightening position, drives the servo hydraulic cylinder 243 to drive the straightening copper hammer 244 to output the corresponding straightening force, and straightens the deformed area of ​​the outer wall panel. S6: After the correction is completed, the detection unit 1 re-collects the three-dimensional coordinate data of the key feature points of the outer wall panel, and the second computer performs error analysis again; if the error is not greater than the preset threshold, the correction is deemed qualified; if it is still greater than the preset threshold, steps S4~S5 are repeated until the error is qualified. S7: Store the three-dimensional coordinate data, error analysis results, correction path and correction force parameters of this operation to the data storage module, and then cut the qualified forklift frame outer wall panel.

[0050] During use, refer to Figures 1-2 The control cabinet 31, integrated within the gantry frame 22, is activated in control unit 3 to complete the system initialization of the first and second computers, ensuring smooth communication between the two computers and each unit. Based on the thickness of the forklift frame outer wall panel to be inspected and corrected, the adjusting column 241, threadedly connected to the moving platform 23, is rotated. The forklift frame outer wall panel to be inspected is then fixed at the inspection station, ensuring its position matches the working range of inspection unit 1 and correction unit 2 to prevent displacement during operation. Simultaneously, the two coordinate measuring machines 11 are debugged, checking the stability of the base 111, the rotational flexibility of the articulated arm 112 connected by roll and pitch joints, confirming the secure connection between the contact probe 113 and the articulated arm 112, calibrating the measurement reference, and ensuring synchronized operation of all units of the equipment.

[0051] Reference Figure 3 The first computer sends motion and acquisition commands to control the two coordinate measuring machines 11 to work synchronously. Through the coordinated rotation of the roll and pitch joints of the articulated arm 112, the contact probe 113 moves flexibly, allowing it to contact the key feature points of the forklift frame's outer wall panel to complete the 3D coordinate data acquisition. During the acquisition process, the two machines work together to cover different areas of the outer wall panel, improving acquisition efficiency. All acquired 3D coordinate data is synchronously transmitted from the first computer to the second computer. If the probe 113 wears out, its detachable connection with the articulated arm 112 allows for quick replacement and re-acquisition. The collaborative operation of the two coordinate measuring machines 11, combined with the flexibly rotating articulated arm 112, expands the measurement coverage, reduces blind spots, and significantly improves data acquisition efficiency. The contact probe 113's contact-type acquisition effectively improves the accuracy of 3D coordinate data acquisition, ensuring data reliability and providing complete and accurate data support for subsequent error analysis. The detachable probe head 113 design facilitates quick maintenance and replacement, reduces equipment downtime costs, ensures continuous data acquisition, and avoids data acquisition interruptions that could affect operational efficiency.

[0052] The second computer receives the three-dimensional coordinate data transmitted from the first computer, processes the data using a built-in three-dimensional error model, calculates the flatness error of the outer wall panel and the positional error of the key hole system, and compares the calculation results with preset thresholds. If the error exceeds the preset threshold, the second computer, based on the error distribution characteristics and combined with the built-in mechanical analysis module, plans a precise correction path, determines the target correction position and the required correction force, generates corresponding correction instructions, and transmits them to the mobile platform 23 and the correction component 24. The three-dimensional error model can accurately quantify the flatness and positional errors of the key hole system, and, combined with the comparison with the preset threshold, clearly determine whether the workpiece needs correction, avoiding misjudgment. Planning the correction path based on the error distribution characteristics and determining the correction parameters based on mechanical analysis ensures that the correction operation is highly targeted and avoids blind correction. Precisely calculating the correction force provides a scientific basis for subsequent controllable correction, effectively avoiding over-correction or under-correction, and improving correction accuracy and pass rate.

[0053] Reference Figure 4 The second computer sends a correction command, controlling the gantry frame 22 to move along the ground rail 21. This, in conjunction with the moving platform 23, moves the correction assembly 24 synchronously, precisely positioning the correction hammer 244 to the target correction position. Then, according to preset correction parameters, the servo hydraulic cylinder 243 drives the correction hammer 244 to output a corresponding correction force, specifically correcting the deformed area of ​​the outer wall panel. During the correction process, the dual-coordinate measuring machine 11 continuously collects dynamic coordinate data of key feature points of the outer wall panel and feeds it back to the second computer in real time. The second computer then fine-tunes the driving parameters of the servo hydraulic cylinder 243 and the force of the correction hammer 244 to ensure the correction effect meets the standards.

[0054] The gantry frame 22 and the mobile platform 23 move in tandem, enabling precise positioning of the straightening component 24 and adapting to deformation straightening needs at different locations. A servo hydraulic cylinder 243 drives the straightening hammers 244 to output controllable straightening force. Combined with real-time parameter fine-tuning, this dynamically adapts to the straightening progress, improving straightening accuracy. The straightening hammers 244 on both sides operate synchronously, balancing the straightening force and preventing secondary deformation of the workpiece caused by unilateral force. The soft material of the hammers reduces damage to the outer wall surface, balancing straightening effectiveness with the integrity of the workpiece's appearance.

[0055] After the correction operation is completed, detection unit 1 re-acquires the three-dimensional coordinate data of key feature points of the outer wall panel, repeats the acquisition process of S2, and transmits the re-inspection data to the second computer. The second computer performs error analysis again through the three-dimensional error model, compares it with the preset threshold, and determines whether the error meets the requirements: if the error is not greater than the preset threshold, the correction is deemed qualified; if the error is still greater than the preset threshold, steps three to five are repeated until the error meets the standard.

[0056] The re-inspection process comprehensively verifies the correction effect, prevents defective workpieces from leaving the site, and ensures product accuracy. Dual-machine collaborative re-inspection reduces the limitations of single measurements, lowers the probability of misjudgment, and ensures workpiece errors meet preset standards. The cyclical correction and re-inspection mechanism gradually eliminates outer panel deformation errors, improves the correction pass rate, ensures the assembly compatibility of the forklift frame outer panel, and thus enhances the stability and safety of the overall forklift structure.

[0057] After the workpiece passes the correction, all three-dimensional coordinate data, error analysis results, correction path, and correction force parameters are stored in the data storage module, completing the work data archiving. Subsequently, the qualified forklift frame outer panel is unloaded, concluding the inspection and correction operation. Comprehensive archiving of work data facilitates subsequent traceability of the entire workpiece inspection and correction process, providing data reference for the inspection and correction of similar workpieces, optimizing correction parameters, and improving operational efficiency. Simultaneously, data analysis can be used to identify problems in equipment operation and the work process, assisting in equipment maintenance and process optimization. The standardized unloading process for qualified workpieces ensures that all workpieces flowing into the next process meet precision requirements, guaranteeing the quality of forklift production and assembly.

[0058] Example 5 The difference between this embodiment and Embodiment 4 is that it supplements the specific operational procedures for error detection, correction, and manual intervention, and sets an error threshold of 0.8 mm. The specific operational process is as follows: S1: Workpiece fixing and equipment debugging.

[0059] Fix the forklift frame outer wall panel to be inspected at the inspection station, ensuring its position matches the working range of inspection unit 1 and correction unit 2 to prevent displacement during operation. Start control cabinet 31 to complete system initialization of the first and second computers, ensuring smooth communication between the two computers and each unit. Based on the thickness of the forklift frame outer wall panel to be inspected and corrected, rotate the adjusting column 241 threaded to the moving platform 23 to adjust the height of the correction component 24 to the appropriate position. Debug the two coordinate measuring machines 11, check the stability of the base 111 and the rotational flexibility of the articulated arm 112, confirm that the contact probe 113 is firmly connected to the articulated arm 112, calibrate the measurement reference, and ensure that all units of the equipment operate synchronously.

[0060] S2: Initial 3D coordinate data acquisition The first computer sends motion and data acquisition commands to control the two coordinate measuring machines 11 to work synchronously. Through the coordinated rotation of the roll and pitch joints of the articulated arm 112, the contact probe 113 is moved flexibly, allowing it to contact the key feature points of the forklift frame's outer wall panel, thus completing the three-dimensional coordinate data acquisition. All acquired three-dimensional coordinate data is synchronously transmitted from the first computer to the second computer. If the probe 113 becomes worn, its detachable connection with the articulated arm 112 allows for quick replacement of the probe 113 and re-acquisition.

[0061] S3: Initial Error Analysis and Judgment The second computer receives the three-dimensional coordinate data transmitted from the first computer, processes the data using a built-in three-dimensional error model, and calculates the flatness error of the outer wall panel and the positional error of the key hole system. The calculation results are compared with a preset threshold of 0.8mm: if the error is ≤0.8mm, the workpiece is deemed qualified, and the process proceeds directly to step S7 for data storage and material cutting.

[0062] If the error is >0.8mm (e.g., the error in the first detection is 1.2mm), then proceed to step S4 to plan the correction path.

[0063] S4: Correction Path Planning and Parameter Determination Based on the error distribution characteristics and combined with the built-in mechanical analysis module, the second computer plans a precise correction path, determines the target correction position and the required correction force, generates corresponding correction instructions, and transmits them to the mobile platform 23 and the correction component 24.

[0064] S5: Initial Correction Procedure The second computer sends a correction command, controlling the gantry frame 22 to move along the ground rail 21. This, in conjunction with the moving platform 23, moves the correction assembly 24 synchronously, precisely positioning the correction hammer 244 to the target correction position. Based on preset correction parameters, the servo hydraulic cylinder 243 drives the correction hammer 244 to output a corresponding correction force, specifically correcting the deformed areas of the outer wall panel. During the correction process, the dual-coordinate measuring machine 11 continuously collects dynamic coordinate data of key feature points on the outer wall panel, feeding it back to the second computer in real time. The second computer then fine-tunes the drive parameters of the servo hydraulic cylinder 243 and the force of the correction hammer 244 to ensure the correction effect meets the standards.

[0065] S6: Re-examination and secondary correction (as needed based on actual circumstances) After the correction operation is completed, the detection unit 1 re-acquires the three-dimensional coordinate data of the key feature points of the outer wall panel, repeats the acquisition process of step S2, and transmits the re-inspection data to the second computer. The second computer performs error analysis again through the three-dimensional error model and compares it with the preset threshold: if the re-inspection error is ≤0.8mm, the correction is deemed qualified and proceeds to step S7; if the re-inspection error is still >0.8mm, steps S4~S5 are repeated for secondary correction.

[0066] Special case handling: If the error is still >0.8mm after the second correction and re-inspection, the system issues an instruction to enter the manual intervention process: The operator manually adjusts the correction parameters or uses other auxiliary means to repair the error based on the error distribution diagram and correction suggestions provided by the second computer.

[0067] After manual repair is completed, a second inspection is conducted until the error is ≤0.8mm.

[0068] S7: Data storage and workpiece cutting After the workpiece passes the correction, all three-dimensional coordinate data, error analysis results, correction path, and correction force parameters of this operation are stored in the data storage module, completing the operation data archiving. The qualified forklift frame outer panel is then cut into its final form, concluding this inspection and correction operation.

[0069] This embodiment achieves closed-loop control of the automated detection and correction process by setting a clear error threshold: when the error exceeds the standard during the first detection, the system automatically plans a correction path and executes the correction operation; if the re-inspection fails, the correction and re-inspection process can be repeated until the error reaches the standard or the conditions for manual intervention are triggered. The manual intervention process, as a supplement to the automated operation, ensures that the workpiece can still meet the accuracy requirements through repair in extreme cases, thereby improving the reliability and applicability of the device.

[0070] Comprehensive archiving of operational data facilitates subsequent traceability and process optimization, providing strong support for large-scale, multi-specification forklift chassis production.

[0071] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A forklift frame outer wall panel detection and correction device, characterized in that, include: The detection unit (1) includes at least one coordinate measuring machine (11) for collecting three-dimensional coordinate data of key feature points of the forklift frame outer wall panel; The correction unit (2) includes a gantry frame (22) slidably mounted on a ground rail (21), a moving platform (23), and a correction component (24). The moving platform (23) is mounted on the gantry frame (22), and the correction component (24) is located at the lower end of the moving platform (23) for applying a controllable correction force to the deformed area of ​​the outer wall panel of the forklift frame. The control unit (3) includes a control cabinet (31) integrated within the gantry frame (22), wherein the control cabinet (31) contains a first computer and a second computer. The first computer is electrically connected to the coordinate measuring machine (11) and is used to control the movement of the coordinate measuring machine (11) and the acquisition of three-dimensional coordinate data, and to transmit the acquired three-dimensional coordinate data to the second computer. The second computer has a built-in three-dimensional error model and mechanical analysis module, which is used to receive and analyze the three-dimensional coordinate data and calculate the flatness error of the outer wall plate and the position error of the key hole system.

2. The forklift frame outer wall panel detection and correction device as described in claim 1, characterized in that: The detection unit (1) includes two coordinate measuring machines (11). Each coordinate measuring machine (11) includes a base (111), an articulated arm (112), and a probe (113). The articulated arms (112) are connected by a rotary joint (114), which includes a roll joint and a pitch joint.

3. The forklift frame outer wall panel detection and correction device as described in claim 2, characterized in that: The probe (113) adopts a contact probe structure, which is used to fit the key feature points of the outer wall panel of the forklift frame to complete the three-dimensional coordinate data acquisition. The probe (113) is detachably connected to the articulated arm (112).

4. The forklift frame outer wall panel detection and correction device as described in claim 3, characterized in that: The adjusting column (241) is threadedly connected to the moving platform (23). The height of the correction bracket (242) and the correction hammer (244) can be adjusted by rotating the adjusting column (241) to meet the correction requirements of forklift frame outer wall panels of different thicknesses.

5. The forklift frame outer wall panel detection and correction device as described in claim 1, characterized in that: The correction component (24) includes an adjustment column (241) inserted into the mobile platform (23), a correction bracket (242) fixed at the bottom of the adjustment column (241), and correction copper hammers (244) driven by servo hydraulic cylinders (243) on both sides of the correction bracket (242).

6. The forklift frame outer wall panel detection and correction device as described in claim 1, characterized in that: Two coordinate measuring machines (11) are symmetrically arranged on both sides of the gantry frame (22) to synchronously collect the three-dimensional coordinate data of key feature points on both sides of the outer wall panel of the forklift frame. The first computer receives the two sets of data and transmits them to the second computer after synchronous integration.

7. The forklift frame outer wall panel detection and correction device as described in claim 3, characterized in that: The servo hydraulic cylinder (243) is electrically connected to the second computer. Based on the mechanical analysis results, the second computer controls the servo hydraulic cylinder (243) to output the corresponding thrust, which drives the straightening copper hammer (244) to apply a precise straightening force to the deformed area.

8. The forklift frame outer wall panel detection and correction device as described in claim 1, characterized in that: The second computer has a built-in preset threshold adjustment module, which can adjust the preset thresholds for flatness error and key hole system position error according to the inspection standards of different specifications of forklift frame outer wall panels.

9. The forklift frame outer wall panel detection and correction device as described in claim 1, characterized in that: The control cabinet (31) is also equipped with a data storage module for storing the collected three-dimensional coordinate data, error analysis results, correction path, and correction force parameters.

10. A correction method for a forklift frame outer wall panel inspection and correction device, characterized in that: The forklift frame outer wall panel detection and correction device according to any one of claims 1 to 9 includes the following steps: S1: Fix the outer wall panel of the forklift frame to be inspected to the inspection station, ensuring that its position matches the working range of the inspection unit (1) and the correction unit (2); S2: The coordinate measuring machine (11) of the first computer-controlled detection unit (1) moves, drives the probe (113) to collect the three-dimensional coordinate data of key feature points of the forklift frame outer wall panel, and transmits the data to the second computer; S3: The second computer processes the three-dimensional coordinate data through the three-dimensional error model, calculates the flatness error of the outer wall panel and the position error of the key hole system, and compares them with the preset threshold. S4: If the error is greater than the preset threshold, the second computer plans the correction path and determines the target correction position and the required correction force based on the error distribution characteristics and mechanical analysis module; S5: The second computer controls the gantry frame (22) to move along the ground rail (21), so that the moving platform (23) drives the straightening component (24) to be positioned at the target straightening position, drives the servo hydraulic cylinder (243) to drive the straightening copper hammer (244) to output the corresponding straightening force, and straightens the deformed area of ​​the outer wall panel; S6: After the correction is completed, the detection unit (1) re-collects the three-dimensional coordinate data of the key feature points of the outer wall panel, and the second computer performs error analysis again; if the error is not greater than the preset threshold, the correction is deemed qualified; if it is still greater than the preset threshold, steps S4~S5 are repeated until the error is qualified. S7: Store the three-dimensional coordinate data, error analysis results, correction path and correction force parameters of this operation to the data storage module, and then cut the qualified forklift frame outer wall panel.

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