Method and system for producing a forklift fender

Abstract

The application discloses a production method of a forklift mudguard, and comprises the following steps: detecting the thickness of incoming flat plates to obtain actual thickness information; positioning and centering the incoming flat plates after the thickness detection, and then sending the flat plates into a molding station to determine the first molding parameters according to the actual thickness information and historical molding parameters in a molding parameter database and to perform the first molding; carrying the mudguard semi-finished product to a shape detection station, performing preliminary detection by using a non-contact visual detection unit, and performing re-detection by using a contact detection unit when the preliminary detection is unqualified; when both the preliminary detection and the re-detection are unqualified, determining a compensation area, a compensation quantity and re-molding parameters according to the thickness detection result, feature point deviation information and historical records in the molding parameter database, performing re-molding after placing a gasket in the corresponding area of a concave cavity of a molding die, and writing the molding parameters, the detection result and the compensation result into the molding parameter database. The application can improve the forming quality stability of the mudguard.

Description

Technical Field

[0001] This invention relates to the field of forklift mudguard manufacturing technology, and more particularly to a method for manufacturing forklift mudguards. Background Technology

[0002] Forklift mudguards are primarily used to prevent mud, sand, stones, and other debris kicked up by forklift wheels from splashing up during forklift operation, thus protecting the vehicle and operators. These mudguards are typically made of low-carbon steel plates, generally 10–16 mm thick, and are often manufactured using bending or stamping processes. For parts with a composite cross-section of curved and straight sections, the forming quality depends not only on the mold structure but also on the thickness of the incoming material, the forming parameters, and the springback after forming. Therefore, in mass production scenarios, high requirements are usually placed on dimensional consistency and forming stability.

[0003] In the current forklift mudguard production process, the actual thickness of the incoming flat plate often fluctuates. For example, when the theoretical thickness is 12mm, the actual thickness may vary between 11.8 and 12.2mm. Since thickness fluctuations affect the stress state and springback during the molding process, using fixed molding parameters can easily lead to increased dimensional deviations after molding. Traditional production methods typically rely on manual loading and unloading, manual adjustment of mold compensation, and manual re-pressing for correction. When the thickness deviation is large, manual adjustment of the mold compensation is often required, along with equipment re-pressing for correction; sometimes, two people are even needed for correction. This method is not only labor-intensive but also highly dependent on the experience of the operators.

[0004] Therefore, how to handle factors such as material thickness fluctuations, forming springback, and shape deviations more stably and efficiently during the production of forklift mudguards, in order to reduce manual intervention, improve production efficiency, and enhance product quality consistency, has become a pressing technical problem in this field. Summary of the Invention

[0005] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, one object of this invention is to provide a forklift mudguard production method and system that can reduce manual intervention, improve production efficiency, and enhance product quality consistency.

[0006] Firstly, the present invention provides a method for producing forklift mudguards, the steps of which are as follows: S1: The incoming plate from the previous process is transported to the plate thickness detection station, and the plate thickness is detected to obtain the actual plate thickness information. S2: The incoming plate after the plate thickness test is completed is transported to the positioning station for positioning and centering. Then the positioned incoming plate is sent to the forming station. The first forming parameters are determined according to the actual plate thickness information and the corresponding historical forming parameters in the forming parameter database. The incoming plate is formed for the first time according to the first forming parameters to obtain the mudguard semi-finished product. S3: The mudguard semi-finished product is transported to the shape inspection station, and the non-contact vision inspection unit is used to perform a preliminary shape inspection on the mudguard semi-finished product; if the preliminary inspection fails, the mudguard semi-finished product is re-inspected using a contact inspection unit to obtain the deviation information of the feature points on the mudguard cross section relative to the theoretical coordinates. S4: When both the non-contact visual inspection unit and the contact inspection unit determine that the mudguard semi-finished product is unqualified, the compensation area, compensation quantity and re-pressing parameters are determined according to the plate thickness detection results, the deviation information of the feature points and the historical records in the pressing parameter database. After placing the shim in the corresponding area in the pressing mold cavity, the re-pressing is performed. S5: After repressing, the workpiece is moved to the shape inspection station for re-inspection, and the blanking, continued compensation repressing, or rework is performed according to the re-inspection results. S6: Write the plate thickness data, forming parameters, shape inspection results and compensation results of each forming process into the forming parameter database for use in the initial forming parameter selection and re-forming parameter optimization in subsequent production.

[0007] Preferably, in step S3, the mudguard cross-section consists of a central arc segment and straight lines extending outward from both ends of the arc. The characteristic points of the arc segment on the mudguard cross-section are points A, B, and C. Point B is the lowest point of the arc segment, and the diameter perpendicular to the arc normal at point B is the projection line. Point A is located on the right side of the arc segment at 2 / 3R of the distance from the projection line to the center of the circle, and point C is located on the left side of the arc segment at 1 / 2R of the distance from the projection line to the center of the circle.

[0008] Preferably, in steps S4-S5: Let i represent the number of pressing operations; the direction formed by the characteristic points A, B, and C of the same arc in the top view after the mudguard is pressed is the Y-axis direction, the direction perpendicular to the Y-axis in the top view is the X-axis direction, and the Z-axis direction is the vertical direction; j represents the section number of the mudguard in the top view after the mudguard is pressed, which is equidistant along the X-axis direction; The theoretical center of the circle is h0 on the Y-axis, k0 on the Z-axis, and has a radius of R. Then: ; ; in,( , , ( ) are the theoretical coordinates of feature point A; , , () represents the theoretical coordinates of feature point B; , , () represents the theoretical coordinates of feature point C; ; ; ; For the i-th compression molding, the distances from feature points A, B, and C to the theoretical coordinates are respectively... , , The average distance deviations from feature points A, B, and C to the theoretical coordinates are defined as follows: ; ; ; Determine whether the average distance deviation from feature points A, B, and C to the theoretical coordinates is greater than the critical distance deviation dcric. Establish an eigenvalue mapping table. In the eigenvalue mapping table, 0 indicates that the average distance deviation is less than dcric, and 1 indicates that the average distance deviation is greater than dcric. ; ; ; Where k is an integer representing the record number in the parameter database; t k The plate thickness corresponding to the k-th record in the database; This represents the angle between the line segment from the center of the circle to point A and the line segment from the center of the circle to point B; This represents the angle between the line segment from the center of the circle to point C and the line segment from the center of the circle to point B; This represents the k-th record value of the critical distance deviation at point A in the feature value mapping table. This represents the k-th record value of the critical distance deviation at point B in the feature value mapping table. This represents the k-th record value of the critical distance deviation at point C in the feature value mapping table; The placement position of the gasket, the forming pressure and speed, and the number of gaskets for the i-th forming are determined based on the positions of the values ​​of 1 in the feature value mapping table. ; ; ; Among them, t p The thickness of the padding paper; Residual index: ; The residual value is iterated based on the previous compensation after each compensation.

[0009] Preferably, in the eigenvalue mapping table: Feature points A, B, and C are: 0, 0, 0; the molding compensation strategy is: if the molding is qualified, no compensation is given; Feature points A, B, and C are 0, 0, and 1, respectively; the compression compensation strategy is: insert padding paper on the left side, and the number of padding papers... Increased pressure leads to decreased speed; Feature points A, B, and C are 0, 1, and 0, respectively; the compression compensation strategy is: inserting padding paper in the middle, with the number of padding papers... Increased pressure leads to decreased speed; Feature points A, B, and C are 0, 1, and 1, respectively; the compression compensation strategy is to insert padding paper in the middle and on the left side, with the number of padding papers varying. , Increased pressure leads to decreased speed; Feature points A, B, and C are: 1, 0, and 0; the compression compensation strategy is: insert padding paper on the right side, and the number of padding papers... Increased pressure leads to decreased speed; Feature points A, B, and C are 1, 0, and 1, respectively; the compression compensation strategy is to insert padding paper on the right and left sides, with the number of padding papers varying. , Pressure increases, speed remains constant; Feature points A, B, and C are 1, 1, and 0, respectively; the compression compensation strategy is: insert padding paper on the right side and in the middle, with the number of padding papers... , Increased pressure leads to decreased speed; Feature points A, B, and C are 1, 1, and 1 respectively; the compression compensation strategy is to insert padding paper on the right, middle, and left sides, with the number of padding papers as specified. , , Pressure increases, speed remains unchanged.

[0010] Preferably, except that feature points A, B, and C are 0, 0, and 0 respectively, the pressure value calculation formula is: ); Where K is the stiffness coefficient; The formula for calculating the velocity value is: in, The velocity attenuation coefficient is given when the characteristic points A, B, and C are 0, 0, and 0, respectively. When the value is 0; when the feature points A, B, and C are 1, 0, 1 and 1, 1, 1 respectively. It is 1; in other cases, It is 0.85.

[0011] Preferably, in step S2: Construct the fitness function F(I,M,G): F(I,M,G)=I+M+G; Where I represents the number of repressurization cycles; M represents the number of gaskets; and G represents the number of compensation positions. Based on the actual sheet thickness information, the records with the smallest sheet thickness difference are filtered from all historical records in the forming parameter database: min{d-d1,d-d2,...,d_num_record} Where d represents the actual plate thickness, and d_num_record represents the plate thickness recorded in the forming parameter database; If only one record has the same thickness difference, select the current pressure and velocity values ​​from the parameter database as the initial pressure parameters. If multiple record has the same thickness difference, further filter the record with the smallest fitness function value. Min{F1,F2,...,F_num_record} Where F_num_record represents the fitness function value of the compression parameter database record; If there is only one record, select the current pressure value and speed value in the parameter database as the initial pressure parameter. If there are multiple records, select the average pressure value and average speed value as the initial pressure parameter.

[0012] Preferably, after re-pressing, the material is unloaded when both the non-contact visual inspection unit and the contact inspection unit determine that the mudguard semi-finished product is qualified.

[0013] Preferably, the number of repressing cycles does not exceed three.

[0014] Secondly, the present invention provides a forklift mudguard production system, which applies any of the above-mentioned forklift mudguard production methods, wherein the system comprises: The conveying unit is used to transport the incoming flat plate from the previous process to the plate thickness detection station. The plate thickness detection unit is set at the plate thickness detection station and is used to detect the plate thickness of the incoming plate and output the actual plate thickness information. The positioning and centering unit is set at the positioning station and is used to position and center the incoming flat plate after the plate thickness inspection is completed. A forming unit is provided at the forming station. The forming unit includes a forming mold, which includes an upper mold and a lower mold. The lower mold has a mold cavity for placing a gasket. The forming unit is used to form the incoming flat plate or mudguard semi-finished product according to the initial forming parameters or the re-forming parameters. The handling unit is located between the plate thickness detection station, the positioning station, the forming station and the shape detection station, and is used to handle the incoming plate or mudguard semi-finished product between the stations. An outline inspection unit is set at the outline inspection station. The outline inspection unit includes a non-contact visual inspection subunit and a contact inspection subunit. The non-contact visual inspection subunit is used to perform an initial outline inspection on the mudguard semi-finished product. The contact inspection subunit is used to re-inspect the mudguard semi-finished product when the initial inspection fails, so as to obtain the deviation information of the feature points on the cross section of the mudguard relative to the theoretical coordinates. A compensation execution unit is arranged next to the forming unit and is used to place the gasket in the corresponding compensation area in the mold cavity according to the compensation command. A forming parameter database is used to store plate thickness data, forming parameters, shape inspection results, and compensation results; The control unit is connected to the conveying unit, plate thickness detection unit, positioning and centering unit, forming unit, handling unit, shape detection unit, compensation execution unit and forming parameter database respectively, and is controlled by any of the above-mentioned forklift mudguard production methods.

[0015] The beneficial effects of this invention are: By obtaining the actual thickness information of the incoming flat plate before the first pressing and combining it with the historical pressing parameters in the pressing parameter database to determine the first pressing parameters, the first pressing parameters can be matched with the incoming material status, thereby reducing the pressing deviation and springback difference caused by plate thickness fluctuations and reducing the need for subsequent manual adjustment and repeated pressing. When a test fails, the compensation area, quantity, and re-pressing parameters are determined based on the plate thickness test results, feature point deviation information, and historical database records. A shim is then placed in the corresponding area of ​​the forming mold cavity before re-pressing, transforming the compensation action from experience-based manual judgment to directional compensation linked to the test results. This improves the ability to correct local shape deviations and overall springback deviations, enhancing the stability and consistency of the mudguard forming process.

[0016] The molding parameters, test results, and compensation results are continuously written to the database, which can be used for the selection of initial molding parameters and optimization of re-molding parameters in subsequent production, thereby realizing parameter iteration and self-optimization of the production process. Attached Figure Description

[0017] In the attached diagram: Figure 1 This is a flowchart of a forklift mudguard production method proposed in this invention; Figure 2 This is a schematic diagram of the structure of the mudguard after molding proposed in this invention; Figure 3This is a block diagram of the control logic for the re-pressing after the mudguard is formed, as proposed in this invention. Figure 4 This is a schematic diagram of the structure of the central arc segment of the mudguard proposed in this invention; Figure 5 This is a logic block diagram of the double-passing test proposed in this invention; Figure 6 This is a block diagram of the forklift mudguard production system proposed in this invention. Detailed Implementation

[0018] Example 1: Reference Figure 1 A method for producing forklift mudguards, the steps of which are as follows: S1: Transport the incoming plate from the previous process to the plate thickness detection station, perform plate thickness detection on the incoming plate, and obtain the actual plate thickness information; S2: The incoming plate after the thickness test is completed is transported to the positioning station for positioning and centering. Then the positioned incoming plate is sent to the forming station. The first forming parameters are determined according to the actual plate thickness information and the corresponding historical forming parameters in the forming parameter database. The incoming plate is then formed for the first time according to the first forming parameters to obtain the mudguard semi-finished product. In this embodiment: Construct the fitness function F(I,M,G): F(I,M,G)=I+M+G; Where I represents the number of repressurization cycles; M represents the number of gaskets; and G represents the number of compensation positions. Based on the actual sheet thickness information, the records with the smallest sheet thickness difference are filtered from all historical records in the forming parameter database: min{d-d1,d-d2,...,d_num_record} Where d represents the actual plate thickness, and d_num_record represents the plate thickness recorded in the forming parameter database; If only one record has the same thickness difference, select the current pressure and velocity values ​​from the parameter database as the initial pressure parameters. If multiple record has the same thickness difference, further filter the record with the smallest fitness function value. Min{F1,F2,...,F_num_record} Where F_num_record represents the fitness function value of the compression parameter database record; If there is only one record, select the current pressure value and speed value in the parameter database as the initial pressure parameter. If there are multiple records, select the average pressure value and average speed value as the initial pressure parameter.

[0019] S3: The mudguard semi-finished product is transported to the shape inspection station, and a non-contact vision inspection unit is used to perform a preliminary shape inspection on the mudguard semi-finished product; if the preliminary inspection fails, a contact inspection unit is used to re-inspect the mudguard semi-finished product to obtain the deviation information of the feature points on the mudguard cross section relative to the theoretical coordinates. In this embodiment: Refer to Figure 2 The mudguard cross-section consists of a central arc segment and straight lines extending outward from both ends of the arc. The characteristic points of the arc segment on the mudguard cross-section are points A, B, and C. Point B is the lowest point of the arc segment. The diameter perpendicular to the arc normal at point B is the projection line. Point A is on the right side of the arc segment, located at 2 / 3R of the projection line from the center of the circle. Point C is on the left side of the arc segment, located at 1 / 2R of the projection line from the center of the circle.

[0020] S4: When both the non-contact visual inspection unit and the contact inspection unit determine that the mudguard semi-finished product is unqualified, the compensation area, compensation quantity and re-pressing parameters are determined based on the plate thickness inspection results, the deviation information of the feature points and the historical records in the pressing parameter database. After placing the shim in the corresponding area in the pressing mold cavity, the re-pressing is performed. In this embodiment: i represents the number of pressing times; the direction formed by the feature points A, B, and C of the same arc in the top view after the mudguard is pressed is the Y-axis direction, the direction perpendicular to the Y-axis in the top view is the X-axis direction, and the Z-axis direction is the vertical direction; j represents the section number of the mudguard in the top view after the mudguard is pressed, which is equidistant along the X-axis direction. The theoretical center of the circle is h0 on the Y-axis, k0 on the Z-axis, and has a radius of R. Then: ; ; in,( , , ( ) are the theoretical coordinates of feature point A; , , () represents the theoretical coordinates of feature point B; , , () represents the theoretical coordinates of feature point C; ; ; ; For the i-th compression molding, the distances from feature points A, B, and C to the theoretical coordinates are respectively... , , The average distance deviations from feature points A, B, and C to the theoretical coordinates are defined as follows: ; ; ; Determine whether the average distance deviation from feature points A, B, and C to the theoretical coordinates is greater than the critical distance deviation dcric. Establish an eigenvalue mapping table. In the eigenvalue mapping table, 0 indicates that the average distance deviation is less than dcric, and 1 indicates that the average distance deviation is greater than dcric. In an optional embodiment, refer to Figure 3 When the value of dcric is selected as 1mm, if the average distance deviation of feature points A, B, and C from the theoretical coordinates is greater than or equal to 1mm and less than 1.5mm, secondary pressing is required, and the value is 1 in the feature value mapping table. If the average distance deviation of feature points A, B, and C from the theoretical coordinates is greater than 1.5mm, secondary pressing and manual rework are required, and the value is 1 in the feature value mapping table. If the average distance deviation of feature points A, B, and C from the theoretical coordinates is less than 1mm, the material is qualified for cutting, and the value is 0 in the feature value mapping table. ; ; ; Where k is an integer representing the record number in the parameter database; t k The plate thickness corresponding to the k-th record in the database; This represents the angle between the line segment from the center of the circle to point A and the line segment from the center of the circle to point B; This represents the angle between the line segment from the center of the circle to point C and the line segment from the center of the circle to point B, such as... Figure 4 As shown; This represents the k-th record value of the critical distance deviation at point A in the feature value mapping table. This represents the k-th record value of the critical distance deviation at point B in the feature value mapping table. This represents the k-th record value of the critical distance deviation at point C in the feature value mapping table; The placement position of the gasket, the forming pressure and speed, and the number of gaskets for the i-th forming are determined based on the positions of the values ​​of 1 in the feature value mapping table. ; ; ; Among them, t p The thickness of the padding paper; Residual index: ; The residual value is iterated based on the previous compensation after each compensation.

[0021] In this embodiment, the feature value mapping table is shown in Table 1: Table 1 Except for feature points A, B, and C, which are 0, 0, and 0 respectively, the pressure value is calculated using the following formula: ); Where K is the stiffness coefficient; The formula for calculating the velocity value is: in, The velocity attenuation coefficient is given when the characteristic points A, B, and C are 0, 0, and 0, respectively. When the value is 0; when the feature points A, B, and C are 1, 0, 1 and 1, 1, 1 respectively. It is 1; in other cases, It is 0.85.

[0022] S5: After repressing, the workpiece is moved to the shape inspection station for re-inspection, and the blanking, continued compensation repressing, or rework is performed according to the re-inspection results. In this embodiment, refer to Figure 5 Taking the case of passing the re-pressure test twice as an example.

[0023] S6: Write the plate thickness data, forming parameters, shape inspection results and compensation results of each forming process into the forming parameter database for use in the initial forming parameter selection and re-forming parameter optimization in subsequent production.

[0024] In this embodiment, after re-pressing, when both the non-contact visual inspection unit and the contact inspection unit determine that the mudguard semi-finished product is qualified, the material is unloaded, and the number of re-pressing times does not exceed three.

[0025] Example 2: Reference Figure 6 A forklift fender production system, applying any one of the forklift fender production methods in Embodiment 1, the system comprising: The conveying unit is used to transport the incoming flat plate from the previous process to the plate thickness detection station. In this embodiment, the conveying unit adopts a loading AGV trolley.

[0026] The plate thickness detection unit is set at the plate thickness detection station and is used to detect the plate thickness of the incoming plate and output the actual plate thickness information. In this embodiment: the plate thickness detection unit adopts ultrasonic detection. The detection object is the incoming plate, the applicable material is carbon steel, and the length is 1-1.2m. The probe emits high-frequency ultrasonic waves, which penetrate the material and reflect on the bottom surface. The receiver captures the echo signal to calculate the plate thickness.

[0027] The positioning and centering unit is set at the positioning station and is used to position and center the incoming flat plate after the plate thickness inspection is completed. A forming unit is set at the forming station. The forming unit includes a forming mold, which includes an upper mold and a lower mold. The lower mold has a mold cavity for placing a gasket. The forming unit is used to form the incoming flat plate or mudguard semi-finished product according to the initial forming parameters or the re-forming parameters. In this embodiment, the forming unit uses a hydraulic press.

[0028] The handling unit is set between the plate thickness inspection station, the positioning station, the forming station and the shape inspection station, and is used to handle the incoming plate or mudguard semi-finished products between the stations. In this embodiment, the handling unit uses a six-axis robot.

[0029] The shape inspection unit is set at the shape inspection station. The shape inspection unit includes a non-contact visual inspection subunit and a contact inspection subunit. The non-contact visual inspection subunit is used to perform a preliminary shape inspection on the mudguard semi-finished product. The contact inspection subunit is used to re-inspect the mudguard semi-finished product when the preliminary inspection fails, so as to obtain the deviation information of the feature points on the mudguard cross section relative to the theoretical coordinates. In this embodiment: the non-contact visual inspection subunit uses an industrial camera, and the contact inspection subunit uses a contact sensor.

[0030] The compensation execution unit is located next to the forming unit and is used to place the gasket in the corresponding compensation area in the mold cavity according to the compensation command. In this embodiment, the compensation execution unit adopts a four-axis collaborative robot.

[0031] A forming parameter database is used to store plate thickness data, forming parameters, shape inspection results, and compensation results; The control unit is connected to the conveying unit, plate thickness detection unit, positioning and centering unit, forming unit, handling unit, shape detection unit, compensation execution unit and forming parameter database, and is controlled by the forklift mudguard production method in Example 1.

[0032] In this embodiment, the control unit is a host computer.

Claims

1. A method for producing forklift mudguards, characterized in that, The method steps are as follows: S1: The incoming plate from the previous process is transported to the plate thickness detection station, and the plate thickness is detected to obtain the actual plate thickness information. S2: The incoming plate after the plate thickness test is completed is transported to the positioning station for positioning and centering. Then the positioned incoming plate is sent to the forming station. The first forming parameters are determined according to the actual plate thickness information and the corresponding historical forming parameters in the forming parameter database. The incoming plate is formed for the first time according to the first forming parameters to obtain the mudguard semi-finished product. S3: The mudguard semi-finished product is transported to the shape inspection station, and the non-contact vision inspection unit is used to perform a preliminary shape inspection on the mudguard semi-finished product; if the preliminary inspection fails, the mudguard semi-finished product is re-inspected using a contact inspection unit to obtain the deviation information of the feature points on the mudguard cross section relative to the theoretical coordinates. S4: When both the non-contact visual inspection unit and the contact inspection unit determine that the mudguard semi-finished product is unqualified, the compensation area, compensation quantity and re-pressing parameters are determined according to the plate thickness detection results, the deviation information of the feature points and the historical records in the pressing parameter database. After placing the shim in the corresponding area in the pressing mold cavity, the re-pressing is performed. S5: After repressing, the workpiece is moved to the shape inspection station for re-inspection, and the blanking, continued compensation repressing, or rework is performed according to the re-inspection results. S6: Write the plate thickness data, forming parameters, shape inspection results and compensation results of each forming process into the forming parameter database for use in the initial forming parameter selection and re-forming parameter optimization in subsequent production.

2. The method for producing a forklift mudguard according to claim 1, characterized in that: In step S3, the mudguard cross-section consists of a central arc segment and straight lines extending outward from both ends of the arc. The characteristic points of the arc segment on the mudguard cross-section are points A, B, and C. Point B is the lowest point of the arc segment, and the diameter perpendicular to the arc normal at point B is the projection line. Point A is on the right side of the arc segment, located at 2 / 3R of the projection line from the center of the circle. Point C is on the left side of the arc segment, located at 1 / 2R of the projection line from the center of the circle.

3. A method for producing a forklift mudguard according to claim 2, characterized in that, In steps S4-S5: Let i represent the number of pressing operations; the direction formed by the characteristic points A, B, and C of the same arc in the top view after the mudguard is pressed is the Y-axis direction, the direction perpendicular to the Y-axis in the top view is the X-axis direction, and the Z-axis direction is the vertical direction; j represents the section number of the mudguard in the top view after the mudguard is pressed, which is equidistant along the X-axis direction; The theoretical center of the circle is h0 on the Y-axis, k0 on the Z-axis, and has a radius of R. Then: ； ； in,( , , ( ) are the theoretical coordinates of feature point A; , , () represents the theoretical coordinates of feature point B; , , () represents the theoretical coordinates of feature point C; ； ； ； For the i-th compression molding, the distances from feature points A, B, and C to the theoretical coordinates are respectively... , , The average distance deviations from feature points A, B, and C to the theoretical coordinates are defined as follows: ； ； ； Determine whether the average distance deviation from feature points A, B, and C to the theoretical coordinates is greater than the critical distance deviation dcric. Establish an eigenvalue mapping table. In the eigenvalue mapping table, 0 indicates that the average distance deviation is less than dcric, and 1 indicates that the average distance deviation is greater than dcric. ； ； ； Where k is an integer representing the record number in the parameter database; t k The plate thickness corresponding to the k-th record in the database; This represents the angle between the line segment from the center of the circle to point A and the line segment from the center of the circle to point B; This represents the angle between the line segment from the center of the circle to point C and the line segment from the center of the circle to point B; This represents the k-th record value of the critical distance deviation at point A in the feature value mapping table. This represents the k-th record value of the critical distance deviation at point B in the feature value mapping table. This represents the k-th record value of the critical distance deviation at point C in the feature value mapping table; The placement position of the gasket, the forming pressure and speed, and the number of gaskets for the i-th forming are determined based on the positions of the values ​​of 1 in the feature value mapping table. ； ； ； Among them, t p The thickness of the padding paper; Residual index: ； The residual value is iterated based on the previous compensation after each compensation.

4. A method for producing a forklift mudguard according to claim 3, characterized in that, Eigenvalue mapping table: Feature points A, B, and C are: 0, 0, 0; the molding compensation strategy is: if the molding is qualified, no compensation is given; Feature points A, B, and C are 0, 0, and 1, respectively; the compression compensation strategy is: insert padding paper on the left side, and the number of padding papers... Increased pressure leads to decreased speed; Feature points A, B, and C are 0, 1, and 0, respectively; the compression compensation strategy is: inserting padding paper in the middle, with the number of padding papers... Increased pressure leads to decreased speed; Feature points A, B, and C are 0, 1, and 1, respectively; the compression compensation strategy is to insert padding paper in the middle and on the left side, with the number of padding papers varying. , Increased pressure leads to decreased speed; Feature points A, B, and C are 1, 0, and 0, respectively; the compression compensation strategy is: insert padding paper on the right side, and the number of padding papers... Increased pressure leads to decreased speed; Feature points A, B, and C are 1, 0, and 1, respectively; the compression compensation strategy is to insert padding paper on the right and left sides, with the number of padding papers varying. , Pressure increases, speed remains constant; Feature points A, B, and C are 1, 1, and 0, respectively; the compression compensation strategy is: insert padding paper on the right side and in the middle, with the number of padding papers... , Increased pressure leads to decreased speed; Feature points A, B, and C are 1, 1, and 1 respectively; the compression compensation strategy is to insert padding paper on the right, middle, and left sides, with the number of padding papers as specified. , , Pressure increases, speed remains unchanged.

5. A method for producing a forklift mudguard according to claim 4, characterized in that: Except for feature points A, B, and C, which are 0, 0, and 0 respectively, the pressure value is calculated using the following formula: )； Where K is the stiffness coefficient; The formula for calculating the velocity value is: in, The velocity attenuation coefficient is given when the characteristic points A, B, and C are 0, 0, and 0, respectively. When the feature points A, B, and C are 1, 0, 1 and 1, 1, 1 respectively. It is 1; in other cases, It is 0.

85.

6. A method for producing a forklift mudguard according to claim 1, characterized in that, In step S2: Construct the fitness function F(I,M,G): F(I,M,G)=I+M+G; Where I represents the number of repressurization cycles; M represents the number of gaskets; and G represents the number of compensation positions. Based on the actual sheet thickness information, the records with the smallest sheet thickness difference are filtered from all historical records in the forming parameter database: min{d-d1,d-d2,...,d_num_record} Where d represents the actual plate thickness, and d_num_record represents the plate thickness recorded in the forming parameter database; If only one record has the same thickness difference, select the current pressure and velocity values ​​from the parameter database as the initial pressure parameters. If multiple record has the same thickness difference, further filter the record with the smallest fitness function value. Min{F1,F2,...,F_num_record} Where F_num_record represents the fitness function value of the compression parameter database record; If there is only one record, select the current pressure value and speed value in the parameter database as the initial pressure parameter. If there are multiple records, select the average pressure value and average speed value as the initial pressure parameter.

7. A method for producing a forklift mudguard according to claim 1, characterized in that: After re-pressing, when both the non-contact visual inspection unit and the contact inspection unit determine that the mudguard semi-finished product is qualified, the material is unloaded.

8. A method for producing a forklift mudguard according to claim 1, characterized in that: The number of repressing cycles should not exceed three.

9. A forklift mudguard production system, characterized in that: The system, employing the forklift mudguard manufacturing method according to any one of claims 1-8, comprises: The conveying unit is used to transport the incoming flat plate from the previous process to the plate thickness detection station. The plate thickness detection unit is set at the plate thickness detection station and is used to detect the plate thickness of the incoming plate and output the actual plate thickness information. The positioning and centering unit is set at the positioning station and is used to position and center the incoming flat plate after the plate thickness inspection is completed. A forming unit is provided at the forming station. The forming unit includes a forming mold, which includes an upper mold and a lower mold. The lower mold has a mold cavity for placing a gasket. The forming unit is used to form the incoming flat plate or mudguard semi-finished product according to the initial forming parameters or the re-forming parameters. The handling unit is located between the plate thickness detection station, the positioning station, the forming station and the shape detection station, and is used to handle the incoming plate or mudguard semi-finished product between the stations. An outline inspection unit is set at the outline inspection station. The outline inspection unit includes a non-contact visual inspection subunit and a contact inspection subunit. The non-contact visual inspection subunit is used to perform an initial outline inspection on the mudguard semi-finished product. The contact inspection subunit is used to re-inspect the mudguard semi-finished product when the initial inspection fails, so as to obtain the deviation information of the feature points on the cross section of the mudguard relative to the theoretical coordinates. A compensation execution unit is arranged next to the forming unit and is used to place the gasket in the corresponding compensation area in the mold cavity according to the compensation command. A forming parameter database is used to store plate thickness data, forming parameters, shape inspection results, and compensation results; The control unit is connected to the conveying unit, plate thickness detection unit, positioning and centering unit, forming unit, handling unit, shape detection unit, compensation execution unit and forming parameter database respectively, and is controlled by the forklift mudguard production method as described in any one of claims 1-8.

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