A method and system for controlling the placement and retrieval of pallets in an industrial production line.

Abstract

This invention discloses a pallet support and placement control method and system for industrial production lines, relating to the field of pallet support rod placement control technology. The method includes: responding to a pallet arrival signal uploaded by the production line conveyor mechanism to drive a positioning and locking component to fix the pallet, obtaining pallet positioning data; controlling a workpiece lifting mechanism to raise the workpiece and monitoring the rising height in real time when the pallet positioning deviation is within a standard threshold range; driving a robot to complete the support rod gripping and installation operation according to preset instructions after the workpiece is raised to a predetermined height; controlling a workpiece flipping mechanism to complete a 180-degree flip after the robot resets and monitoring the flipping angle in real time; and unlocking the pallet after the workpiece falls back onto it and being transported to the next process by the production line conveyor mechanism. This invention, through fully automated time-series collaborative control and real-time monitoring of multiple stages, can significantly improve the production efficiency of pallet support and placement operations in industrial production lines, reducing operational errors and safety hazards caused by manual intervention.

Description

Technical Field

[0001] This invention relates to the field of pallet support rod pick-up and drop control technology, specifically a pallet support pick-up and drop control method and system for industrial production lines. Background Technology

[0002] As key assembly components in industrial production, industrial production line workpieces require special pallets for transport and handling during assembly and testing processes. The pallet support rods need to be picked up and placed, and the workpieces need to be flipped. Currently, the pallet support and pick-up / placement operations for such workpieces in the industry are mostly performed manually with simple tooling or by using general-purpose automated equipment.

[0003] Existing technologies suffer from the following problems: Traditional industrial production lines not only have long single-cycle operation times and numerous redundant manual steps, but also suffer from poor integration with the lifting, flipping, and conveying mechanisms, resulting in slow overall production pace and high labor costs. Furthermore, insufficient pallet positioning accuracy and lack of secondary adjustment of support rod posture lead to workpiece damage from impacts; poor process adaptability makes it difficult to meet the core requirements of the production line; manual operation poses safety risks and is difficult to achieve automated linkage with other mechanisms on the production line; high risk of mechanism malfunctions, low modularity leading to inconvenient operation and maintenance, and difficulty in adapting to the automation upgrade requirements of the production line are also defects that fail to meet the needs of the four-stage production line for efficient, precise, safe, and highly adaptable automated pick-and-place support rods and workpiece flipping processes. Therefore, there is an urgent need for an industrial production line pallet support pick-and-place control method and system to solve the problems existing in the current technology. Summary of the Invention

[0004] To address the aforementioned technical problems, the present invention aims to provide a method for controlling the placement and retrieval of pallets on an industrial production line, the method comprising:

[0005] In response to the pallet arrival signal uploaded by the production line conveyor mechanism, the positioning and locking component is driven to fix the pallet based on the pallet arrival signal, thereby obtaining pallet arrival positioning data; the pallet arrival positioning data includes pallet positioning coordinates and pallet positioning deviation.

[0006] In response to the pallet positioning deviation being within the standard positioning deviation threshold range, a workpiece lifting command is generated, and height monitoring data during the workpiece lifting process is acquired, the height monitoring data including the real-time rising height of the workpiece.

[0007] In response to the workpiece reaching a predetermined lifting height in real time, a robot pick-and-place instruction is generated, and the support rod is picked up and installed into the placement fixture according to the pick-and-place instruction; the robot pick-and-place instruction includes the left / right support rod gripping force value and the gripping preset motion trajectory, and the placement fixture includes left / right placement fixture positions;

[0008] In response to the workpiece flipping command being generated when the robot returns to its initial position along a preset path after the support rod has been picked up and placed, the angle monitoring data during the workpiece flipping process is acquired, and the angle monitoring data includes the real-time flipping angle of the workpiece.

[0009] In response to the workpiece's real-time rotation angle reaching 180 degrees, a workpiece return command is generated. When the workpiece returns to the pallet, the positioning and locking components are driven to unlock the pallet. The production line conveyor automatically sends the pallet out of the current workstation and to the next production line process.

[0010] In a preferred embodiment, after obtaining the pallet positioning data, the method further includes:

[0011] Extract the pallet positioning deviation based on the pallet positioning data;

[0012] If the pallet positioning deviation exceeds the standard positioning deviation threshold range, then the pallet positioning is calibrated.

[0013] The specific process of calibrating the positioning of the pallet includes:

[0014] Obtain the coordinates of the preset positioning points of the workstation;

[0015] Calculate the lateral offset and longitudinal offset between the pallet positioning coordinates and the preset positioning point coordinates;

[0016] Based on the lateral offset value and the longitudinal offset value, determine the pallet compensation positioning correction amount;

[0017] The production line conveying mechanism drives the positioning locking component to unlock the pallet again and correct the pallet position according to the pallet compensation and positioning correction amount;

[0018] After calibration, the drive positioning and locking components will re-secure the tray.

[0019] In a preferred embodiment, the method further includes:

[0020] Acquire the operating status data of the pallet support and pick-up device and the robot, wherein the operating status data of the pallet support and pick-up device includes the operating status data of the production line conveyor mechanism, the operating status data of the positioning and locking component, the operating status data of the workpiece lifting mechanism and the operating status data of the workpiece flipping mechanism;

[0021] The robot's operating status data includes current / torque load data of each axis motor, robot operating program data, and robot communication data;

[0022] The time-domain features of the pallet support and pick-up device's operating status data are extracted to obtain the device's operating trend features. The operating trend features of the device include the change rate of the positioning speed of the production line conveyor mechanism, the variance of the locking force fluctuation of the locking component, the change rate of the lifting speed of the workpiece lifting mechanism, and the cumulative value of the tilting angle deviation of the workpiece tilting mechanism.

[0023] Frequency domain analysis is performed on the robot's operating status data to obtain operating spectrum characteristics, which include the proportion of high-frequency harmonic components in the motor current of each axis, the peak power spectral density of the torque load, program error items, and communication network latency.

[0024] The equipment's operating trend characteristics and operating spectrum characteristics are input into a preset fault probability model, and the fault probability results are output.

[0025] The failure probability results include failure probability values ​​for each mechanism and component, as well as the failure probability value for the robot.

[0026] In a preferred embodiment, after outputting the failure probability result, the method further includes:

[0027] Extract the failure probability values ​​of each mechanism and component, as well as the robot's failure probability value;

[0028] The failure probability values ​​of each mechanism and component are compared with the preset failure thresholds of the mechanism and component, and the failure probability value of the robot is compared with the preset failure threshold of the robot.

[0029] If the failure probability value of any mechanism or component exceeds the preset failure threshold of the mechanism and component, the corresponding mechanism or component is identified as the first high-risk identifier, and the first maintenance instruction is generated.

[0030] If the robot failure probability value exceeds the preset robot failure threshold, the corresponding robot is identified as the second high-risk robot and a second maintenance instruction is generated.

[0031] Both the first maintenance instruction and the second maintenance instruction include corresponding standard maintenance procedures and maintenance priorities; the maintenance priorities are determined according to the magnitude of the fault probability values.

[0032] Send the first high-risk identifier, the first maintenance instruction, the second high-risk identifier, and the second maintenance instruction to the operation and maintenance terminal and record the fault warning log.

[0033] In a preferred embodiment, after the support rod is gripped and installed into the placement fixture position according to the pick-and-place command, the method further includes:

[0034] Acquire the real-time pose data of the support rod at the placement fixture position, the real-time pose data including the support rod tilt angle and spatial coordinates;

[0035] The real-time pose data is compared with the standard pose data set at the tooling placement position to calculate the installation deviation vector value.

[0036] The installation deviation vector value includes the support rod tilt angle deviation vector value and the spatial coordinate deviation vector value;

[0037] If the installation deviation vector value exceeds the preset qualified installation deviation vector value threshold range, it is determined that the installation is not up to standard, and a secondary adjustment instruction is generated based on the installation deviation vector value.

[0038] The secondary adjustment command includes real-time correction of the installation position and / or attitude angle of the support rod;

[0039] The robot responds to the secondary calibration command and executes the secondary calibration command until the corrected real-time pose data conforms to the preset standard pose data.

[0040] In a preferred embodiment, when the workpiece falls back onto the pallet, the method further includes:

[0041] Acquire real-time support load data of the pallet bearing surface, wherein the real-time support load data includes real-time continuous pressure bearing value;

[0042] The real-time support load data of the pallet bearing surface is compared with the workpiece gravity. If the difference between the two is equal to zero, a pallet full bearing confirmation signal is generated.

[0043] The workpiece lifting mechanism unlocks the workpiece in response to the pallet full load confirmation signal, drives the lifting end to perform a retraction action, separates the workpiece from the workpiece lifting mechanism, and at the same time, the workpiece lifting mechanism performs a reset.

[0044] In a preferred embodiment, the method further includes:

[0045] Acquire the action interlock signals of each actuator of the device, including the pallet positioning status signal, the workpiece lifting position signal, the robot reset signal, the support rod pick-up and put-out completion signal, and the workpiece falling back to position signal;

[0046] Before executing the robot pick-up and place-up command, the pallet positioning status signal and the workpiece lifting position signal are verified. If the pallet is not positioned and the workpiece is not lifted into position, the robot is prohibited from starting the pick-up and place-up action.

[0047] Before executing the workpiece flipping command, the robot reset signal and the support rod pick-up and put-down completion signal are verified. If the robot fails to reset and the support rod fails to pick up and put down, the workpiece flipping mechanism is locked.

[0048] Before the drive positioning and locking component unlocks the pallet, the workpiece return signal is verified. If the workpiece has not returned to the correct position, unlocking the pallet and triggering the production line conveyor mechanism to send it out are prohibited.

[0049] In a preferred embodiment, after generating the workpiece flipping command, the method further includes:

[0050] The flipping speed is dynamically adjusted, and the specific dynamic adjustment process includes:

[0051] The workpiece real-time flip angle is matched with the preset flip angle range to obtain the preset flip angle range corresponding to the current real-time flip angle.

[0052] Based on a preset flipping angle range, a preset flipping speed is determined for the corresponding flipping angle range, and the workpiece flipping mechanism flips the workpiece in response to the preset flipping speed of the corresponding range.

[0053] Another aspect of the present invention discloses an industrial production line pallet support and placement control system, which includes the following modules:

[0054] Pallet positioning module: In response to the pallet positioning signal uploaded by the production line conveyor mechanism, the module drives the positioning and locking components to fix the pallet based on the pallet positioning signal, thereby obtaining pallet positioning data; the pallet positioning data includes pallet positioning coordinates and pallet positioning deviation.

[0055] Workpiece lifting monitoring module: In response to the pallet positioning deviation being within the standard positioning deviation threshold range, it generates a workpiece lifting command and acquires height monitoring data during the workpiece lifting process, the height monitoring data including the real-time rising height of the workpiece;

[0056] Support rod pick-and-place control module: In response to the workpiece reaching a predetermined lifting height in real time, it generates a robot pick-and-place command and picks up and installs the support rod to the placement fixture position according to the pick-and-place command; the robot pick-and-place command includes left / right support rod gripping force value and gripping preset motion trajectory, and the placement fixture position includes left / right placement fixture positions;

[0057] Workpiece flipping monitoring module: In response to the workpiece flipping command generated when the robot returns to its initial position along a preset path after the support rod is picked up and placed, the module acquires angle monitoring data during the workpiece flipping process, including the real-time flipping angle of the workpiece.

[0058] Pallet unlocking and delivery module: In response to the workpiece's real-time rotation angle reaching 180 degrees, a workpiece return command is generated. When the workpiece returns to the pallet, the positioning and locking components are driven to unlock the pallet. The production line conveyor mechanism automatically delivers the pallet out of the current workstation and to the next production line process.

[0059] Compared with the prior art, the beneficial effects of the present invention are:

[0060] 1. This invention constructs a fully automated closed-loop control system that integrates pallet positioning and locking, workpiece lifting, robot support rod placement and removal, workpiece flipping, and automatic pallet delivery. This significantly improves the efficiency of workpiece pallet support and placement in industrial production lines. By utilizing automatic pallet positioning deviation compensation and calibration, and real-time secondary adjustment of support rod installation posture, it provides more precise positioning accuracy and installation quality, reduces operational errors and quality fluctuations caused by manual intervention, and improves the consistency and reliability of work results. Furthermore, the use of multi-stage action interlock verification and pallet full load confirmation safety mechanisms eliminates the need for full-time manual supervision throughout the entire placement and removal process, reducing the skill requirements and labor intensity for operators, and improving operational safety and ease of use.

[0061] 2. This invention utilizes an intelligent fault probability prediction model that integrates the operational domain trend characteristics of equipment with the frequency domain spectrum characteristics of robot operation. This model can identify potential fault risks of various components and robots in advance, enhancing the stability and maintainability of the production line and effectively reducing unplanned downtime. Furthermore, through dynamic speed adjustment matching based on the flip angle range, the workpiece flipping process can be smoothly controlled, avoiding impact and damage to precision engine workpieces. At the same time, the automatically generated hierarchical maintenance instructions and fault log records can help maintenance personnel quickly locate fault points and carry out standardized maintenance, significantly improving the overall operation and management level of the production line and the service life of equipment. Attached Figure Description

[0062] Figure 1 This is a schematic flowchart illustrating the steps of an industrial production line pallet support and placement control method according to an embodiment of this application.

[0063] Figure 2 This is a schematic diagram showing the connection of various modules in an industrial production line pallet support and placement control system according to an embodiment of this application. Detailed Implementation

[0064] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0065] It should be noted that, unless otherwise defined, the technical or scientific terms used in one or more embodiments of the present invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in one or more embodiments of the present invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0066] Example 1

[0067] Please see Figure 1 As shown in the figure, this application provides a method for controlling the placement and retrieval of pallets on an industrial production line. The method includes:

[0068] S1. In response to the pallet arrival signal uploaded by the production line conveyor mechanism, drive the positioning and locking component to fix the pallet based on the pallet arrival signal to obtain pallet arrival positioning data; the pallet arrival positioning data includes pallet positioning coordinates and pallet positioning deviation.

[0069] S2. In response to the pallet positioning deviation being within the standard positioning deviation threshold range, a workpiece lifting command is generated, and height monitoring data during the workpiece lifting process is acquired, wherein the height monitoring data includes the real-time rising height of the workpiece.

[0070] S3. In response to the workpiece reaching a predetermined lifting height in real time, a robot pick-up and place command is generated, and the support rod is picked up and installed into the placement fixture position according to the pick-up and place command; the robot pick-up and place command includes the left / right support rod gripping force value and the gripping preset motion trajectory, and the placement fixture position includes the left / right placement fixture position.

[0071] S4. In response to the workpiece flipping command generated when the robot returns to its initial position along a preset path after the support rod is picked up and placed, and angle monitoring data during the workpiece flipping process is acquired, wherein the angle monitoring data includes the real-time flipping angle of the workpiece.

[0072] S5. In response to the workpiece's real-time rotation angle reaching 180 degrees, a workpiece return command is generated. When the workpiece returns to the pallet, the positioning and locking components are driven to unlock the pallet. The production line conveyor automatically sends the pallet out of the current workstation and to the next production line process.

[0073] It should be noted that this method is applied to a pallet support and placement device, where the pallet is used to carry industrial production line workpieces. The device includes a production line conveying mechanism, a positioning and locking assembly, a workpiece lifting mechanism, a robot execution unit, and a workpiece flipping mechanism. The pallet support and placement device consists of multiple parts, including a production line conveying mechanism for automatic transport and transfer of the pallet between workstations, a positioning and locking assembly for precisely fixing the pallet to ensure the positional accuracy of subsequent operations, a workpiece lifting mechanism for vertical lifting and lowering of industrial production line workpieces, a robot execution unit for controlling the robot to precisely grasp and install the support rods, and a workpiece flipping mechanism for driving the industrial production line workpieces to rotate 180 degrees. The pallet, as a special bearing fixture, is used to stably support the industrial production line workpieces and moves between processes with the production line conveying mechanism.

[0074] The production line conveyor system monitors the position of the pallets in real time. When a pallet arrives at the current workstation, it sends a pallet arrival signal to the system. Upon receiving the signal, the system immediately drives the positioning and locking components to perform a locking action, firmly fixing the pallet in the designated position and generating pallet positioning data. This data includes the actual positioning coordinates of the pallet and the deviation from the standard position, providing a precise position reference for all subsequent operations.

[0075] The obtained pallet positioning deviation is compared with the preset standard positioning deviation threshold. Only when the deviation is within the allowable range and the pallet fixing accuracy meets the operation requirements will a workpiece lifting command be sent to the workpiece lifting mechanism. During the lifting action, the workpiece lifting mechanism will collect height monitoring data in real time and continuously track the real-time rising height of the workpiece.

[0076] The robot compares the real-time lifting height of the workpiece with the predetermined lifting height. When the workpiece rises to the specified height and is in a position suitable for robot operation, it sends a robot pick-up and place command to the robot execution unit. This command specifies the gripping force value of the left / right support rod and the preset motion trajectory. The robot will strictly follow the command requirements, accurately grab the support rod and install it into the corresponding left / right placement tooling position to complete the pick-up and place operation of the support rod.

[0077] The robot's operating status is monitored in real time. After the robot completes the task of picking up and placing all the support rods and returns to its initial position according to the preset path, it will send a workpiece flipping command to the workpiece flipping mechanism. During the workpiece flipping mechanism's flipping action, angle monitoring data will be collected in real time to continuously track the real-time flipping angle of the workpiece, ensuring that the flipping process is smooth and the angle is accurate.

[0078] The system compares the real-time rotation angle of the workpiece with the target rotation angle in real time. When the workpiece completes a 180-degree rotation, it sends a workpiece return command to the workpiece lifting mechanism. The workpiece lifting mechanism drives the workpiece to fall smoothly back onto the pallet. After the workpiece is fully in place, the system drives the positioning locking component to release the pallet. Finally, the production line conveyor automatically sends the unlocked pallet out of the current work station and to the next production line process, completing the entire pallet support and placement control process.

[0079] Based on the above embodiments, after obtaining the pallet positioning data, the method further includes:

[0080] Extract the pallet positioning deviation based on the pallet positioning data;

[0081] If the pallet positioning deviation exceeds the standard positioning deviation threshold range, then the pallet positioning is calibrated.

[0082] The specific process of calibrating the positioning of the pallet includes:

[0083] Obtain the coordinates of the preset positioning points of the workstation;

[0084] Calculate the lateral offset and longitudinal offset between the pallet positioning coordinates and the preset positioning point coordinates;

[0085] Based on the lateral offset value and the longitudinal offset value, determine the pallet compensation positioning correction amount;

[0086] The production line conveying mechanism drives the positioning locking component to unlock the pallet again and correct the pallet position according to the pallet compensation and positioning correction amount;

[0087] After calibration, the drive positioning and locking components will re-secure the tray.

[0088] It should be noted that if the deviation exceeds the threshold range, it means that the initial positioning error of the pallet is too large, which cannot guarantee the smooth progress of subsequent high-precision operations. The system will automatically trigger the positioning calibration process instead of directly reporting an error and stopping the machine.

[0089] First, the system will retrieve the preset positioning point coordinates stored in the current workstation. These coordinates are standard operating reference coordinates that have been calibrated and verified multiple times on the production line, and are the absolute reference origin for all position calibrations.

[0090] Next, the system will use a coordinate difference algorithm to calculate the lateral and longitudinal offset values ​​between the actual positioning coordinates of the pallet and the preset positioning point coordinates. These two values ​​accurately quantify the specific deviation distance and direction of the pallet in the two vertical directions on the horizontal plane.

[0091] Then, the system will automatically calculate the corresponding pallet compensation and positioning correction amount based on the calculated lateral and longitudinal offset values. This correction amount clarifies which direction the pallet needs to move in and how far it needs to move to accurately return to the standard operating position.

[0092] Finally, the system sends a calibration execution command to the production line conveyor mechanism, which then drives the positioning and locking components to first unlock the pallet, releasing the rigid constraint on the pallet. Next, based on the pallet compensation and positioning correction, the system precisely drives the pallet to the standard operating position. Once the pallet is in place, the system drives the positioning and locking components again to lock it in place, firmly fixing the pallet back in the standard position, completing the entire automatic positioning calibration process. After calibration, the system regenerates the latest pallet positioning data and verifies again whether the positioning deviation meets the standard requirements. Only after confirming that everything is correct will the subsequent workpiece lifting process begin.

[0093] Based on the above embodiments, the method further includes:

[0094] Acquire the operating status data of the pallet support and pick-up device and the robot, wherein the operating status data of the pallet support and pick-up device includes the operating status data of the production line conveyor mechanism, the operating status data of the positioning and locking component, the operating status data of the workpiece lifting mechanism and the operating status data of the workpiece flipping mechanism;

[0095] The robot's operating status data includes current / torque load data of each axis motor, robot operating program data, and robot communication data;

[0096] The time-domain features of the pallet support and pick-up device's operating status data are extracted to obtain the device's operating trend features. The operating trend features of the device include the change rate of the positioning speed of the production line conveyor mechanism, the variance of the locking force fluctuation of the locking component, the change rate of the lifting speed of the workpiece lifting mechanism, and the cumulative value of the tilting angle deviation of the workpiece tilting mechanism.

[0097] Frequency domain analysis is performed on the robot's operating status data to obtain operating spectrum characteristics, which include the proportion of high-frequency harmonic components in the motor current of each axis, the peak power spectral density of the torque load, program error items, and communication network latency.

[0098] The equipment's operating trend characteristics and operating spectrum characteristics are input into a preset fault probability model, and the fault probability results are output.

[0099] The failure probability results include failure probability values ​​for each mechanism and component, as well as the failure probability value for the robot.

[0100] It should be noted that the pallet support and placement equipment's operating status data are the real-time operating parameters of all actuators on the production line. They can be thought of as the production line's "physical function data": the production line conveyor mechanism is responsible for accurately transporting the pallet to the placement station, the positioning and locking components are responsible for firmly fixing the pallet to prevent it from shaking during placement, the workpiece lifting mechanism is responsible for lifting the pallet to the robot's optimal gripping height, and the workpiece flipping mechanism is responsible for flipping the pallet to the preset workpiece placement angle. The operating status of these mechanisms directly determines the accuracy and stability of the support rod's placement.

[0101] Robot operation status data is the "internal operation log" of the industrial robot that performs pick-and-place actions. It can intuitively reflect whether the motor is overloaded, whether the transmission components are worn, and can completely record all abnormal interruptions during program execution. It can also reflect whether the information transmission between the robot and the production line main control system is smooth.

[0102] By extracting time-domain features from the data of the pallet support and pick-up / placement equipment, we can identify the following: Mechanical failures of the equipment often manifest as a slow degradation trend in operating parameters over time. Time-domain analysis focuses on "how parameters change over time," allowing us to keenly detect early signs of gradually declining equipment performance. The rate of change in the positioning speed of the production line conveyor mechanism reflects the smoothness of deceleration as it approaches the target position. A sudden increase in the rate of change usually indicates wear in the braking system, leading to decreased positioning accuracy. The variance of the locking force fluctuation of the locking component reflects the stability of the locking force. A larger variance indicates fluctuating locking force, which may be due to cylinder leakage or wear of the locking pin, easily causing the pallet to loosen and shift during pick-up / placement. The rate of change in the lifting speed of the workpiece lifting mechanism reflects the smoothness of the lifting process. Abnormal rates of change often indicate wear of the lead screw or jamming of the guide rail, causing lifting vibration. The cumulative value of the workpiece flipping mechanism's flipping angle deviation reflects the drift in flipping positioning accuracy. A larger cumulative deviation indicates a larger gap in the transmission system, and the error between the actual angle and the target angle for each flip will increase, directly leading to deviation in the robot's grasping position.

[0103] Frequency domain analysis is performed on robot operating status data because early failures in the robot's rotating components (motors, reducers, bearings) generate current and torque fluctuations at specific frequencies. These subtle anomalies are often masked by normal operating signals in the time domain, but they exhibit distinct characteristic peaks in the frequency domain. Frequency domain analysis focuses on "which frequency components are included in the parameters," enabling the detection of anomalies at the initial stage of a fault. The proportion of high-frequency harmonic components in the motor current of each axis is an important indicator of the motor's health. Normally, the motor current is dominated by the fundamental frequency. When there is an inter-turn short circuit in the winding or bearing wear, a large number of high-frequency harmonics are generated, and the higher the proportion, the more severe the fault. The peak power spectral density of the torque load reflects the energy distribution of the torque at different frequencies. If a significant peak appears at the gear meshing frequency of the reducer or the bearing rotation frequency, the corresponding faulty component can be accurately located. Program error entries are the most direct fault signals, recording all anomalies that occur during robot operation, such as position over-limit, speed over-limit, and collision detection triggering. Communication network latency reflects the system's synchronization. Excessive latency or packet loss can lead to asynchronous robot movements and even misoperation.

[0104] Finally, the equipment operation trend features extracted from the time domain and the robot operation spectrum features extracted from the frequency domain are input into a preset fault probability model. The preset fault probability model is one or more combinations of gradient boosting tree model, random forest, convolutional neural network, logistic regression model, etc. The fault probability result output by the model is a quantitative value between 0 and 1. The closer the probability value is to 1, the higher the probability of the mechanism or robot malfunctioning. The closer the probability value is to 0, the healthier the operating state. By outputting the fault probability values ​​of each mechanism and component as well as the overall fault probability value of the robot, the fault risk can be accurately located, helping maintenance personnel to carry out targeted maintenance in advance and avoid production losses caused by sudden downtime.

[0105] Based on the above embodiments, after outputting the failure probability result, the method further includes:

[0106] Extract the failure probability values ​​of each mechanism and component, as well as the robot's failure probability value;

[0107] The failure probability values ​​of each mechanism and component are compared with the preset failure thresholds of the mechanism and component, and the failure probability value of the robot is compared with the preset failure threshold of the robot.

[0108] If the failure probability value of any mechanism or component exceeds the preset failure threshold of the mechanism and component, the corresponding mechanism or component is identified as the first high-risk identifier, and the first maintenance instruction is generated.

[0109] If the robot failure probability value exceeds the preset robot failure threshold, the corresponding robot is identified as the second high-risk robot and a second maintenance instruction is generated.

[0110] Both the first maintenance instruction and the second maintenance instruction include corresponding standard maintenance procedures and maintenance priorities; the maintenance priorities are determined according to the magnitude of the fault probability values.

[0111] Send the first high-risk identifier, the first maintenance instruction, the second high-risk identifier, and the second maintenance instruction to the operation and maintenance terminal and record the fault warning log.

[0112] It should be noted that the system will compare the extracted two types of fault probability values ​​with pre-calibrated exclusive thresholds: for the mechanisms and components of the equipment body, such as production line conveying mechanisms, positioning and locking components, workpiece lifting mechanisms, and workpiece flipping mechanisms, a unified preset mechanism and component fault threshold is used; for robot execution units, a separately set preset robot fault threshold is used; both types of thresholds are comprehensively calibrated based on production line safety operation requirements, the degree of economic loss caused by historical faults, maintenance costs, and downtime impact duration.

[0113] If the failure probability value of any mechanism or component exceeds the corresponding preset failure threshold, the system will automatically mark the mechanism or component as the first high-risk identifier and generate the corresponding first maintenance instruction. The first maintenance instruction includes a standardized maintenance process for this type of failure, which clarifies the specific inspection steps, recommended replacement parts list and safe operation procedures to avoid inadequate maintenance or secondary damage due to differences in the experience of maintenance personnel. At the same time, the system will automatically sort all failure probability values ​​according to their magnitude to determine the priority of each maintenance task. The higher the failure probability, the higher the priority, ensuring that limited maintenance resources are prioritized for the most likely failures and the most impactful aspects.

[0114] If the failure probability value of the robot's execution unit exceeds the preset robot failure threshold, the system will mark the robot as the second high-risk identifier and generate a corresponding second maintenance instruction. The purpose of setting up a separate second high-risk identifier is to highlight the special nature and high severity of robot failures through differentiated identification, so that maintenance personnel can identify and prioritize the handling of the failures among numerous warning messages. The second maintenance instruction includes a standardized maintenance process specific to the robot and a maintenance priority based on failure probability, covering specialized maintenance content such as motor parameter calibration, reducer lubrication and replacement, gear backlash detection, and communication link troubleshooting.

[0115] Finally, the system will push all generated first high-risk indicators, first maintenance instructions, second high-risk indicators, and second maintenance instructions to the mobile terminals of maintenance personnel and the central control room maintenance platform in real time. The system will use audible and visual alerts to ensure that maintenance personnel can obtain the warning information and carry out maintenance work as soon as possible. At the same time, the system will automatically record a complete fault warning log, including the warning trigger time, fault risk unit name, corresponding fault probability value, generated maintenance instruction content, and subsequent maintenance completion status. This will provide comprehensive data support for subsequent equipment fault root cause analysis, maintenance strategy optimization, and iterative upgrades of the preset fault probability model.

[0116] Based on the above embodiments, after the robot grasps and installs the support rod to the placement fixture position according to the pick-and-place command, the method further includes:

[0117] Acquire the real-time pose data of the support rod at the placement fixture position, the real-time pose data including the support rod tilt angle and spatial coordinates;

[0118] The real-time pose data is compared with the standard pose data set at the tooling placement position to calculate the installation deviation vector value.

[0119] The installation deviation vector value includes the support rod tilt angle deviation vector value and the spatial coordinate deviation vector value;

[0120] If the installation deviation vector value exceeds the preset qualified installation deviation vector value threshold range, it is determined that the installation is not up to standard, and a secondary adjustment instruction is generated based on the installation deviation vector value.

[0121] The secondary adjustment command includes real-time correction of the installation position and / or attitude angle of the support rod;

[0122] The robot responds to the secondary calibration command and executes the secondary calibration command until the corrected real-time pose data conforms to the preset standard pose data.

[0123] It should be noted that after the robot completes the initial gripping and installation of the support rod according to the pick-and-place instructions, the system will immediately acquire the real-time pose data of the support rod on the placement fixture position through the 3D vision inspection system or high-precision laser displacement sensor configured at the workstation. This data includes the tilt angle data and three-dimensional spatial coordinate data of the support rod, which comprehensively reflects the actual installation status of the support rod relative to the placement fixture position. The tilt angle data is used to determine whether the support rod is tilted, and the spatial coordinate data is used to determine whether the support rod is installed in the designated position of the fixture.

[0124] The system compares the collected real-time pose data with the pre-calibrated standard pose data of the tooling position stored in the system dimension by dimension, and calculates the complete installation deviation vector value through vector operation. This deviation value is in vector form rather than a simple numerical value, which can not only accurately quantify the magnitude of the installation deviation, but also clarify the direction of the deviation. This is the core foundation for the robot to achieve accurate automatic correction. The installation deviation vector value is further subdivided into the support rod tilt angle deviation vector value and the spatial coordinate deviation vector value, which correspond to the deviation of the support rod posture angle and the deviation of the installation position, respectively.

[0125] The system will compare the calculated installation deviation vector value with the preset qualified installation deviation vector value threshold range. This threshold is determined based on the support accuracy requirements of the workpiece in the industrial production line, the fit clearance between the tooling and the support rod, and the safety margin of the subsequent flipping process.

[0126] If the installation deviation vector value is within the threshold range, the installation is deemed qualified, and the system directly proceeds to the workpiece flipping process in step S4. If the installation deviation vector value exceeds the threshold range, the installation is deemed non-standard, and the system will automatically generate a corresponding secondary adjustment command based on the calculated installation deviation vector value. The secondary adjustment command is highly targeted and can correct the installation position of the support rod, correct the posture angle of the support rod, or perform a combined correction of the position and angle according to the actual deviation.

[0127] The robot execution unit immediately responds to the secondary calibration commands generated by the system, precisely correcting the installation position and / or attitude angle of the support rod in real time according to the command requirements. After correction, the system collects the real-time pose data of the support rod again and verifies it, forming an automatic closed-loop process of "installation-verification-correction-re-verification" until the corrected real-time pose data of the support rod fully meets the preset standard pose data requirements. Only after ensuring that the installation accuracy of the support rod meets the operational requirements of all subsequent processes will the system proceed to the next workpiece flipping process. This significantly improves the first-pass yield of support rod installation and the reliability of production line operations, while reducing the time and cost of manual quality inspection and rework.

[0128] Based on the above embodiments, when the workpiece falls back onto the pallet, the method further includes:

[0129] Acquire real-time support load data of the pallet bearing surface, wherein the real-time support load data includes real-time continuous pressure bearing value;

[0130] The real-time support load data of the pallet bearing surface is compared with the workpiece gravity. If the difference between the two is equal to zero, a pallet full bearing confirmation signal is generated.

[0131] The workpiece lifting mechanism unlocks the workpiece in response to the pallet full load confirmation signal, drives the lifting end to perform a retraction action, separates the workpiece from the workpiece lifting mechanism, and at the same time, the workpiece lifting mechanism performs a reset.

[0132] It should be noted that when the workpiece lifting mechanism drives the workpiece of the industrial production line to fall smoothly back to the pallet, the system will continuously collect the real-time support load data of the pallet bearing surface through the high-precision pressure sensor array pre-deployed on the pallet bearing surface, and obtain the real-time continuous pressure bearing value. This data is a direct feedback of the physical weight borne by the pallet, and is not affected by factors such as optical obstruction, sensor drift, and mechanical clearance. It is more authoritative and reliable than the indirect position judgment of position sensors.

[0133] The system compares the real-time collected pallet support load data with the pre-calibrated and stored standard gravity values ​​of the workpieces for this type of industrial production line. When the difference between the two is zero, it indicates that the entire weight of the workpiece has been completely transferred to the pallet, and the workpiece lifting mechanism no longer bears any workpiece load. Only then will the system generate a pallet full load confirmation signal. This strict "difference equals zero" judgment logic is used to completely eliminate the critical risk state of partial workpiece jamming and the lifting mechanism still bearing part of the weight, ensuring that the workpiece is in an absolutely stable load-bearing state.

[0134] After responding to the pallet full load confirmation signal, the workpiece lifting mechanism strictly follows the preset safety action sequence: First, it performs the workpiece unlocking action, releasing the clamping or supporting mechanism connected to the workpiece; then, it drives the lifting end to slowly perform the retraction action, completely separating the workpiece from the support surface of the workpiece lifting mechanism; after the lifting end is fully retracted to the initial low position, the workpiece lifting mechanism performs an overall reset, preparing for the next pallet operation; this eliminates the risks of the lifting mechanism resetting under load, workpiece displacement due to dragging, or accidental falls, and can avoid major production safety accidents such as workpiece falls, pallet deformation, and overload damage to the lifting mechanism caused by workpiece falling and jamming, lifting mechanism under load, position sensor misjudgment, etc. At the same time, it ensures that the workpiece is fully supported by the pallet before subsequent pallet unlocking and conveying actions, ensuring the absolute safety of the entire finishing process.

[0135] Based on the above embodiments, the method further includes:

[0136] Acquire the action interlock signals of each actuator of the device, including the pallet positioning status signal, the workpiece lifting position signal, the robot reset signal, the support rod pick-up and put-out completion signal, and the workpiece falling back to position signal;

[0137] Before executing the robot pick-up and place-up command, the pallet positioning status signal and the workpiece lifting position signal are verified. If the pallet is not positioned and the workpiece is not lifted into position, the robot is prohibited from starting the pick-up and place-up action.

[0138] Before executing the workpiece flipping command, the robot reset signal and the support rod pick-up and put-down completion signal are verified. If the robot fails to reset and the support rod fails to pick up and put down, the workpiece flipping mechanism is locked.

[0139] Before the drive positioning and locking component unlocks the pallet, the workpiece return signal is verified. If the workpiece has not returned to the correct position, unlocking the pallet and triggering the production line conveyor mechanism to send it out are prohibited.

[0140] It should be noted that the system will collect and monitor the action interlock signals of all key actuators of the equipment in real time. These signals are feedback signals after each mechanism completes the key action (not software simulation signals), including pallet positioning status signal (confirming that the pallet has been firmly locked in the standard position), workpiece lifting position signal (confirming that the workpiece has been raised to the robot's safe operating height), robot reset signal (confirming that the robot has completely withdrawn from the work area and returned to the initial safe position), support rod pick-up and drop completion signal (confirming that all support rods have been fully installed in place), and workpiece falling position signal (confirming that the workpiece has been completely lowered onto the pallet and is stably supported).

[0141] Before executing robot pick-up and place commands, the system forcibly verifies two prerequisite safety conditions: the pallet positioning status signal and the workpiece lifting position signal. Only when both signals are valid (i.e., the pallet is positioned and locked, and the workpiece is lifted to the predetermined height) is the robot allowed to initiate the pick-up and place operation. If the pallet is not positioned or the workpiece is not lifted to the correct position, the system will directly cut off the robot's execution permission, prohibiting it from initiating any pick-up or place operation. Before executing workpiece flipping commands, the system forcibly verifies two prerequisite safety conditions: the robot reset signal and the support rod pick-up and place completion signal. Only when both signals are valid (i.e., the robot has returned to its initial position and all support rods are installed) is the workpiece flipping mechanism allowed to initiate the flipping operation. If the robot is not positioned or the workpiece is not lifted to the correct height, the system will directly cut off the robot's execution permission, prohibiting it from initiating any pick-up or place operation. If the reset or support rod is not fully removed or placed, the system will immediately lock the power output of the workpiece flipping mechanism, preventing it from performing any flipping operation. Before executing the action of unlocking the pallet by the drive positioning locking component, the system will forcibly verify the final safety condition of the workpiece falling back into place signal. Only when this signal is valid (i.e., the workpiece has completely fallen back into the pallet and is stably supported) will the pallet be unlocked and the production line conveyor mechanism be triggered to deliver it. If the workpiece has not fallen back into place, the system will prohibit the positioning locking component from performing the unlocking action and block the start command of the production line conveyor mechanism. This ensures that all actions must be performed strictly in the preset safety sequence. If any prerequisite is not met, subsequent dangerous actions will be forcibly locked and cannot be started, ensuring the safety of the support rod removal and placement operation.

[0142] Based on the above embodiments, after generating the workpiece flipping command, the method further includes:

[0143] The flipping speed is dynamically adjusted, and the specific dynamic adjustment process includes:

[0144] The workpiece real-time flip angle is matched with the preset flip angle range to obtain the preset flip angle range corresponding to the current real-time flip angle.

[0145] Based on a preset flipping angle range, a preset flipping speed is determined for the corresponding flipping angle range, and the workpiece flipping mechanism flips the workpiece in response to the preset flipping speed of the corresponding range.

[0146] It should be noted that after the system generates the workpiece flipping command and officially starts the flipping action, it will continuously collect the real-time flipping angle data of the workpiece. At the same time, the system has pre-divided the entire 0° to 180° complete flipping stroke into multiple continuous and non-overlapping preset flipping angle intervals, each interval corresponding to different operating characteristics and speed requirements.

[0147] The system will perform real-time matching of the workpiece flipping angle collected in real time with the pre-divided preset flipping angle range on a millisecond-by-millisecond basis to quickly determine the specific flipping stage of the current workpiece.

[0148] Each preset flipping angle range has a corresponding optimal preset flipping speed pre-calibrated. This speed is determined after multiple on-site debugging and simulation verifications, taking into account the standard weight of the workpiece in the industrial production line, the moment of inertia, the maximum load capacity of the flipping mechanism, the resonant frequency of the mechanical structure, and the production cycle requirements of the production line.

[0149] The workpiece flipping mechanism responds in real time to the preset flipping speed corresponding to the current range, automatically and smoothly switching speeds, making the entire flipping process dynamically adjustable. This dynamic speed regulation method avoids the huge mechanical impact generated at the moment of start-up and stop during uniform speed flipping, preventing the support rod from loosening, workpiece from shifting, or damage to internal precision components. It can also maintain a high operating speed in the intermediate stable phase to meet the production cycle, while the low-speed operation when approaching the 180-degree target angle can completely eliminate the problem of inertial overshoot, ensuring the precise positioning of the flipping angle and providing a reliable angle reference for the smooth return of the workpiece to the pallet.

[0150] Example 2

[0151] Please see Figure 2 As shown, in another embodiment of the present invention, the present invention also discloses an industrial production line pallet support and placement control system, which includes the following modules:

[0152] Pallet positioning module: In response to the pallet positioning signal uploaded by the production line conveyor mechanism, the module drives the positioning and locking components to fix the pallet based on the pallet positioning signal, thereby obtaining pallet positioning data; the pallet positioning data includes pallet positioning coordinates and pallet positioning deviation.

[0153] Workpiece lifting monitoring module: In response to the pallet positioning deviation being within the standard positioning deviation threshold range, it generates a workpiece lifting command and acquires height monitoring data during the workpiece lifting process, the height monitoring data including the real-time rising height of the workpiece;

[0154] Support rod pick-and-place control module: In response to the workpiece reaching a predetermined lifting height in real time, it generates a robot pick-and-place command and picks up and installs the support rod to the placement fixture position according to the pick-and-place command; the robot pick-and-place command includes left / right support rod gripping force value and gripping preset motion trajectory, and the placement fixture position includes left / right placement fixture positions;

[0155] Workpiece flipping monitoring module: In response to the workpiece flipping command generated when the robot returns to its initial position along a preset path after the support rod is picked up and placed, the module acquires angle monitoring data during the workpiece flipping process, including the real-time flipping angle of the workpiece.

[0156] Pallet unlocking and delivery module: In response to the workpiece's real-time rotation angle reaching 180 degrees, a workpiece return command is generated. When the workpiece returns to the pallet, the positioning and locking components are driven to unlock the pallet. The production line conveyor mechanism automatically delivers the pallet out of the current workstation and to the next production line process.

[0157] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0158] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An industrial line pallet support pick and place control method, characterized by, The method includes: In response to the pallet arrival signal uploaded by the production line conveyor mechanism, the positioning and locking component is driven to fix the pallet based on the pallet arrival signal, thereby obtaining pallet arrival positioning data; the pallet arrival positioning data includes pallet positioning coordinates and pallet positioning deviation. In response to the pallet positioning deviation being within the standard positioning deviation threshold range, a workpiece lifting command is generated, and height monitoring data during the workpiece lifting process is acquired, the height monitoring data including the real-time rising height of the workpiece. In response to the workpiece reaching a predetermined lifting height in real time, a robot pick-and-place instruction is generated, and the support rod is picked up and installed into the placement fixture according to the pick-and-place instruction; the robot pick-and-place instruction includes the left / right support rod gripping force value and the gripping preset motion trajectory, and the placement fixture includes left / right placement fixture positions; In response to the workpiece flipping command being generated when the robot returns to its initial position along a preset path after the support rod has been picked up and placed, the angle monitoring data during the workpiece flipping process is acquired, and the angle monitoring data includes the real-time flipping angle of the workpiece. In response to the workpiece's real-time rotation angle reaching 180 degrees, a workpiece return command is generated. When the workpiece returns to the pallet, the positioning and locking components are driven to unlock the pallet. The production line conveyor automatically sends the pallet out of the current workstation and to the next production line process.

2. The industrial line tray supporting, picking and placing control method according to claim 1, characterized in that, After obtaining the pallet positioning data, the method further includes: Extract the pallet positioning deviation based on the pallet positioning data; If the pallet positioning deviation exceeds the standard positioning deviation threshold range, then the pallet positioning is calibrated. The specific process of calibrating the positioning of the pallet includes: Obtain the coordinates of the preset positioning points of the workstation; Calculate the lateral offset and longitudinal offset between the pallet positioning coordinates and the preset positioning point coordinates; Based on the lateral offset value and the longitudinal offset value, determine the pallet compensation positioning correction amount; The production line conveying mechanism drives the positioning locking component to unlock the pallet again based on the pallet compensation and positioning correction amount, thereby correcting the pallet position. After calibration, the drive positioning and locking components will re-secure the tray.

3. The industrial line tray supporting, picking and placing control method according to claim 1, characterized in that, The method further includes: Acquire the operating status data of the pallet support and pick-up device and the robot, wherein the operating status data of the pallet support and pick-up device includes the operating status data of the production line conveyor mechanism, the operating status data of the positioning and locking component, the operating status data of the workpiece lifting mechanism and the operating status data of the workpiece flipping mechanism; The robot's operating status data includes current / torque load data of each axis motor, robot operating program data, and robot communication data; The time-domain features of the pallet support and pick-up device's operating status data are extracted to obtain the device's operating trend features. The operating trend features of the device include the change rate of the positioning speed of the production line conveyor mechanism, the variance of the locking force fluctuation of the locking component, the change rate of the lifting speed of the workpiece lifting mechanism, and the cumulative value of the tilting angle deviation of the workpiece tilting mechanism. Frequency domain analysis is performed on the robot's operating status data to obtain operating spectrum characteristics, which include the proportion of high-frequency harmonic components in the motor current of each axis, the peak power spectral density of the torque load, program error items, and communication network latency. The equipment's operating trend characteristics and operating spectrum characteristics are input into a preset fault probability model, and the fault probability results are output. The failure probability results include failure probability values ​​for each mechanism and component, as well as the failure probability value for the robot.

4. The industrial line pallet support pick and place control method of claim 3, wherein, After outputting the failure probability result, the method further includes: Extract the failure probability values ​​of each mechanism and component, as well as the robot's failure probability value; The failure probability values ​​of each mechanism and component are compared with the preset failure thresholds of the mechanism and component, and the failure probability value of the robot is compared with the preset failure threshold of the robot. If the failure probability value of any mechanism or component exceeds the preset failure threshold of the mechanism and component, the corresponding mechanism or component is identified as the first high-risk identifier, and the first maintenance instruction is generated. If the robot failure probability value exceeds the preset robot failure threshold, the corresponding robot is identified as the second high-risk robot and a second maintenance instruction is generated. Both the first maintenance instruction and the second maintenance instruction include corresponding standard maintenance procedures and maintenance priorities; the maintenance priorities are determined according to the magnitude of the fault probability values. Send the first high-risk identifier, the first maintenance instruction, the second high-risk identifier, and the second maintenance instruction to the operation and maintenance terminal and record the fault warning log.

5. The industrial line pallet support pick and place control method of claim 1, wherein, After the support rod is picked up and installed into the placement fixture position according to the pick-and-place command, the method further includes: Acquire the real-time pose data of the support rod at the placement fixture position, the real-time pose data including the support rod tilt angle and spatial coordinates; The real-time pose data is compared with the standard pose data set at the tooling placement position to calculate the installation deviation vector value. The installation deviation vector value includes the support rod tilt angle deviation vector value and the spatial coordinate deviation vector value; If the installation deviation vector value exceeds the preset qualified installation deviation vector value threshold range, it is determined that the installation is not up to standard, and a secondary adjustment instruction is generated based on the installation deviation vector value. The secondary adjustment command includes real-time correction of the installation position and / or attitude angle of the support rod; The robot responds to the secondary calibration command and executes the secondary calibration command until the corrected real-time pose data conforms to the preset standard pose data.

6. The method for controlling the placement and retrieval of pallets on an industrial production line according to claim 1, characterized in that, When the workpiece falls back onto the pallet, the method further includes: Acquire real-time support load data of the pallet bearing surface, wherein the real-time support load data includes real-time continuous pressure bearing value; The real-time support load data of the pallet bearing surface is compared with the workpiece gravity. If the difference between the two is equal to zero, a pallet full bearing confirmation signal is generated. The workpiece lifting mechanism unlocks the workpiece in response to the pallet full load confirmation signal, drives the lifting end to perform a retraction action, separates the workpiece from the workpiece lifting mechanism, and at the same time, the workpiece lifting mechanism performs a reset.

7. The method for controlling the placement and retrieval of pallets on an industrial production line according to claim 1, characterized in that, The method further includes: Acquire the action interlock signals of each actuator of the device, including the pallet positioning status signal, the workpiece lifting position signal, the robot reset signal, the support rod pick-up and put-out completion signal, and the workpiece falling back to position signal; Before executing the robot pick-up and place-up command, the pallet positioning status signal and the workpiece lifting position signal are verified. If the pallet is not positioned and the workpiece is not lifted into position, the robot is prohibited from starting the pick-up and place-up action. Before executing the workpiece flipping command, the robot reset signal and the support rod pick-up and put-down completion signal are verified. If the robot fails to reset and the support rod fails to pick up and put down, the workpiece flipping mechanism is locked. Before the drive positioning and locking component unlocks the pallet, the workpiece return signal is verified. If the workpiece has not returned to the correct position, unlocking the pallet and triggering the production line conveyor mechanism to send it out are prohibited.

8. The method for controlling the placement and retrieval of pallets on an industrial production line according to claim 1, characterized in that, After generating the workpiece flipping command, the method further includes: The flipping speed is dynamically adjusted, and the specific dynamic adjustment process includes: The workpiece real-time flip angle is matched with the preset flip angle range to obtain the preset flip angle range corresponding to the current real-time flip angle. Based on a preset flipping angle range, a preset flipping speed is determined for the corresponding flipping angle range, and the workpiece flipping mechanism flips the workpiece in response to the preset flipping speed of the corresponding range.

9. An industrial production line pallet support and placement control system, applicable to the industrial production line pallet support and placement control method according to any one of claims 1-8, characterized in that, include: Pallet positioning module: In response to the pallet positioning signal uploaded by the production line conveyor mechanism, the module drives the positioning and locking components to fix the pallet based on the pallet positioning signal, thereby obtaining pallet positioning data; the pallet positioning data includes pallet positioning coordinates and pallet positioning deviation. Workpiece lifting monitoring module: In response to the pallet positioning deviation being within the standard positioning deviation threshold range, it generates a workpiece lifting command and acquires height monitoring data during the workpiece lifting process, the height monitoring data including the real-time rising height of the workpiece; Support rod pick-and-place control module: In response to the workpiece reaching a predetermined lifting height in real time, it generates a robot pick-and-place command and picks up and installs the support rod to the placement fixture position according to the pick-and-place command; the robot pick-and-place command includes left / right support rod gripping force value and gripping preset motion trajectory, and the placement fixture position includes left / right placement fixture positions; Workpiece flipping monitoring module: In response to the workpiece flipping command generated when the robot returns to its initial position along a preset path after the support rod is picked up and placed, the module acquires angle monitoring data during the workpiece flipping process, including the real-time flipping angle of the workpiece. Pallet unlocking and delivery module: In response to the workpiece's real-time rotation angle reaching 180 degrees, a workpiece return command is generated. When the workpiece returns to the pallet, the positioning and locking components are driven to unlock the pallet. The production line conveyor mechanism automatically delivers the pallet out of the current workstation and to the next production line process.

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