A pallet car automatic on-line control method and system

Abstract

The application discloses a tray car automatic on-line control method and system, comprising the following steps: S1, moving the feeding mechanism with the tray car frame to the feeding position, and controlling the jacking mechanism to jack up the feeding mechanism at the feeding position to a preset grabbing height; S2, controlling the moving mechanism to move to a preset identification area, acquiring image information on the feeding mechanism through a visual identification component on the moving mechanism to determine the position coordinates of the frame and the product type, and after compensation based on the position coordinates, controlling the moving mechanism to grab the tray car frame through a magnetic attraction component; S3, controlling the moving mechanism to move the tray car frame to the sliding assembly table and turn it upside down, responding to an assembly start signal to send the tray car frame into an assembly station, and moving the tray car frame back after receiving an assembly completion signal. Through the cooperation between the mechanisms, the feeding and discharging and assembly of the tray car frame can be completed under non-ideal conditions.

Description

Technical Field

[0001] This invention relates to the field of pallet truck assembly technology, specifically to an automatic pallet truck loading control method and system. Background Technology

[0002] A pallet truck is a material handling device whose components, such as the frame, linkages, drive unit, and electrical control system, need to be assembled on an assembly line. Since the linkages are installed on the underside of the frame, the frame needs to be flipped twice during the assembly process: the first flip so that the bottom is facing up to install the linkages, and the second flip to return it to its original position for subsequent assembly. Currently, the industry generally uses manual operation. The specific process is as follows: workers use forklifts to transport the pallets containing the frames to the assembly area, and select the frames to be assembled from multiple pallets; the frame edges are secured with slings, and the frame is lifted by a crane, with one or two workers supporting the frame to flip it in the air so that the bottom of the frame is facing up, and then slowly lowered onto the assembly table; after the linkages are assembled, the frame is lifted again with slings and flipped back to its original position, and then transported to the next workstation.

[0003] However, this method has the following technical drawbacks: First, the chassis cannot directly enter the assembly line after the painting process; it must be stacked on pallets before being transferred and picked, affecting efficiency. Second, different chassis models have different shapes, dimensions, and center of gravity positions, making it easy for manual identification of models and judgment of lifting point positions to make mistakes, and it is difficult to connect with automated equipment. Third, the chassis is heavy, and the center of gravity changes drastically when manually flipped in the air, posing a high risk of sling slippage or chassis falling, creating safety hazards. Fourth, the assembly station lacks safety interlocking measures; if the chassis moves unexpectedly or the equipment malfunctions during the installation of connecting rods, personnel safety cannot be guaranteed. Fifth, after the connecting rods are assembled, they still need to be manually flipped and transported to the subsequent production line, resulting in multiple breaks in the entire process and making it difficult to form a continuous production line.

[0004] It should be noted that although there are industrial robots on the market with magnetic attraction and flipping capabilities, their direct application in the assembly of pallet truck frames still faces many obstacles. When the pallet truck frame comes off the painting process, it is in a specific tilted posture and is placed directly on the feeding mechanism without a precise positioning structure. The actual placement position of the frame is deviated. Conventional magnetic attraction flipping robots usually assume that the workpiece is placed horizontally and in a fixed position. In this scenario, they cannot accurately identify the position of the frame and it is difficult to achieve stable gripping. Even if the robot can complete the attraction and flipping actions, it does not have the functions of identifying the frame model, determining the gripping part, and determining the flipping angle. In addition, workers need to intervene to install the linkage during the assembly process. This requires the robot to ensure that the frame is stable and does not tip over when placing the frame. At the same time, the system needs to receive a signal after the worker completes the assembly before it can trigger the next gripping and flipping action.

[0005] Therefore, how to achieve automatic identification of frame position and model, automatic gripping and flipping, safe and collaborative manual assembly, and automatic flipping and unloading after assembly, under the premise of only requiring simple manual pushing of the feeding mechanism, is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic pallet truck loading control method and system to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an automatic pallet truck loading control method, comprising the following steps: S1. Move the feeding mechanism with the pallet truck frame to the loading position, and control the lifting mechanism to lift the feeding mechanism located at the loading position to the preset gripping height. S2. Control the transfer mechanism to move to the preset recognition area, obtain image information from the feeding mechanism through the visual recognition component on the transfer mechanism to determine the position coordinates of the frame and the product type, and after correcting and compensating based on the position coordinates, control the transfer mechanism to grab the pallet truck frame through the magnetic suction component. S3. Control the transfer mechanism to move the pallet truck frame to the sliding assembly table and flip it so that the bottom is facing up. In response to the assembly start signal, send the pallet truck frame into the assembly station, and move the pallet truck frame back after receiving the assembly completion signal. S4. Control the transfer mechanism to grab the pallet truck frame again and flip it so that the bottom is facing down, and release the pallet truck frame onto the subsequent conveying mechanism.

[0008] As a further aspect of the present invention: In step S1, after manually pushing the feeding mechanism with the pallet cart frame to the vicinity of the loading position and triggering the loading signal, the grating located there switches from the blocked state to the conductive state. At this time, the feeding mechanism is pushed into the loading position. After receiving the loading completion signal, the grating switches from the conductive state to the blocked state.

[0009] As a further aspect of the present invention: In step S2, the feeding mechanism is provided with several positions for placing the vehicle frame. The visual recognition component on the transfer mechanism first takes a picture of the first position to identify whether there is a vehicle frame. If not, it moves to the second position to take a picture. If there is, it further identifies the specific position and product type, and controls the transfer mechanism to move to the predetermined position to grab the vehicle frame, and corrects and compensates the grabbing position according to the position coordinates.

[0010] An automatic pallet truck loading control system includes: Feeding mechanism, used for transporting pallet trucks; A lifting mechanism is located at the position where the feeding mechanism stops, and is used to lift the feeding mechanism carrying the vehicle frame to a preset height; A transfer mechanism, located on one side of the lifting mechanism, is used to grab the vehicle frame at a preset height and transfer and flip it between the various mechanisms; A sliding assembly mechanism, located on one side of the transfer mechanism, is used to remove the chassis and assemble the connecting rods onto the chassis to form a complete pallet truck; A conveying mechanism, located on one side of the transfer mechanism, is used to transport the complete pallet truck to the unloading port; The control cabinet is electrically connected to the lifting mechanism, transfer mechanism, sliding assembly mechanism and conveying mechanism respectively, and is used to control the operation sequence and actions of each mechanism.

[0011] As a further embodiment of the present invention: the feeding mechanism includes a base frame and a plurality of placement components disposed on the upper surface of the base frame, and an adjustable push rod and a plurality of lifting ring assemblies are also installed on the upper surface of the base frame, and a lifting seat for cooperating with the lifting mechanism is installed on the lower surface of the base frame.

[0012] As a further aspect of the present invention: the placement assembly includes a positioning block connected to the base frame and a connecting rod connected to the positioning block, the end of the connecting rod is equipped with a first support plate, and a limit plate is installed on the first support plate.

[0013] As a further aspect of the present invention: the lifting mechanism includes two lifting components arranged opposite to each other. Each lifting component includes a base and a lifting cylinder disposed on the base. The piston end of the lifting cylinder passes through the base and is connected to a second support plate. A guide rod is installed on the second support plate. The guide rod passes through the base and is movably connected to it. A limit block is installed on the base.

[0014] As a further aspect of the present invention: the transfer mechanism includes a transport robot and a visual recognition component and a lighting component disposed on the gripping end of the transport robot, and the gripping end of the transport robot is also equipped with a magnetic suction component.

[0015] As a further aspect of the present invention: the sliding assembly mechanism includes a frame and a first cylinder disposed inside the frame. The telescopic end of the first cylinder is connected to the base of a second cylinder, and the telescopic end of the second cylinder is connected to a placement platform. The placement platform is slidably engaged with the frame. A clamping assembly is installed on the placement platform, and an anti-tipping plate is installed on the side of the frame. A control button is installed on the side of the frame away from the transfer mechanism.

[0016] As a further aspect of the present invention: the clamping assembly includes two sets of third cylinders installed inside the frame, and clamping plates are installed on the telescopic ends of the two sets of third cylinders, and sensors are installed on the clamping plates.

[0017] Compared with the prior art, the beneficial effects of the present invention are: This invention directly matches the support surface of the feeding mechanism with the tilt angle of the painting line, allowing the chassis to fall naturally without additional alignment. During loading, the operator pushes the feeding mechanism to the loading position and presses the loading button. The grating changes from being blocked to being open before being pushed into place, triggering the lifting. If the grating is accidentally blocked during the lifting process, the lifting stops immediately, forming an effective safety interlock. The transfer mechanism does not rely on preset coordinates but instead uses a vision component to sequentially scan multiple placement positions on the feeding mechanism. It first determines whether there is a chassis, then identifies the specific model and actual position, and dynamically adjusts the magnetic gripping point accordingly. This ensures reliable adsorption even if the chassis is tilted. After gripping, the chassis is flipped so that the bottom is facing up and placed stably on the sliding assembly table. The chassis body is placed against the anti-tipping plate, and then the clamping component clamps the fork part to prevent tipping during manual assembly of the connecting rod. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the automatic pallet truck loading control system of the present invention; Figure 2 This is a schematic diagram of the feeding mechanism of the present invention; Figure 3 This is a schematic diagram of the lifting mechanism of the present invention; Figure 4 This is a schematic diagram of the transfer mechanism of the present invention; Figure 5 This is a schematic diagram of the sliding assembly mechanism of the present invention; Figure 6 This is a schematic diagram of the clamping assembly of the present invention; In the picture: 1. Feeding mechanism; 11. Base frame; 12. Placement component; 121. Positioning block; 122. Connecting rod; 123. First support plate; 124. Limiting plate; 13. Adjustable push rod; 14. Lifting ring sub-assembly; 15. Lifting seat; 2. Lifting mechanism; 21. Lifting assembly; 211. Base; 212. Lifting cylinder; 213. Second support plate; 214. Guide rod; 215. Limit block; 3. Transfer mechanism; 31. Handling robot; 32. Vision recognition component; 33. Lighting component; 34. Magnetic suction component; 4. Sliding assembly mechanism; 41. Stand; 42. First cylinder; 43. Second cylinder; 44. Placement platform; 45. Clamping assembly; 451. Third cylinder; 452. Clamping plate; 453. Sensor; 46. Anti-tipping plate; 47. Control button; 5. Conveying mechanism; 6. Control cabinet. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figure 1-6 In this embodiment of the invention, an automatic pallet truck loading control method includes the following steps: S1. Move the feeding mechanism 1 with the pallet truck frame to the loading position, and control the lifting mechanism 2 to lift the feeding mechanism 1 located at the loading position to the preset gripping height. Specifically, after the staff pushes the feeding mechanism 1 with the pallet cart frame to the vicinity of the loading position, the loading signal is triggered. At this time, the grating located at that position switches from the blocked state to the conductive state. Then, the feeding mechanism 1 is pushed into the loading position. After receiving the loading completion signal, the grating switches from the conductive state to the blocked state. If it is triggered when the grating is in the blocked state, the lifting mechanism 2 stops working to ensure the safety of personnel and the production line. When the feeding mechanism 1 moves to the lifting mechanism 2, the control cabinet 6 controls the lifting cylinder 212 to start, lifting the pallet cart frame on the feeding mechanism 1 to the grabbing height of the transfer mechanism 3.

[0021] S2. Control the transfer mechanism 3 to move to the preset recognition area, obtain the image information on the feeding mechanism 1 through the visual recognition component 32 on the transfer mechanism 3 to determine the position coordinates of the frame and the product type, and after correcting and compensating based on the position coordinates, control the transfer mechanism 3 to grab the pallet truck frame through the magnetic suction component 34. Specifically, the feeding mechanism 1 has several positions for placing the pallet cart frame, such as the first position, the second position, the third position, etc. The control cabinet 6 controls the vision recognition component 32 to take a picture and recognize the first position to confirm whether there is a pallet cart frame. If not, it moves to the second position to take a picture and recognize the pallet cart frame. If there is, it further identifies the specific position and product type, and controls the transfer mechanism 3 to move to the predetermined position to grab the pallet cart frame. At the same time, it corrects and compensates the grabbing position according to the position coordinates. Then, the magnetic suction component 34 opens to attract and grab the pallet cart frame on the feeding mechanism 1.

[0022] S3. Control the transfer mechanism 3 to transfer the pallet truck frame to the sliding assembly table 4 and flip it so that the bottom is facing up. In response to the assembly start signal, send the pallet truck frame into the assembly station, and move the pallet truck frame back after receiving the assembly completion signal. Specifically, after grabbing the pallet truck frame, the transfer mechanism 3 moves it above the placement position of the sliding assembly table 4, flips it so that the bottom of the frame faces upward, and ensures that when the frame is placed in the placement position, its body part is on one side of the anti-tipping plate 46 to prevent the pallet truck frame from tipping over during the process of placing it into the sliding assembly table 4. When the assembly start signal is received, the pallet truck frame moves to the assembly station, and the worker installs the connecting rod into the pallet truck frame; after receiving the assembly completion signal, the pallet truck frame is moved back.

[0023] S4. Control the transfer mechanism 3 to grab the pallet truck frame again and flip it so that the bottom is facing down, and release the pallet truck frame onto the subsequent conveying mechanism 5.

[0024] The entire assembly process only begins when the operator presses the assembly start button, at which point the chassis enters the workstation. After assembly, a completion signal must be confirmed again before the system can perform the return movement, secondary flipping, and release of the chassis to the downstream conveyor line. Human and machine actions are strictly interlocked to avoid interference. Only manual operation is required for the push-feed mechanism 1, the linkage assembly, and two button confirmations; the rest is fully automated. Even under non-ideal conditions such as mixed-model lines, imprecise positioning, and tilted postures, the system can still stably, safely, and efficiently complete the loading, unloading, and assembly of pallet truck chassis. This significantly reduces the reliance on operator proficiency and solves the adaptation problem of existing automation solutions in such scenarios.

[0025] Please see Figure 1-6 An automatic pallet truck loading control system includes: Feeding mechanism 1, used for transporting pallet truck frames; The lifting mechanism 2 is located at the position where the feeding mechanism 1 stops, and is used to lift the feeding mechanism 1 carrying the vehicle frame to a preset height; The transfer mechanism 3 is located on one side of the lifting mechanism 2 and is used to grab the vehicle frame at a preset height and transfer and flip it between the various mechanisms. The sliding assembly mechanism 4 is located on one side of the transfer mechanism 3 and is used to remove the frame and assemble the connecting rods onto the frame to form a complete pallet truck. The conveying mechanism 5 is located on one side of the transfer mechanism 3 and is used to transport the complete pallet truck to the off-line port; The control cabinet 6 is electrically connected to the lifting mechanism 2, the transfer mechanism 3, the sliding assembly mechanism 4, and the conveying mechanism 5, respectively, and is used to control the running sequence and actions of each mechanism.

[0026] Specifically, the feeding mechanism 1 receives the pallet truck frame after the painting process is completed. The painting lift lowers and places the pallet truck frame on the feeding mechanism 1. The tilt angle of several frame placement positions on the feeding mechanism 1 is consistent with the tilt angle of the frame painting line to ensure efficient connection between processes. After the feeding mechanism 1 receives the pallet truck frame, the operator pushes it to the vicinity of the lifting mechanism 2 and clicks the "load" button at the corresponding position. At this time, the grating is deactivated. The operator continues to push the feeding mechanism 1 to the lifting mechanism 2 so that the two come into contact. Subsequently, the lifting mechanism 2 lifts the feeding mechanism 1 together with the pallet truck frame to a preset height. This preset height is to facilitate the transfer mechanism 3. The grabbing and photographing recognition mechanism can be freely adjusted according to the model of the transfer mechanism 3 and the actual site conditions. After the transfer mechanism 3 grabs the pallet truck frame, it flips it so that the bottom of the originally tilted pallet truck frame is facing up, and places it on the sliding assembly mechanism 4. Then, the staff assembles the connecting rods. After the assembly is completed, the transfer mechanism 3 grabs the pallet truck frame again and flips it 180° so that the bottom of the pallet truck frame is facing down, and then places it on the conveying mechanism 5 of the subsequent process. The control cabinet 6 has a controller inside and an operation panel outside. The control cabinet 6 receives signals from the grating, the vision recognition component 32, and the buttons, and controls the action of each actuator according to the preset timing sequence.

[0027] By ensuring that the placement angle of the feeding mechanism 1 matches the painting line's posture, the need for secondary adjustments or manual straightening due to angle mismatches in traditional solutions is avoided. This enables immediate placement and departure, shortens waiting time between processes, improves the overall line cycle time, and introduces a multi-level interlocking mechanism: the light grid is only deactivated after the operator actively confirms and triggers the loading button, allowing the feeding mechanism 1 to enter the danger zone; and the lifting mechanism 2 will only activate after physical contact is completed, effectively preventing the equipment from operating automatically without confirmation, thus avoiding safety accidents such as pinching and collisions. The lifting height of the lifting mechanism 2 is adjustable, and in conjunction with the visual recognition function of the transfer mechanism 3, it can adapt to the gripping needs of different chassis models. After flipping, the bottom surface of the chassis faces upward, providing a better operating view and accessibility for the assembly of the connecting rods.

[0028] Please see Figure 2 In one embodiment, preferably, the feeding mechanism 1 includes a base frame 11 and a plurality of placement components 12 disposed on the upper surface of the base frame 11. The upper surface of the base frame 11 is also equipped with an adjustable push rod 13 and a plurality of lifting ring assemblies 14, and the lower surface of the base frame 11 is equipped with a lifting seat 15 for cooperating with the lifting mechanism 2.

[0029] Specifically, the base frame 11 has a double-layer structure, with the upper layer having a larger area than the lower layer. Several placement components 12 are installed on the upper layer of the base frame 11. In this embodiment, preferably, the number of placement components 12 is three. Lifting ring assemblies 14 are installed at the four corners of the upper layer of the base frame 11 so that the feeding mechanism 1 can be manually lowered in case of a failure of the lifting mechanism 2. At the same time, lifting seats 15 are installed at the four corners of the bottom of the upper layer of the base frame 11 to cooperate with the lifting mechanism 2 for product loading. The horizontal and vertical sides of the base frame 11 are provided with connecting rod sockets for the insertion of the end of the adjustable push rod 13. Universal casters are installed at the four corners of the bottom of the lower layer of the base frame 11 to ensure that the feeding mechanism 1 can be pushed in four directions: forward, backward, left, and right.

[0030] Please see Figure 2 In one embodiment, preferably, the placement component 12 includes a positioning block 121 connected to the bottom frame 11 and a connecting rod 122 connected to the positioning block 121. A first support plate 123 is installed at the end of the connecting rod 122, and a limit plate 124 is installed on the first support plate 123.

[0031] Specifically, the positioning block 121 is installed on the upper surface of the bottom frame 11. On the one hand, it provides an installation base for the connecting rod 122, and on the other hand, it is used to hold the vehicle body of the pallet truck frame to prevent the frame from shifting or shaking during transportation. The two ends of the connecting rod 122 are connected to the positioning block 121 and the first support plate 123 respectively. This not only improves the strength of the positioning block 121, but also prevents deformation caused by long-term use from affecting the subsequent placement accuracy. The first support plate 123 is inclined, and its inclination angle is consistent with the inclination angle of the frame painting line. The limiting plate 124 is set on the side of the first support plate 123 away from the positioning block 121. The positioning block 121 and the limiting plate 124 restrict the two sides of the pallet truck frame.

[0032] Please see Figure 3 In one embodiment, preferably, the lifting mechanism 2 includes two lifting components 21 arranged opposite to each other. Each lifting component 21 includes a base 211 and a lifting cylinder 212 disposed on the base 211. The piston end of the lifting cylinder 212 passes through the base 211 and is connected to a second support plate 213. A guide rod 214 is installed on the second support plate 213. The guide rod 214 passes through the base 211 and is movably connected to it. A limit block 215 is installed on the base 211.

[0033] Specifically, the initial height of the two lifting components 21 is lower than the bottom of the upper layer of the base frame 11. The distance between the two lifting components 21 is greater than the width of the lower layer of the base frame 11 and less than the width of the upper layer of the base frame 11. When the feeding mechanism 1 enters the range of the two lifting components 21, the lifting seat 15 contacts and abuts against the limiting block 215, at which time the position of the feeding mechanism 1 is determined. The base 211 includes two oppositely arranged side plates. The tops of the two side plates are fixedly connected by a connecting plate. The connecting plate adopts an L-shaped structure design, and wear-resistant plates are installed on its vertical side walls to reduce wear when in contact with moving parts. Two lifting cylinders 212 are installed on the lower surface of the connecting plate. The two lifting cylinders 212 are located between the two side plates. Their telescopic ends pass upward through the connecting plate and extend to the top of the connecting plate, and are fixedly connected to the second support plate 213. The initial height of the second support plate 213 is lower than the upper end of the connecting plate. Through the extension and retraction of the lifting cylinder 212, the second support plate 213 can be driven to move up and down in the vertical direction. A guide rod 214 is also provided between the second support plate 213 and the connecting plate. One end of the guide rod 214 is fixedly connected to the second support plate 213, and the other end passes through the connecting plate and is slidably connected to it, thereby guiding and limiting the lifting and lowering movement of the second support plate 213. On the side plate away from the side pushed in by the feeding mechanism 1, a baffle is installed. The upper end of the baffle is higher than the initial height of the second support plate 213 to prevent the feeding mechanism 1 from being pushed out of the range of the lifting mechanism 2. In addition, a limiting block 215 for positioning is provided on the baffle. The limiting block 215 is configured to cooperate with the feeding mechanism 1 to ensure that it is pushed into place and does not overshoot.

[0034] Please see Figure 4 In one embodiment, preferably, the transfer mechanism 3 includes a transport robot 31 and a visual recognition component 32 and a lighting component 33 disposed on the gripping end of the transport robot 31, and the gripping end of the transport robot 31 is also equipped with a magnetic suction component 34.

[0035] Specifically, the handling robot 31 can be selectively installed in a fixed location or integrated into a conveying device. In this embodiment, preferably, the handling robot 31 is fixedly installed, and its overall position remains unchanged. Each workstation is arranged around the fixedly installed handling robot 31, so that the handling robot 31 can complete the material picking and placing operations of all workstations within its working radius, improving the system compactness and work efficiency. A vision recognition component 32 is installed on the gripping end of the handling robot 31. The vision recognition component 32 is a vision camera, which is used to collect and recognize the target position, posture or mark before gripping or placing materials to achieve high-precision positioning and guidance. To ensure the reliability of vision recognition and imaging quality, an illumination component 33 is also provided on the gripping end. The illumination component 33 is configured to provide directional supplementary lighting to the field of view of the vision camera, avoiding image blurring or recognition failure caused by insufficient ambient light, reflection or shadows. Through the collaborative work of the illumination component 33 and the vision camera, the image clarity and recognition accuracy can be improved, ensuring the stability and automation level of the handling operation.

[0036] Please see Figure 5 In one embodiment, preferably, the sliding assembly mechanism 4 includes a frame 41 and a first cylinder 42 disposed inside the frame 41. The telescopic end of the first cylinder 42 is connected to the base of the second cylinder 43, and the telescopic end of the second cylinder 43 is connected to the placement platform 44. The placement platform 44 is slidably engaged with the frame 41. A clamping assembly 45 is installed on the placement platform 44, and an anti-tipping plate 46 is installed on the side of the frame 41. A control button 47 is installed on the side of the frame 41 away from the transfer mechanism 3.

[0037] Specifically, the frame 41 has an assembly end and a gripping end arranged opposite each other, wherein the gripping end is adjacent to the transplanting mechanism 3 to facilitate the transplanting mechanism 3 in gripping or placing the vehicle frame. A first cylinder 42 is fixedly installed inside the frame 41, with its telescopic end extending toward the gripping end. A second cylinder 43 is connected to the telescopic end of the first cylinder 42, and its own telescopic end is arranged toward the assembly end. The placement platform 44 is slidably fitted onto the upper surface of the frame 41 and can reciprocate between the assembly end and the gripping end. When the first... When the telescopic end of cylinder 42 is fully extended and the telescopic end of the second cylinder 43 is fully retracted, the placement platform 44 is pushed to the gripping end position. A clamping assembly 45 is installed at the bottom of the placement platform 44, and the clamping assembly 45 moves synchronously with the placement platform 44. A through groove extending through its thickness is provided on the placement platform 44, and the actuating part of the clamping assembly 45 extends upward through this through groove to the top of the placement platform 44 to achieve clamping and fixing of the frame. To prevent the frame from tilting due to the shift of the center of gravity when it is not clamped. The platform 41 is equipped with an anti-tipping plate 46 at its gripping end. The anti-tipping plate 46 is positioned on the side where the frame is flipped over and the bottom is facing up. The control buttons 47 include an emergency stop button, a safety button, a start button, and a finish button. When the transplanting mechanism 3 places the flipped frame onto the placement platform 44 at the gripping end, the clamping assembly 45 actuates to reliably clamp the frame. After the operator confirms that everything is in order, they press the start button. The first cylinder 42 retracts its telescopic end, driving the second cylinder. 43 and the placement platform 44 move towards the assembly end; then the second cylinder 43 extends its telescopic end, moving the placement platform 44 to the assembly end; at the assembly end, the connecting rods are assembled on the frame; after assembly, the operator presses the safety button and the completion button in sequence; at this time, the second cylinder 43 retracts, the first cylinder 42 extends, causing the placement platform 44 to return to the gripping end with the frame having the connecting rods assembled; the clamping assembly 45 releases the frame; the transfer mechanism 3 grips the frame and flips it to its normal position with the bottom facing down.

[0038] Please see Figure 6 In one embodiment, preferably, the clamping assembly 45 includes two sets of third cylinders 451 installed inside the frame 41. The telescopic ends of the two sets of third cylinders 451 are each equipped with a clamping plate 452, and a sensor 453 is installed on the clamping plate 452.

[0039] Specifically, the bases of both sets of third cylinders 451 are fixedly installed on the bottom of the placement platform 44. The telescopic ends of the two sets of third cylinders 451 are arranged opposite each other, extending towards the center area of ​​the placement platform 44. A clamping plate 452 is fixedly connected to the telescopic end of each set of third cylinders 451. The clamping plate 452 passes through a through slot opened on it from the bottom of the placement platform 44 and extends to the top of the placement platform 44. A sensor 453 is installed on each clamping plate 452. The sensor 453 is preferably a pressure sensor or a proximity switch, used to detect in real time whether the clamping plate 452 has effectively contacted the frame and applied an appropriate clamping force. After the transfer mechanism 3 places the flipped frame on the placement platform 44, during the placement process, the two The maximum spacing between the clamping plates 452 is less than the spacing between the two forks on the frame, ensuring that the frame can be placed on the placement table 44. Then, the clamping assembly 45 is activated, and the two sets of third cylinders 451 retract their extension ends synchronously, driving the clamping plates 452 on both sides to move towards each other and clamp the forks of the frame. During this process, the sensor 453 monitors the clamping status in real time: if it detects that the clamping plate 452 has contacted the frame and reached the preset clamping force, it sends a clamping signal to the control system; if no effective contact is detected, the system can trigger an alarm to prevent the equipment from running malfunctioning. After the position signal is detected, the operator presses the start button, and the placement table 41 begins to move. If the alarm is triggered, the operator presses the emergency stop button, and the production line stops.

[0040] Although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0041] Therefore, the above description is only a preferred embodiment of this application and is not intended to limit the scope of this application; that is, all equivalent modifications made in accordance with the scope of the claims of this application shall be within the protection scope of the claims of this application.

Claims

1. A method for automatically controlling the loading of pallet trucks, characterized in that, Includes the following steps: S1. Move the feeding mechanism with the pallet truck frame to the loading position, and control the lifting mechanism to lift the feeding mechanism located at the loading position to the preset gripping height. S2. Control the transfer mechanism to move to the preset recognition area, obtain image information from the feeding mechanism through the visual recognition component on the transfer mechanism to determine the position coordinates of the frame and the product type, and after correcting and compensating based on the position coordinates, control the transfer mechanism to grab the pallet truck frame through the magnetic suction component. S3. Control the transfer mechanism to move the pallet truck frame to the sliding assembly table and flip it so that the bottom is facing up. In response to the assembly start signal, send the pallet truck frame into the assembly station, and move the pallet truck frame back after receiving the assembly completion signal. S4. Control the transfer mechanism to grab the pallet truck frame again and flip it so that the bottom is facing down, and release the pallet truck frame onto the subsequent conveying mechanism.

2. The automatic pallet truck loading control method according to claim 1, characterized in that, In step S1, after manually pushing the feeding mechanism with the frame to the vicinity of the loading position and triggering the loading signal, the grating located there switches from the blocked state to the conductive state. At this time, the feeding mechanism is pushed into the loading position. After receiving the loading completion signal, the grating switches from the conductive state to the blocked state.

3. The automatic pallet truck loading control method according to claim 1, characterized in that, In step S2, the feeding mechanism has several positions for placing the vehicle frame. The visual recognition component on the transfer mechanism first takes a picture of the first position to identify whether there is a vehicle frame. If there is no vehicle frame, it moves to the second position to take a picture. If there is a vehicle frame, it further identifies the specific position and product type, and controls the transfer mechanism to move to the predetermined position to grab the vehicle frame. The grabbing position is corrected and compensated according to the position coordinates.

4. An automatic pallet truck loading control system, characterized in that, include: Feeding mechanism, used for the frame of the pallet truck; A lifting mechanism is located at the position where the feeding mechanism stops, and is used to lift the feeding mechanism carrying the vehicle frame to a preset height; A transfer mechanism, located on one side of the lifting mechanism, is used to grab the vehicle frame at a preset height and transfer and flip it between the various mechanisms; A sliding assembly mechanism, located on one side of the transfer mechanism, is used to remove the chassis and assemble the connecting rods onto the chassis to form a complete pallet truck; A conveying mechanism, located on one side of the transfer mechanism, is used to transport the complete pallet truck to the unloading port; The control cabinet is electrically connected to the lifting mechanism, transfer mechanism, sliding assembly mechanism and conveying mechanism respectively, and is used to control the operation sequence and actions of each mechanism.

5. The automatic pallet truck loading control system according to claim 4, characterized in that, The feeding mechanism includes a base frame and several placement components disposed on the upper surface of the base frame. The upper surface of the base frame is also equipped with an adjustable push rod and several lifting ring assemblies. The lower surface of the base frame is equipped with a lifting seat for cooperating with the lifting mechanism.

6. The automatic pallet truck loading control system according to claim 5, characterized in that, The placement assembly includes a positioning block connected to the base frame and a connecting rod connected to the positioning block. A first support plate is installed at the end of the connecting rod, and a limit plate is installed on the first support plate.

7. The automatic pallet truck loading control system according to claim 6, characterized in that, The lifting mechanism includes two lifting components arranged opposite to each other. Each lifting component includes a base and a lifting cylinder disposed on the base. The piston end of the lifting cylinder passes through the base and is connected to a second support plate. A guide rod is installed on the second support plate. The guide rod passes through the base and is movably connected to it. A limit block is installed on the base.

8. The automatic pallet truck loading control system according to claim 6, characterized in that, The transfer mechanism includes a transport robot and a visual recognition component and a lighting component disposed on the gripping end of the transport robot, and the gripping end of the transport robot is also equipped with a magnetic suction component.

9. The automatic pallet truck loading control system according to claim 6, characterized in that, The sliding assembly mechanism includes a frame and a first cylinder disposed inside the frame. The telescopic end of the first cylinder is connected to the base of a second cylinder, and the telescopic end of the second cylinder is connected to a placement platform. The placement platform is slidably engaged with the frame. A clamping assembly is installed on the placement platform, and an anti-tipping plate is installed on the side of the frame. A control button is installed on the side of the frame away from the transfer mechanism.

10. The automatic pallet truck loading control system according to claim 6, characterized in that, The clamping assembly includes two sets of third cylinders installed inside the frame. Each set of third cylinders has a clamping plate installed at its telescopic end, and a sensor is installed on the clamping plate.

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