CN109436647B

CN109436647B - Automatic warehousing coding equipment and method for aluminum templates

Info

Publication number: CN109436647B
Application number: CN201811543210.XA
Authority: CN
Inventors: 张昌平
Original assignee: Shanghai Shenji Software Co ltd
Current assignee: Shanghai Shenji Software Co ltd
Priority date: 2018-12-17
Filing date: 2018-12-17
Publication date: 2023-08-04
Anticipated expiration: 2038-12-17
Also published as: CN109436647A

Abstract

The invention discloses an automatic aluminum template warehousing coding device and method, wherein the device comprises a main control device, an aluminum template identification device, an identification code generation device, a code printing device, a mobile conveying device and an aluminum template storage device, wherein an aluminum template model acquisition device is used for acquiring the model of an aluminum template; the identification code generating device is used for generating an identification code according to the information acquired by the aluminum template model acquiring device, and the generated identification code is printed by the code printing device so as to be attached to the corresponding aluminum template; the aluminum template storage device is used for storing aluminum templates of different models; the mobile conveyor device is used for moving the aluminum template from one position to another position. The aluminum template warehousing coding equipment provided by the invention can intelligently and automatically warehouse aluminum templates, improves the working efficiency and saves human resources.

Description

Automatic warehousing coding equipment and method for aluminum templates

Technical Field

The invention belongs to the technical field of automation, relates to warehousing encoding equipment, and particularly relates to automatic warehousing encoding equipment and method for an aluminum template.

Background

Along with the continuous progress of construction engineering construction and management technology, a plurality of work types are developed from 'temporary work on construction sites' to 'industrial standard work' in order to improve efficiency and quality level. The construction engineering combined template adopts novel materials and factory standard operation, namely one of the materials and factory standard operation.

The construction of the construction engineering combined template is to firstly carry out template arrangement on each component, draw a template matching diagram, and then carry out factory production and processing and field assembly. The template arrangement of the construction engineering combined template is carried out according to the size of the template surface of the component and the standard size of the building template and the components thereof. The manual arrangement is completely performed, the labor intensity is high, the working efficiency is low, and the adjustment and modification are extremely difficult.

The applicant develops a software capable of automatically generating a combined template according to an engineering drawing, and obtaining a corresponding combined template through cutting, punching and welding according to a template design drawing. However, the existing detection mode is to manually measure the length of each side of the combined template and then manually record; since the combined templates are typically long and one project may require thousands of combined templates, measurements typically require 2-3 people, and are inefficient and not highly accurate.

In view of this, there is an urgent need to design a new way of warehousing aluminum templates in order to overcome the above-mentioned drawbacks of the existing warehousing ways.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: the automatic aluminum template warehousing coding equipment and the automatic aluminum template warehousing coding method can intelligently and automatically warehouse aluminum templates, improve the working efficiency and save human resources.

In order to solve the technical problems, the invention adopts the following technical scheme:

an automatic aluminum template warehousing coding device comprises a main control device, an aluminum template identification device, an identification code generation device, a coding device, a mobile conveying device and an aluminum template storage device; the main control device is respectively connected with the aluminum template recognition device, the identification code generation device, the code printing device, the aluminum template storage device and the mobile conveying device;

the aluminum template recognition device is used for recognizing the model of the aluminum template by detecting the distance from each point on the periphery of the aluminum template to the distance detection unit; the aluminum template recognition device comprises four distance detection units, a shape generation unit, a template information database and a template recognition unit; the four distance detection units are enclosed into a rectangle, so that the aluminum template can be enclosed in the middle; the four distance detection units respectively detect the distances between each point on the four directions of the aluminum template and the corresponding point on the distance detection unit, and send the distance information to the shape generation unit; each distance detection unit comprises a horizontally arranged slide rail, a distance detector capable of sliding on the slide rail and a driving mechanism for controlling the distance detector to move at a uniform speed; the direction detected by the distance detector is a horizontal direction and forms an angle of 90 degrees with the sliding rail; the distance detector generates the distance from each point on the corresponding azimuth to the distance detector along with the change of time, and the time and the corresponding distance information are sent to the shape generating unit;

The shape generating unit generates position coordinates of all points on the periphery of the aluminum template on a coordinate system according to the distance information acquired by the four distance detecting units and the position information of the four distance detecting units, so as to form the shape of the aluminum template; the X axis and the Y axis of the coordinate system respectively correspond to the slide rails of the two adjacent distance detection units; the peripheral lines of the aluminum template comprise straight lines and holes; the shape generating unit judges whether the aluminum template is provided with holes according to the obtained coordinates, and if the aluminum template is provided with holes, the positions of the holes at the periphery of the aluminum template are obtained, and then the center positions of the holes are obtained;

the template recognition unit compares the generated template data with template data stored in a template information database, and if the comparison error is in a set range, the model of the template is obtained; the identification code generating device is used for generating an identification code according to the identification result of the aluminum template identifying device, and the generated identification code is printed by the code printing device so as to be attached to the corresponding aluminum template;

the warehouse-in coding equipment also comprises a conveying device; the conveying device comprises a conveying belt, and the aluminum template is arranged on the conveying belt;

the scanning detection recognition device, the identification code generation device and the code printing device are arranged at one end of the conveying belt, and the mobile conveying device is arranged at the other end of the conveying belt; the mobile conveying device conveys each aluminum template to a corresponding storage grid of the aluminum template storage device;

The aluminum template storage device comprises a frame and a plurality of storage grids, wherein each storage grid is arranged through the frame and stores aluminum templates of corresponding types; one frame can be provided with m x n storage grids, wherein m and n are natural numbers;

each storage grid is provided with at least one workbench, and the workbench is provided with a first electric sliding rail which is connected with the workbench and can drive the workbench to enter and exit the corresponding storage grid; each workbench is provided with a pressure sensor for sensing the weight of the aluminum template borne by the workbench; the two sides of each storage grid are respectively provided with a first slideway, and the two sides of the workbench are provided with pulleys matched with the first slideway, so that the workbench can slide in a certain area under the matching of the first slideway and the pulleys;

the first electric sliding rail comprises a first motor control circuit, a first motor, two first driving gears, two first transmission racks and two first transmission chains; the first motor control circuit is connected with the first motor and controls the action of the first motor; the two first transmission racks are arranged on two sides below the workbench, the first motor is a double-output-shaft motor, the first motor is respectively connected with two first driving gears through two output shafts, and each first driving gear is connected with a corresponding first transmission gear through a respective first transmission chain, so that the two first driving gears and the two first transmission gears synchronously rotate; the two first driving gears and the two first transmission gears are respectively meshed with the corresponding first transmission racks, and the workbench is driven by the first motor to move out of the set position from the corresponding storage grid;

The mobile conveying device comprises a conveying control circuit, a first track assembly, a first mobile driving mechanism, a manipulator sucker and an inflation and deflation mechanism; the conveying control circuit is respectively connected with the movable driving mechanism, the manipulator sucker and the inflation and deflation mechanism;

one end of the manipulator sucker is arranged on the first track assembly, and the mobile driving mechanism is connected with the manipulator sucker and can drive the manipulator sucker to slide in the first track assembly;

the manipulator sucker comprises a mechanical arm and a sucker mechanism, and the sucker mechanism is arranged at one end of the mechanical arm; the sucking disc mechanism is provided with a ventilation pipeline, and the inflation and deflation mechanism is connected with the ventilation pipeline and can inflate and deflate the sucking disc mechanism; the inflation and deflation mechanism comprises an inflator pump and an air pump; the mechanical arm comprises a first arm body, a second arm body and a second arm body driving mechanism, wherein the first arm body is connected with the second arm body, and the first end of the first arm body is arranged on the first track assembly; the first arm body is internally provided with a second electric sliding rail, one end of the second arm body is arranged in the second electric sliding rail, and a second arm body driving mechanism is connected with the second arm body and drives the second arm body to move in the second electric sliding rail; one end of the second arm body is fixed with the sucker mechanism;

The master control device comprises an aluminum template storage state database, an aluminum template storage position distribution module and a state database updating module; the aluminum template storage state database is used for storing state data stored by the aluminum templates in each storage grid;

the aluminum template storage position distribution module is used for distributing position coordinates for the corresponding aluminum templates according to the identification result of the aluminum template identification device, combining the state data stored in the aluminum template storage state database and used for storing the aluminum templates in the storage grids of the corresponding aluminum templates, and sending the position coordinates to the mobile conveying device and the aluminum template storage device;

the state database updating module is used for updating the state data stored in the corresponding storage grid after the aluminum template is successfully placed in the corresponding area; the mode for judging whether the aluminum template is placed in the corresponding area is successful or not is as follows: judging whether an aluminum template with corresponding weight is successfully placed above a workbench corresponding to the position coordinates distributed by the aluminum template storage position distribution module, and acquiring weight data borne above the workbench through a pressure sensor arranged on the workbench;

the conveying control circuit of the mobile conveying device sets actions to be executed by the first mobile driving mechanism and the second arm body driving mechanism according to the received coordinate information; the first motor control circuit of the aluminum template storage device controls the corresponding workbench to push out part of positions from the corresponding storage grid under the driving of the first motor according to the received coordinate information, so that the aluminum template with the corresponding model is placed conveniently.

An automatic aluminum template warehousing coding device comprises a main control device, a mobile conveying device and an aluminum template storage device; the main control device is respectively connected with the aluminum template storage device and the mobile conveying device; the aluminum template storage device is used for storing aluminum templates of different models; the mobile conveyor device is used for moving the aluminum template from one position to another position.

The automatic warehousing coding method of the automatic warehousing coding equipment for the aluminum templates comprises the following steps:

step S1, an aluminum template recognition device recognizes the model of the aluminum template by detecting the distance from each point on the periphery of the aluminum template to a distance detection unit, and sends detection data to a main control device;

step S2, the main control device sends the received detection data to the identification code generating device, the identification code generating device generates an identification code according to the data sent by the main control device, and the generated identification code is printed by the code printing device so as to be attached to the corresponding aluminum template;

s3, the main control device distributes coordinates for the corresponding aluminum templates through the information identified by the aluminum template identification device, generates conveying route data, and sends the conveying route data related to the conveying device; the conveying device conveys the aluminum templates attached with the identification codes to a set area according to the conveying route data; namely, the aluminum template is conveyed from the identification area to an area close to the corresponding movable conveying device;

Step S4, the main control device distributes position coordinates for the corresponding aluminum templates according to the recognition result of the aluminum template recognition device and combines the state data stored in the aluminum template storage state database for storing the aluminum templates in the storage grids of the aluminum templates with the corresponding models, and sends the position coordinates to the mobile conveying device and the aluminum template storage device;

s5, after the aluminum template storage device receives the position coordinates, the corresponding workbench of the corresponding coordinate storage grid moves out of the set position from the corresponding storage grid so as to move the conveying device to put the aluminum template into the corresponding workbench;

s6, the mobile conveying device firstly positions the aluminum template, and the aluminum template is sucked by using the sucking disc; then the mechanical arm is driven to move to a position close to the corresponding workbench by utilizing the first movement driving mechanism; and then the second arm body driving mechanism drives the position of the second arm body, so that the aluminum template can be placed in the corresponding position.

The main control device stores specific movement position data of each part of the movement conveying device corresponding to each position coordinate, and the movement conveying device can accurately acquire the movement position according to the coordinate position of the aluminum template.

Step S7, judging whether the warehousing of the aluminum template is successful or not, wherein the judgment mode is as follows: judging whether an aluminum template with corresponding weight is successfully placed above a workbench corresponding to the position coordinates distributed by the aluminum template storage position distribution module, acquiring weight data borne above the workbench through a pressure sensor arranged on the workbench, and verifying whether the weight data difference is matched with the weight data of the corresponding aluminum template before and after placement; if the two are matched, the warehouse entry is considered to be successful;

S8, after the aluminum template is successfully placed in the corresponding area, the state database updating module of the main control device updates the state data stored in the corresponding storage grid;

and S9, resetting the moved workbench under the drive of the first motor control circuit and the first motor, namely enabling the workbench to enter the storage grid under the drive of the first motor, and finishing warehousing of the aluminum template.

The automatic warehousing coding method of the automatic warehousing coding equipment for the aluminum templates comprises the following steps: step 1, a main control device distributes position coordinates for a corresponding aluminum template and sends the position coordinates to a mobile conveying device and an aluminum template storage device; step 2, after the aluminum template storage device receives the position coordinates, the corresponding workbench of the corresponding coordinate storage grid moves out of the set position from the corresponding storage grid so as to move the conveying device to put the aluminum template into the corresponding workbench; and 3, the movable conveying device firstly positions the aluminum templates, fixes the aluminum templates, and then moves the aluminum templates to a position close to the corresponding workbench.

The invention has the beneficial effects that: the automatic aluminum template warehousing coding equipment and method provided by the invention can intelligently and automatically warehouse aluminum templates, improve the working efficiency and save human resources.

Drawings

Fig. 1 is a schematic diagram of an automatic aluminum template warehousing encoding device according to an embodiment of the invention.

Fig. 2 is a schematic diagram illustrating an apparatus for identifying an aluminum template in an automatic aluminum template warehouse-in encoding device according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of the position of the conveying device and other components according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of an aluminum template storage device according to an embodiment of the present invention.

Fig. 5 is a schematic view of a structure of a workbench according to an embodiment of the invention.

Fig. 6 is a schematic structural diagram of a mobile conveying device according to an embodiment of the invention.

Fig. 7 is a schematic structural diagram of the mobile conveying device and the aluminum template storage device according to an embodiment of the present invention.

Fig. 8 is a schematic diagram showing an automatic aluminum template warehouse entry coding device sucking an aluminum template from a conveying device according to an embodiment of the invention.

Fig. 9 is a schematic diagram of a telescopic arm of force after an automatic aluminum template warehouse-in encoding device absorbs an aluminum template in an embodiment of the invention.

Fig. 10 is a schematic diagram of an automatic aluminum template warehouse-in encoding apparatus moving an aluminum template to a corresponding workbench according to an embodiment of the invention.

Fig. 11 is a schematic diagram of an automatic aluminum template warehouse-in encoding apparatus according to an embodiment of the present invention for placing an aluminum template into a corresponding workbench.

Fig. 12 is a schematic diagram of an automatic warehouse entry coding device according to an embodiment of the present invention after an aluminum template is placed on a corresponding workbench.

Fig. 13 is a schematic circuit diagram of a power circuit in an automatic aluminum template library encoding device according to an embodiment of the present invention.

Fig. 14 is a schematic circuit diagram of a master control device in an automatic aluminum template warehousing encoding apparatus according to an embodiment of the invention.

Fig. 15 is a schematic circuit diagram of a distance sensor in an automatic aluminum template warehouse-in encoding apparatus according to an embodiment of the present invention.

Fig. 16 is a schematic circuit diagram of a motor control circuit in an automatic aluminum template warehouse-in encoding apparatus according to an embodiment of the present invention.

Fig. 17 is a schematic circuit diagram of a control circuit of a conveying device in an automatic aluminum template warehousing coding device according to an embodiment of the invention.

Fig. 18 is a circuit schematic diagram of a conveyor motor control circuit in an automatic aluminum template warehousing encoding device according to an embodiment of the invention.

Fig. 19 is a circuit diagram of a memory control circuit in an aluminum die plate memory device according to an embodiment of the invention.

Fig. 20 is a circuit diagram of a first motor control circuit in an aluminum stencil memory device in accordance with an embodiment of the present invention.

Fig. 21 is a circuit schematic of an infrared distance sensing circuit in an aluminum die plate memory device according to an embodiment of the invention.

Fig. 22 is a circuit schematic of a pressure sensing circuit in an aluminum die plate memory device according to an embodiment of the invention.

FIG. 23 is a schematic circuit diagram of a charge/discharge control circuit according to an embodiment of the present invention.

FIG. 24 is a schematic circuit diagram of an inflator control circuit and a getter control circuit in accordance with an embodiment of the invention.

Fig. 25 is a circuit diagram of a second arm motor driving circuit according to an embodiment of the invention.

Detailed Description

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

For a further understanding of the present invention, preferred embodiments of the invention are described below in conjunction with the examples, but it should be understood that these descriptions are merely intended to illustrate further features and advantages of the invention, and are not limiting of the claims of the invention.

The description of this section is intended to be illustrative of only a few exemplary embodiments and the invention is not to be limited in scope by the description of the embodiments. It is also within the scope of the description and claims of the invention to interchange some of the technical features of the embodiments with other technical features of the same or similar prior art.

In one embodiment of the invention, referring to fig. 1, the aluminum template automatic warehousing encoding device comprises a main control device 1, an aluminum template identification device 2, an identification code generation device 3, a coding device 4, a mobile conveying device 5 and an aluminum template storage device 6. The main control device 1 is respectively connected with an aluminum template recognition device 2, an identification code generation device 3, a code printing device 4, an aluminum template storage device 5 and a mobile conveying device 6.

In another embodiment of the invention, the aluminum template automatic warehousing coding device comprises a main control device 1, a mobile conveying device 5 and an aluminum template storage device 6, and does not comprise an aluminum template identification device 2, an identification code generation device 3 and a coding device 4. The main control device 1 is respectively connected with an aluminum template storage device 5 and a mobile conveying device 6.

The aluminum template recognition device 2 is used for recognizing the model of the aluminum template by detecting the distance from each point on the periphery of the aluminum template to the distance detection unit. In one embodiment of the present invention, the aluminum pattern recognition apparatus 2 includes four distance detecting units 21, a shape generating unit 22, a pattern information database 23, and a pattern recognition unit 24. Fig. 2 is a schematic diagram of the use of an aluminum pattern recognition device in one embodiment of the invention. Four distance detecting units 21 are enclosed into a rectangle, and can enclose the aluminum template 100 in the middle; the four distance detection units respectively detect the distances between each point on the four directions of the aluminum template and the corresponding point on the distance detection unit, and send the distance information to the shape generation unit.

Each distance detection unit 21 comprises a horizontally arranged slide rail 212, a distance detector 211 capable of sliding on the slide rail, and a driving mechanism (not shown) for controlling the distance detector to move at a uniform speed, wherein the driving mechanism can be a motor or a hydraulic driving mechanism or an air pressure driving mechanism; the direction detected by the distance detector 211 is the horizontal direction and forms an angle of 90 degrees with the sliding rail; as time changes, the distance detector generates distances from the respective points in the corresponding azimuth to the distance detector 211, and sends the time and the corresponding distance information to the shape generating unit.

The shape generating unit 22 generates position coordinates of each point on the periphery of the aluminum template on a coordinate system according to the distance information acquired by the four distance detecting units and combining the position information of the four distance detecting units, so as to form the shape of the aluminum template; the X axis and the Y axis of the coordinate system respectively correspond to the slide rails of the two adjacent distance detection units; the peripheral lines of the aluminum template comprise straight lines and holes; and the shape generating unit judges whether the aluminum template has holes according to the obtained coordinates, and if so, acquires the positions of the holes at the periphery of the aluminum template, thereby acquiring the center positions of the holes.

The template recognition unit 24 compares the generated aluminum template data with template data stored in the aluminum template information database 23, and if the comparison error is within a set range, the model corresponding to the aluminum template is obtained.

The identification code generating device 3 is used for generating an identification code according to the identification result of the aluminum template identifying device, and the generated identification code is printed by the code printing device so as to be attached to the corresponding aluminum template. In one embodiment of the present invention, the identification code generating device 3 may use existing software that is specially used for generating two-dimensional codes, such as forage two-dimensional code generating software, and other existing products.

The code printing device 4 is connected with the identification code generating device and is used for printing the two-dimensional code generated by the identification code generating device. In one embodiment of the present invention, the coding device 4 may be a small printer, such as a handheld two-dimensional code printer (e.g., ZEBRA ZT410 industrial type barcode printer may be used).

In one embodiment of the present invention, the warehouse entry coding device further includes a code pasting device; the code pasting device comprises a mechanical arm and a pressing mechanism, wherein one end of the mechanical arm is provided with the pressing mechanism. Or the code pasting device comprises a gluing mechanism for gluing on the aluminum template and a pressing mechanism for pressing the identification code. Naturally, the two-dimensional code can be pasted manually without arranging the code pasting device.

In one embodiment of the invention, the warehouse entry encoding device further comprises a conveying device 7; the conveying device comprises a conveying belt 71, and the aluminum template is arranged on the conveying belt. The scanning detection recognition device, the identification code generation device and the code printing device are arranged at one end of the conveying belt, and the mobile conveying device is arranged at the other end of the conveying belt; and the movable conveying device conveys each aluminum template to the corresponding storage grid of the aluminum template storage device.

In one embodiment of the present invention, one end of the conveyor belt 71 is provided with the distance detecting units 21 of the scanning detection recognition device, as shown in fig. 3, four distance detecting units 21 are separately provided, the distance detecting units 21 on both sides may be fixedly provided, and the left and right distance detecting units 21 may be adjusted in high and low temperature by a high and low adjusting mechanism so as not to affect the conveyance of the aluminum pattern plate. The height adjustment mode can be manual or can be adjusted by the existing electric height adjustment device, and the structure of the electric height adjustment device is the prior art, so that details are not needed (for example, the electric height adjustment device can be adjusted by a motor matched with a gear and a rack); in one embodiment of the invention, the height adjustment is performed manually.

In one embodiment of the present invention, the conveying device 7 mainly comprises a conveying belt control circuit, a conveying belt, a conveying motor (including a speed reducer), a brake, a conveying driving wheel, a conveying driven wheel and a transmission belt; the conveyer belt control circuit is connected with the conveyer motor and controls the action of the conveyer motor. The output shaft of the conveying motor is connected with the conveying driving wheel (the output shaft of the conveying motor can be directly connected with the conveying driving wheel or can be connected with the conveying driving wheel through a coupling), and the conveying driving wheel can be driven to rotate; the transmission belt is sleeved on the conveying driving wheel and the conveying driven wheel, and can drive the conveying driven wheel to rotate when the conveying driving wheel rotates. The first roller is nested outside the conveying driving wheel, and the second roller is nested outside the conveying driven wheel; the conveyer belt is arranged through the first roller and the second roller, and circularly conveys under the rolling of the first roller and the second roller. Since the delivery device is well known in the art and is well established, it is not described in detail herein. Of course, other structures of the prior art can be used for the conveying device. The conveyor belt can be provided with a two-dimensional code scanning device (the two-dimensional code scanning device is of the prior art and is not described in detail herein), and the model of the template is obtained by identifying the two-dimensional code, so that the library positions required to be placed are obtained, and then the conveyor belt is driven to walk to the corresponding library position gate.

FIG. 4 is a schematic diagram of an aluminum template storage device according to an embodiment of the present invention; as shown in fig. 4, in one embodiment of the present invention, the aluminum template storage device 6 includes a frame 61 and a plurality of storage compartments 62, where each storage compartment is disposed through the frame 61, and each storage compartment stores an aluminum template 100 of a corresponding model; one frame 61 can be provided with m x n storage cells, where m, n are natural numbers. Each storage grid is provided with at least one workbench 62, the workbench 62 is provided with a first electric sliding rail, and the first electric sliding rail is connected with the workbench 62 and can drive the workbench 62 to enter and exit the corresponding storage grid; each table 62 is provided with a pressure sensor 63 for sensing the weight of the aluminum form carried by the table 62. The pressure sensor 63 transmits the sensed data to the main control device through an electrical connection line or a wireless communication mode (at the moment, a microprocessor, a wireless communication chip, a memory and the like are needed to cooperate to realize wireless transmission); the master control device can calculate whether the aluminum template is taken out according to the pressure difference sensed by the pressure sensor 63 in real time.

FIG. 5 is a schematic view of a structure of a workbench according to an embodiment of the invention; as shown in fig. 5, in one embodiment of the present invention, two sides of each storage compartment are respectively provided with a first slideway, and two sides of the workbench are provided with pulleys 64 matched with the first slideway, so that the workbench can slide in a certain area under the matching of the first slideway and the pulleys 64. In one embodiment of the present invention, the table 62 is configured like a drawer, and the storage compartment and the table 62 are provided with corresponding limiting mechanisms to prevent the table from being separated from the storage compartment. As shown in fig. 5, the first electric sliding rail comprises a first motor control circuit, a first motor 65, two first driving gears 66, two first transmission gears 67, two first transmission racks 68 and two first transmission chains 69; the first motor control circuit is connected to the first motor 65 and controls the operation thereof. The two first transmission racks 68 are arranged on two sides below the workbench 62, the first motor 65 is a double-output shaft motor, the first motor 65 is respectively connected with two first driving gears 66 through two output shafts, each first driving gear 66 is connected with a corresponding first transmission gear 67 through a respective first transmission chain 69, and the two first driving gears 66 and the two first transmission gears 67 synchronously rotate; the two first driving gears 66 and the two first transmission gears 67 are respectively meshed with the corresponding first transmission racks 69, and the workbench 62 is driven by the first motor 65 to move out of the set position from the corresponding storage grid.

The specific control circuit of the aluminum template storage device is described in detail in the control circuit of the whole equipment.

FIG. 6 is a schematic diagram of a mobile conveyor apparatus according to an embodiment of the invention; as shown in fig. 6, in one embodiment of the present invention, the mobile conveying device 5 includes a conveying control circuit, a first rail assembly 51, a first mobile driving mechanism 52, a manipulator chuck, and an air charging and discharging mechanism; the conveying control circuit is respectively connected with the first moving driving mechanism 52, the manipulator sucker 53 and the inflation and deflation mechanism. In one embodiment of the present invention, one end of the manipulator chuck is disposed on the first track assembly 51, and the first movement driving mechanism 52 is connected to the manipulator chuck 53, so as to drive the manipulator chuck 53 to slide in the first track assembly 51.

In one embodiment of the present invention, a slideway 511 for sliding the pulley is provided in the first track assembly 51; the first movement driving mechanism 52 includes a second motor 521, a second pulley 522 connected to the second motor 521; the second motor 521 can drive the second pulley 522 to slide left and right in the slide 511 to adjust the position of the robot suction cup 53 in the X-axis direction in the drawing.

In another embodiment of the present invention, a first rack (corresponding to the position of the mark 511 in the drawing) is provided inside the first track assembly 51, and the first movement driving mechanism 52 includes a second motor 521, and a first gear (corresponding to the position of the mark 522 in the drawing) connected to the second motor 521, where the first gear is meshed with the first rack, and the second motor 521 can drive the first gear to move left and right along the first rack, so as to implement the position adjustment of the manipulator chuck 53 in the X-axis direction in the drawing.

In one embodiment of the present invention, the manipulator chuck 53 includes a mechanical arm and a chuck mechanism 531, and the chuck mechanism 531 is disposed at one end of the mechanical arm; the sucking disc mechanism 531 is provided with a ventilation pipeline 530, and the air charging and discharging mechanism is connected with the ventilation pipeline 530 and can charge air into and discharge air from the sucking disc mechanism 531; the inflation and deflation mechanism comprises an inflator pump 54, an air pump 55, an inflation control circuit and a deflation control circuit. The suction cup mechanism 531 is internally provided with a pressure sensor 539, and the pressure sensor 539 is electrically connected with a main control device.

In one embodiment of the present invention, as shown in fig. 6, the mechanical arm includes a first arm 533, a second arm 534, and a second arm driving mechanism 532, where the first arm 533 is connected to the second arm 534, and a first end of the first arm 533 is disposed on the first track assembly 51; a third slide way 535 (a second electric slide rail may be also used, the structure of the second electric slide rail may be referred to the description of the first electric slide rail, and the main components and functions are the same), one end of the second arm 534 is disposed in the third slide way 535, and the second arm driving mechanism 532 is connected to the second arm 534 to drive the second arm 534 to move in the third slide way 535; one end of the second arm 534 is fixed to the suction cup mechanism 531.

In one embodiment of the present invention, the second arm driving mechanism 532 includes a third motor 5321, a third pulley 5322 connected to the third motor 5321; the third motor 5321 can drive the third pulley 5322 to slide up and down along the third slide 535 to adjust the position of the robot chuck 53 in the Y-axis direction in the drawing.

In another embodiment of the present invention, the first arm 533 is provided with a second rack (corresponding to the position of the symbol 535 in the drawing), the second arm driving mechanism 532 includes a third motor 5321, and a second gear (corresponding to the position of the symbol 5322 in the drawing) connected to the third motor 5321, where the gear is meshed with the second rack, and the third motor 5321 can drive the gear to move up and down along the second rack, so as to implement the position adjustment of the manipulator chuck 53 in the Y-axis direction in the drawing.

Fig. 7 is a schematic structural diagram of the mobile conveying device and the aluminum template storage device according to an embodiment of the present invention. The specific control circuit of the mobile conveyor apparatus is described in detail in the following control circuit of the whole apparatus. In one embodiment of the invention, the master control device comprises an aluminum template storage state database, an aluminum template storage position distribution module and a state database updating module.

The aluminum template storage state database is used for storing state data of aluminum templates stored in each storage grid.

The aluminum template storage position distribution module is used for distributing position coordinates for the corresponding aluminum templates according to the recognition result of the aluminum template recognition device, combining the state data stored in the aluminum template storage state database and used for storing the aluminum templates in the storage grids of the aluminum templates of the corresponding models, and sending the position coordinates to the mobile conveying device and the aluminum template storage device.

The state database updating module is used for updating the state data stored in the corresponding storage grid after the aluminum template is successfully placed in the corresponding area; the mode for judging whether the aluminum template is placed in the corresponding area is successful or not is as follows: and judging whether the aluminum templates with corresponding weights are successfully placed above the working tables corresponding to the position coordinates distributed by the aluminum template storage position distribution module, and acquiring weight data borne above the working tables through pressure sensors arranged on the working tables.

The conveying control circuit of the mobile conveying device sets actions to be executed by the first mobile driving mechanism and the second arm body driving mechanism according to the received coordinate information. The first motor control circuit of the aluminum template storage device controls the corresponding workbench to push out part of positions from the corresponding storage grid under the driving of the first motor according to the received coordinate information, so that the aluminum template with the corresponding model is placed conveniently.

In one embodiment of the invention, the aluminum template automatic warehousing coding equipment comprises a main control device, an aluminum template model acquisition device, an identification code generation device, a coding device, a mobile conveying device and an aluminum template storage device. The main control device is respectively connected with the aluminum template model acquisition device, the identification code generation device, the coding device, the aluminum template storage device and the mobile conveying device.

The aluminum template model obtaining device is used for obtaining the model of the aluminum template. The identification code generating device is used for generating an identification code according to the information acquired by the aluminum template model acquiring device, and the generated identification code is printed by the code printing device so as to be attached to the corresponding aluminum template. The aluminum template storage device is used for storing aluminum templates of different models. The mobile conveyor device is used for moving the aluminum template from one position to another position. The composition of the parts can be found in the above description, and other structural forms can also be adopted.

The working process of the automatic warehousing coding equipment for the aluminum templates is as follows:

Step S6, the mobile conveying device firstly positions the aluminum template, and the aluminum template is sucked by using the suction cup (the suction force of the suction cup is further improved in a mode of exhausting air from the suction cup), as shown in FIG. 8; then, the mechanical arm is driven to move to a position close to the corresponding workbench by utilizing the first movement driving mechanism, as shown in fig. 9 and 10; and then the second arm body driving mechanism drives the second arm body to position, so that the aluminum template can be placed at a corresponding position (after the aluminum template is placed, the sucking disc is separated from the aluminum template in a manner of inflating the sucking disc), as shown in fig. 11 and 12.

Step S7, judging whether the warehousing of the aluminum template is successful or not, wherein the judgment mode is as follows: judging whether an aluminum template with corresponding weight is successfully placed above a workbench corresponding to the position coordinates distributed by the aluminum template storage position distribution module, acquiring weight data borne above the workbench through a pressure sensor arranged on the workbench, and verifying whether the weight data difference is matched with the weight data of the corresponding aluminum template before and after placement; if the two are matched (the difference is within the set threshold), the warehouse entry is considered to be successful;

step S9, resetting the moved-out workbench under the drive of the first motor control circuit and the first motor, namely, enabling the moved-out workbench to enter a storage grid under the drive of the first motor to finish warehousing of the aluminum template; and then the subsequent aluminum template warehouse entry can be continued.

In one embodiment of the present invention, an automatic warehousing encoding method of an aluminum template automatic warehousing encoding apparatus includes the steps of:

step 1, a main control device distributes position coordinates for a corresponding aluminum template and sends the position coordinates to a mobile conveying device and an aluminum template storage device;

step 2, after the aluminum template storage device receives the position coordinates, the corresponding workbench of the corresponding coordinate storage grid moves out of the set position from the corresponding storage grid so as to move the conveying device to put the aluminum template into the corresponding workbench;

and 3, the movable conveying device firstly positions the aluminum templates, fixes the aluminum templates, and then moves the aluminum templates to a position close to the corresponding workbench.

The aluminum template recognition device is provided with an aluminum template recognition control circuit, and the aluminum template automatic warehousing coding equipment further comprises a power supply circuit. The main control device of the automatic aluminum template warehousing coding equipment is respectively connected with an aluminum template identification control circuit, a conveyer belt control circuit, a first motor control circuit, a conveying control circuit, an inflation control circuit and a deflation control circuit; the power supply circuits respectively supply the power required by the work to the power utilization parts.

FIG. 13 is a schematic diagram of a power circuit in an automatic aluminum template library encoding apparatus according to an embodiment of the present invention; as shown in fig. 13, in one embodiment of the present invention, the power circuit includes a first chip U1, a first transformer T1, a first inductor L1, a first diode D1, a rectifier bridge D2, a third diode D3, a first capacitor C1, a third capacitor C3, a fourth capacitor C4, a first resistor, a second chip U2, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, an eighth capacitor C8, a fourth diode D4, and a second resistor R2.

The first pin of the first chip U1 is connected with the first end of the rectifier bridge D2 and the first end of the first capacitor C1, and the third end of the rectifier bridge D2 is grounded; the second end of the rectifier bridge D2 is connected with the second end of the first transformer T1, and the fourth end of the rectifier bridge D2 is connected with the third end of the first transformer T1; the first end of the first transformer T1 is connected with the first end of the first interface P1, and the fourth end of the first transformer T1 is connected with the second end of the first interface P1. The second end of the first capacitor C1 is grounded, and the third pin of the first chip U1, the fifth pin of the first chip U1 and the sixth pin of the first chip U1 are grounded respectively; the fourth pin of the first chip U1 is connected with a first power supply voltage (+ 5V), the second pin of the first chip U1 is respectively connected with the first end of the first inductor L1 and the cathode of the third diode D3, and the anode of the third diode D3 is grounded. The first power supply voltage (+ 5V) is respectively connected with the second end of the first inductor L1, the first end of the third capacitor C3, the first end of the fourth capacitor C4 and the positive electrode of the first diode D1, and the negative electrode of the first diode D1 is connected with the first end of the first resistor R1; the second end of the third capacitor C3, the second end of the fourth capacitor C4, and the second end of the first resistor R1 are grounded respectively. The first power supply voltage (+ 5V) is respectively connected with the first end of the fifth capacitor C5, the first end of the sixth capacitor C6 and the third pin of the second chip U2; the second end of the fifth capacitor C5 and the second end of the sixth capacitor C6 are grounded respectively. The first pin of the second chip U2 is respectively connected with the first end of the seventh capacitor C7, the first end of the eighth capacitor C8 and the anode of the fourth diode D4; the cathode of the fourth diode D4 is connected with the first end of the second resistor R2; the second pin of the second chip U2, the second end of the seventh capacitor C7, the second end of the eighth capacitor C8, and the second end of the second resistor R2 are respectively grounded. In this embodiment, the model of the first chip U1 may be LM2596S-5.0; the model of the second chip U2 may be AMS117-3.3.

FIG. 14 is a schematic circuit diagram of a master control device in an automatic aluminum template warehousing encoding apparatus according to an embodiment of the invention; as shown in fig. 14, in one embodiment of the present invention, the master control device (in one embodiment of the present invention, the function of the aluminum template recognition control circuit is also implemented by the master control device) mainly includes a first two-chip U12, a sixth chip U6, a tenth chip U10, a fourth crystal oscillator Y4, a sixth crystal oscillator Y6, a seventh crystal oscillator Y7, a fifth inductor L5, a sixth inductor L6, a seventh inductor L7, an eighth diode D8, a plurality of capacitors, and a plurality of resistors.

The first two-chip U12 may be MSP430F149, the sixth chip U6 may be LCD12864, and the tenth chip may be nRF24L01. The pins of the first two-chip U12 are respectively connected with the pins of the sixth chip U6, the pins of the first two-chip U12 are respectively connected with the pins of the tenth chip U10, and the specific connection relationship can be specific circuit diagram. The ninth pin of the first two-chip U12 is connected with the first end of the seventh crystal oscillator Y7, and the tenth pin of the first two-chip U12 is connected with the second end of the seventh crystal oscillator Y7; the fifth second pin of the first two-chip U12 is connected with the first end of the fourth crystal oscillator Y4, and the fifth third pin of the first two-chip U12 is connected with the second end of the fourth crystal oscillator Y4. The ninth pin of the tenth chip U10 is connected to the first end of the sixth crystal oscillator Y6, and the tenth pin of the tenth chip U10 is connected to the second end of the sixth crystal oscillator Y6.

The fifth second pin of the first two-chip U12 is grounded through a third sixth capacitor C36, and the fifth third pin of the first two-chip U12 is grounded through a fourth third capacitor C43; the second power supply voltage (+3.3v) is respectively connected to the first end of the third ninth resistor R39 and the negative electrode of the eighth diode D8, the second end of the third ninth resistor R39 is respectively connected to the fifth eighth pin of the first two-chip U12, the positive electrode of the eighth diode D8 and the first end of the fifth fourth capacitor C54, and the second end of the fifth fourth capacitor C54 is grounded.

The second power supply voltage (+3.3V) is respectively connected with the first end of the first resistor R11 and the second pin of the sixth chip U6; the second end of the first resistor R11 is respectively connected with the third pin of the sixth chip U6 and the second end of the first resistor R12, and the first end of the first resistor R12 is grounded.

The eleventh pin of the tenth chip U10 is respectively connected to the first end of the fourth seventh capacitor C47, the first end of the fourth sixth capacitor C46, and the second end of the seventh inductor L7, and the second end of the fourth seventh capacitor C47 and the second end of the fourth sixth capacitor C46 are respectively grounded; the twelfth pin of the tenth chip U10 is respectively connected with the first end of the seventh inductor L7 and the second end of the sixth inductor L6; the thirteenth pin of the tenth chip U10 is connected to the first end of the sixth inductor L6 and the second end of the fifth inductor L5, the first end of the fifth inductor L5 is connected to the first end of the third fourth capacitor C34, the second end of the third fourth capacitor C34 is connected to the second antenna E2 and the first end of the third eighth capacitor C38, and the second end of the third eighth capacitor C38 is grounded.

The distance detection circuit adopts ultrasonic ranging, the circuit is divided into an ultrasonic transmitting circuit and an ultrasonic receiving circuit, and the ultrasonic transmitting circuit in the distance detection is circled in the figure. The identification of the aluminum module measures the outer dimension information of the aluminum module through a plurality of distance detection circuits, the positions and the dimensions of four side holes are processed through a U12 singlechip, the shape information of the aluminum module is calculated, and the shape information is compared with an aluminum module database stored in the singlechip, so that the information of the aluminum module to be detected is identified.

FIG. 15 is a schematic circuit diagram of a distance sensor in an automatic aluminum template warehousing encoding device according to an embodiment of the invention; as shown in fig. 15, in one embodiment of the present invention, the distance detection circuit includes a seventh chip U7, an eighth chip U8, a third transistor Y3, a second transistor Q2, a twentieth capacitor C20, a second first capacitor C21, a second fourth capacitor C24, a second eighth capacitor C28, a thirty-first capacitor C30, a third capacitor C31, a third capacitor C33, an eighth resistor R8, a ninth resistor R9, a second first resistor R21, a second resistor R22, and eleventh a amplifier U11A, eleventh B amplifier U11B, eleventh C amplifier U11C, eleventh D amplifier U11D, third transistor Q3, a plurality of other capacitors, and a plurality of other resistors.

The first power supply voltage (+ 5V) is respectively connected with the first end of the eighth resistor R8 and the first end of the ninth resistor R9, the first pin of the seventh chip U7 is connected with the second end of the ninth resistor R9, and the second pin of the seventh chip U7 is connected with the second end of the eighth resistor R8. The fifth pin of the seventh chip U7 is connected to the first end of the third crystal oscillator Y3 and the first end of the third first capacitor C31, and the sixth pin of the seventh chip U7 is connected to the second end of the third crystal oscillator Y3 and the first end of the thirty-th capacitor C30, and the second end of the third first capacitor C31 and the second end of the thirty-th capacitor C30 are grounded.

The twelfth pin of the seventh chip U7 is connected with the first end of the second first resistor R21, and the second end of the second first resistor R21 is connected with the base electrode of the second triode Q2; an emitter of the second triode Q2 is connected with a first power supply voltage (+ 5V); the collector of the second triode Q2 is connected with the VCC power supply voltage, the second end of the third capacitor C33 and the first end of the third capacitor C33 is grounded.

The fourteenth pin and the thirteenth pin of the seventh chip U7 are respectively connected with the eleventh pin and the tenth pin of the eighth chip U8. The first pin of the eighth chip U8 is connected with the third pin of the eighth chip U8 through a twenty-first capacitor C20, the fourth pin of the eighth chip U8 is connected with the fifth pin of the eighth chip U8 through a second eighth capacitor C28, the sixth pin of the eighth chip U8 is grounded through a second fourth capacitor C24, and the second pin of the eighth chip U8 is grounded through a second first capacitor C21.

The inverting input end of the eleventh A amplifier U11A is respectively connected with the second end of the fourth capacitor C44 and the first end of the second fourth resistor R24; the non-inverting input terminal of the eleventh A amplifier U11A is respectively connected with the first terminal of the fourth ninth capacitor C49, the first terminal of the fifty capacitor C50, the second terminal of the second eighth resistor R28, the non-inverting input terminal of the eleventh B amplifier U11B, the first terminal of the third fourth resistor R34, the first terminal of the third fifth resistor R35, the non-inverting input terminal of the eleventh D amplifier U11D and the first terminal of the third sixth resistor R36; the output end of the eleventh A amplifier U11A is respectively connected with the second end of the second fourth resistor R24 and the first end of the second fifth resistor R25; the second end of the fourth ninth capacitor C49, the second end of the fifty-first capacitor C50, and the second end of the third fourth resistor R34 are respectively grounded, and the second end of the third fifth resistor R35 is connected to the first power supply voltage.

The second end of the second fifth resistor R25 is respectively connected with the first end of the second eighth resistor R28, the first end of the fourth second capacitor C42 and the first end of the fourth first capacitor C41; the second end of the fourth second capacitor C42 is connected to the inverting input end of the eleventh B amplifier U11B and the first end of the second sixth resistor R26, and the second end of the second sixth resistor R26 is connected to the second end of the fourth first capacitor C41, the output end of the eleventh D amplifier U11D and the first end of the second ninth resistor R29, respectively. The second end of the second nine resistor R29 is connected to the first end of the fourth fifth capacitor C45, the second end of the fourth fifth capacitor C45 is connected to the inverting input end of the eleventh D amplifier U11D and is connected to the first end of the thirty-first resistor R30. The second end of the third sixth resistor R36 is connected to the second end of the third eighth resistor R38, the first end of the fifth capacitor C51, the first end of the fourth second resistor R42, and the inverting input end of the eleventh C amplifier U11C, respectively. The second end of the thirty-first resistor R30 is respectively connected with the non-inverting input end of the eleventh C amplifier U11C and the first end of the third resistor R31; the second end of the third resistor R31 is respectively connected with the second end of the third resistor R33 and the collector electrode of the third triode Q3; the base electrode of the third triode Q3 is respectively connected with the output end of the eleventh C amplifier U11C and the first end of the seventh resistor R37; the emitter of the third triode Q3 is grounded, and the second end of the seventh resistor R37 is grounded.

FIG. 16 is a schematic circuit diagram of a control circuit of a motor (distance sensor driving motor) in an automatic aluminum template warehouse-in encoding device according to an embodiment of the invention; as shown in fig. 16, in one embodiment of the present invention, the motor control circuit includes a first five chip U15, a first six chip U16, and a plurality of diodes. The first five die U15 may be M74HC245B1R in model number and the first six die U16 may be L298N in model number. The pins of the first five chips U15 are respectively connected with the pins of the first six chips U16. The second pin of the first six chip U16 is respectively connected with the positive electrode of the ninth diode D9, the negative electrode of the thirteenth diode D13 and the first motor M1; the third pin of the first sixth chip U16 is respectively connected with the positive electrode of the twelfth pole tube D10, the negative electrode of the fourteenth diode D14 and the first motor M1; the thirteenth pin of the first sixth chip U16 is respectively connected with the anode of the eleventh diode D11, the cathode of the fifteenth diode D15 and the second motor M2; the fourteenth pin of the first sixth chip U16 is connected to the anode of the twelfth diode D12, the cathode of the sixteenth diode D16, and the second motor M2, respectively.

FIG. 17 is a schematic circuit diagram of a control circuit of a conveying device in an automatic aluminum template warehousing encoding apparatus according to an embodiment of the invention; as shown in fig. 17, in one embodiment of the present invention, the conveyance control circuit includes a nineteenth chip U19, a seventeenth chip U17, an eighth crystal oscillator Y8, a tenth crystal oscillator Y10, a twelfth crystal oscillator Y12, an eighth inductor L8, a tenth inductor L10, an eleventh inductor L11, a twentieth diode D20, a plurality of capacitors, and a plurality of resistors. The nineteenth chip U19 may be of the type MSP430F149 and the seventeenth chip U17 may be of the type nRF24L01. The plurality of pins of the nineteenth chip U19 are respectively connected with the plurality of pins of the seventeenth chip U17, and the specific connection relationship may be specific circuit diagrams.

The ninth pin of the nineteenth chip U19 is connected with the first end of the twelfth crystal oscillator Y12, and the tenth pin of the nineteenth chip U19 is connected with the second end of the twelfth crystal oscillator Y12; the fifth second pin of the nineteenth chip U19 is connected to the first end of the eighth crystal oscillator Y8, and the fifth third pin of the nineteenth chip U19 is connected to the second end of the eighth crystal oscillator Y8. The ninth pin of the seventeenth chip U17 is connected to the first end of the tenth crystal oscillator Y10, and the tenth pin of the seventeenth chip U17 is connected to the second end of the tenth crystal oscillator Y10.

The fifth second pin of the nineteenth chip U19 is grounded through a sixth third capacitor C63, and the fifth third pin of the nineteenth chip U19 is grounded through a seventh capacitor C71; the second power supply voltage (+ 3.3V) is respectively connected with the first end of the sixth third resistor R63 and the negative electrode of the twentieth diode D20, the second end of the sixth third resistor R63 is respectively connected with the fifth eight pin of the nineteenth chip U19, the positive electrode of the twentieth diode D20 and the first end of the eighth first capacitor C81, and the second end of the eighth first capacitor C81 is grounded.

The eleventh pin of the seventeenth chip U17 is connected to the first end of the seventh sixth capacitor C76, the first end of the seventh fifth capacitor C75, and the second end of the eleventh inductor L11, and the second end of the seventh sixth capacitor C76 and the second end of the seventh fifth capacitor C75 are grounded respectively; the twelfth pin of the seventeenth chip U17 is connected to the first end of the eleventh inductor L11 and the second end of the tenth inductor L10, respectively; the thirteenth pin of the seventeenth chip U17 is connected to the first end of the tenth inductor L10 and the second end of the eighth inductor L8, the first end of the eighth inductor L8 is connected to the first end of the sixth capacitor C61, the second end of the sixth capacitor C61 is connected to the third antenna E3 and the first end of the sixth fourth capacitor C64, and the second end of the sixth fourth capacitor C64 is grounded.

FIG. 18 is a schematic circuit diagram of a conveyor motor control circuit in an automatic aluminum template warehousing encoding device according to an embodiment of the invention; as shown in fig. 18, in one embodiment of the present invention, the conveying motor control circuit includes a second first chip U21, an eighteenth chip U18, a second chip U22, a second fourth chip U24, a second fifth chip U25, a twelfth transistor Q12, a thirteenth transistor Q13, a fourteenth transistor Q14, a fifteenth transistor Q15, and a plurality of resistors.

The eighteenth chip U18, the second chip U22, the second fourth chip U24 and the second fifth chip U25 are HCNR200 photoelectric isolation couplers and play a signal isolation role, and the second direct current motor B2, the third direct current motor B3, the fourth direct current motor B4 and the fifth direct current motor B5 are all direct current motors, so that the transmission belt moves forwards, and a plurality of groups of motors are arranged to respectively drive the workbench in the corresponding storage grid to move out or enter. The direct current motor is interfered with a power supply in the running process, and in order to make the system stably work, a control part of the motor is required to be isolated from a motor driving part, so that an HCNR200 photoelectric isolating coupler is used.

The twenty-first pin of the second chip U21 is connected with a first power supply voltage (+ 5V), the eighteenth pin of the second chip U21 is connected with the first end of the eighteenth chip U18 through a fifth sixth resistor R56, the second end of the eighteenth chip U18 is grounded, the third end of the eighteenth chip U18 is connected with the first power supply voltage (+ 5V), the fourth end of the eighteenth chip U18 is respectively connected with the second end of a fifth eighth resistor R58, the base electrode of a twelfth triode Q12 and the second end of a fifth seventh resistor R57, and the first end of the fifth eighth resistor R58, the first end of the fifth seventh resistor R57 and the emitter electrode of the twelfth triode Q12 are respectively grounded. The collector of the twelfth triode Q12 is respectively connected with the negative electrode terminal of the second direct current motor B2 and the positive electrode of the seventeenth diode D17, and the VCC power supply voltage is respectively connected with the positive electrode terminal of the second direct current motor B2 and the negative electrode of the seventeenth diode D17.

The seventeenth pin of the second first chip U21 is connected to the first end of the second chip U22 through a fifth ninth resistor R59, the second end of the second chip U22 is grounded, the third end of the second chip U22 is connected to the first power voltage (+5v), the fourth end of the second chip U22 is connected to the second end of the sixth resistor R61, the base of the thirteenth transistor Q13, the second end of the sixteenth resistor R60, and the first end of the sixth resistor R61, the first end of the sixteenth resistor R60, and the emitter of the thirteenth transistor Q13 are grounded. The collector of the thirteenth triode Q13 is respectively connected with the negative electrode terminal of the third direct current motor B3 and the positive electrode of the eighteenth diode D18, and the VCC power supply voltage is respectively connected with the positive electrode terminal of the third direct current motor B3 and the negative electrode of the eighteenth diode D18.

The sixteenth pin of the second first chip U21 is connected to the first end of the second fourth chip U24 through the sixth second resistor R62, the second end of the second fourth chip U24 is grounded, the third end of the second fourth chip U24 is connected to the first power voltage (+5v), the fourth end of the second fourth chip U24 is connected to the second end of the sixth fifth resistor R65, the base of the fourteenth transistor Q14, the second end of the sixth fourth resistor R64, and the first end of the sixth fifth resistor R65, the first end of the sixth fourth resistor R64, and the emitter of the fourteenth transistor Q14 are grounded. The collector of the fourteenth triode Q14 is respectively connected with the negative electrode terminal of the fourth direct current motor B4 and the positive electrode of the nineteenth diode D19, and the VCC power supply voltage is respectively connected with the positive electrode terminal of the fourth direct current motor B4 and the negative electrode of the nineteenth diode D19.

The fifteenth pin of the second first chip U21 is connected to the first end of the second fifth chip U25 through a sixth resistor R66, the second end of the second fifth chip U25 is grounded, the third end of the second fifth chip U25 is connected to the first power supply voltage (+ 5V), the fourth end of the second fifth chip U25 is connected to the second end of the sixth ninth resistor R69, the base of the fifteenth transistor Q15, the second end of the sixth eighth resistor R68, and the first end of the sixth ninth resistor R69, the first end of the sixth eighth resistor R68, and the emitter of the fifteenth transistor Q15 are grounded. The collector of the fifteenth triode Q15 is respectively connected with the negative electrode terminal of the fifth direct current motor B5 and the positive electrode of the second diode D21, and the VCC power supply voltage is respectively connected with the positive electrode terminal of the fifth direct current motor B5 and the negative electrode of the second diode D21.

The inflation and deflation control circuit comprises an inflation and deflation main control circuit, an inflation control circuit and a deflation control circuit, and the inflation and deflation main control circuit controls the switch of the inflator pump and the air pump through the main control chip to achieve the purpose of inflation and deflation; the second arm motor driving circuit can flexibly control the starting, stopping, front and back actions of the mechanical arm.

FIG. 23 is a schematic circuit diagram of a charge/discharge control circuit according to an embodiment of the present invention; as shown in fig. 23, in one embodiment of the present invention, the charge-discharge control circuit includes a second three chip U23, a twentieth chip U20, a ninth crystal oscillator Y9, an eleventh crystal oscillator Y11, a thirteenth crystal oscillator Y13, a ninth inductor L9, a twelfth inductor L12, a thirteenth inductor L13, a second diode D22, capacitors, and resistors. The second three die U23 may be of the type MSP430F149 and the twentieth die U20 may be of the type nRF24L01. The pins of the second three chip U23 are respectively connected with the pins of the twentieth chip U20, and the specific connection relationship may be a specific circuit diagram.

The ninth pin of the second three chip U23 is connected with the first end of the thirteenth crystal oscillator Y13, and the tenth pin of the second three chip U23 is connected with the second end of the thirteenth crystal oscillator Y13; the fifth pin of the second three chip U23 is connected with the first end of the ninth crystal oscillator Y9, and the fifth pin of the second three chip U23 is connected with the second end of the ninth crystal oscillator Y9. The ninth pin of the twentieth chip U20 is connected to the first end of the eleventh crystal oscillator Y11, and the tenth pin of the twentieth chip U20 is connected to the second end of the eleventh crystal oscillator Y11.

The fifth pin of the second three chip U23 is grounded through a sixth ninth capacitor C69, and the fifth pin of the second three chip U23 is grounded through a seventh fourth capacitor C74; the second power supply voltage (+ 3.3V) is respectively connected with the first end of the sixth seventh resistor R67 and the negative electrode of the second diode D22, the second end of the sixth seventh resistor R67 is respectively connected with the fifth eighth pin of the second third chip U23, the positive electrode of the second diode D22 and the first end of the eighth fifth capacitor C85, and the second end of the eighth fifth capacitor C85 is grounded.

The eleventh pin of the twentieth chip U20 is connected to the first end of the seventh eighth capacitor C78, the first end of the seventh capacitor C77, and the second end of the thirteenth inductor L13, and the second end of the seventh eighth capacitor C78 and the second end of the seventh capacitor C77 are grounded respectively; the twelfth pin of the twentieth chip U20 is connected to the first end of the thirteenth inductor L13 and the second end of the twelfth inductor L12, respectively; the thirteenth pin of the twentieth chip U20 is connected to the first end of the twelfth inductor L12 and the second end of the ninth inductor L9, the first end of the ninth inductor L9 is connected to the first end of the sixth fifth capacitor C65, the second end of the sixth fifth capacitor C65 is connected to the first ends of the fourth antenna E4 and the seventy capacitor C70, and the second end of the seventy capacitor C70 is grounded.

FIG. 24 is a schematic circuit diagram of an inflator control circuit and a getter control circuit in accordance with one embodiment of the invention; as shown in FIG. 24, in one embodiment of the present invention, the inflator control circuit includes a second six die U26, a second three transistor Q23, a second five diode D25, a second eight diode D28, and a plurality of resistors.

The first port of the second sixth chip U26 is connected with the second end of the seventh sixth resistor R76, the second port of the second sixth chip U26 is grounded, the third port of the second sixth chip U26 is connected with the first power supply voltage (+ 5V), and the fourth port of the second sixth chip U26 is respectively connected with the first end of the eighth first resistor R81 and the first end of the eighth fifth resistor R85; the second end of the eighth resistor R81 is connected with the positive electrode of the second eighth diode D28, and the negative electrode of the second eighth diode D28 is grounded; the second end of the eighth fifth resistor R85 is connected to the base of the second triode Q23. The collector electrode of the second triode Q23 is grounded, and the emitter electrode of the second triode Q23 is respectively connected with the second port of the second interface P2, the positive electrode of the second fifth diode D25 and the second end of the seventh ninth resistor R79; the cathode of the second fifth diode D25 is connected with the first end of the eighth resistor R80; the VCC power supply voltage is respectively connected to the first end of the seventh ninth resistor R79, the second end of the eighth resistor R80, and the first port of the second interface P2.

With continued reference to fig. 24, in one embodiment of the present invention, the getter pump control circuit includes a third chip U31, a second nine triode Q29, a third first diode D31, a third fifth diode D35, and a plurality of resistors.

The first port of the third first chip U31 is connected with the second end of the ninth fifth resistor R95, the second port of the third first chip U31 is grounded, the third port of the third first chip U31 is connected with the first power supply voltage (+ 5V), and the fourth port of the third first chip U31 is respectively connected with the first end of the first zero-first resistor R101 and the first end of the first zero-second resistor R102; the second end of the first zero-resistor R101 is connected with the positive electrode of the third fifth diode D35, and the negative electrode of the third fifth diode D35 is grounded; the second end of the first zero-second resistor R102 is connected with the base electrode of the second nine triode Q29. The collector electrode of the second nine triode Q29 is grounded, and the emitter electrode of the second nine triode Q29 is respectively connected with the second port of the third interface P3, the anode of the third diode D31 and the second end of the ninth eighth resistor R98; the cathode of the third diode D31 is connected with the first end of a ninth resistor R99; the VCC power supply voltage is respectively connected to the first end of the ninth eighth resistor R98, the second end of the ninth resistor R99, and the first port of the third interface P3.

FIG. 25 is a schematic circuit diagram of a second arm motor driving circuit according to an embodiment of the invention; as shown in fig. 25, in one embodiment of the present invention, the second arm motor driving circuit includes a thirty-first chip U30, a first ninth transistor Q19, a second first transistor Q21, a second transistor Q22, a second sixth transistor Q26, a second seventh transistor Q27, a second eighth transistor Q28, a second sixth diode D26, a second seventh diode D27, a third second diode D32, a third diode D33, a ninth seventh capacitor C97, and a plurality of resistors.

The first pin of the thirty-second chip U30 is respectively connected with the sixth pin of the thirty-second chip U30, the eighth pin of the thirty-second chip U30, the thirteenth pin of the thirty-second chip U30, the second end of the seventh second resistor R72 and the collector of the nineteenth triode Q19; the first end of the seventh second resistor R72 is connected with a third power supply voltage (+ 12V), the emitter electrode of the nineteenth triode Q19 is grounded, the base electrode of the nineteenth triode Q19 is connected with the second end of the seventh eighth resistor R78, and the first end of the seventh eighth resistor R78 is connected with the first power supply voltage (+ 5V). The second pin of the thirty-second chip U30 is respectively connected with the fifth pin of the thirty-second chip U30, the second end of the ninth resistor R91 and the collector of the second sixth triode Q26; the emitter of the second sixth triode Q26 is grounded, and the base of the second sixth triode Q26 is connected with the second end of the ninth resistor R92. The third pin of the thirty-second chip U30 is respectively connected with the ninth pin of the thirty-second chip U30, the first end of the eighth seventh resistor R87 and the first end of the ninth fourth resistor R94; the second end of the eighth seventh resistor R87 is connected to the positive electrode of the second sixth diode D26 and the base electrode of the second triode Q22, respectively. The fourth pin of the thirty-second chip U30 is connected with the twelfth pin of the thirty-second chip U30, the second end of the ninth fourth resistor R94 and the first end of the ninth sixth resistor R96 respectively; the second end of the ninth sixth resistor R96 is connected to the negative electrode of the third second diode D32 and the base electrode of the second eighth triode Q28, respectively. The tenth pin of the thirty-second chip U30 is respectively connected with the second end of the ninth seventh resistor R97 and the second end of the ninth third resistor R93; the first end of the ninth seventh resistor R97 is respectively connected with the cathode of the third diode D33 and the base electrode of the second heptatriode Q27. The eleventh pin of the thirty-second chip U30 is connected to the second end of the eighth resistor R88 and the first end of the ninth resistor R93, respectively. The first end of the eighth resistor R88 is respectively connected with the anode of the second seventh diode D27 and the base electrode of the second triode Q21. The fourth power supply voltage (+15v) is respectively connected to the cathode of the second sixth diode D26, the emitter of the second triode Q22, the emitter of the second first triode Q21, and the cathode of the second seventh diode D27. The collector of the second triode Q22 is respectively connected with the first end of the ninth seventh capacitor C97, the first end of the fourth motor M4 and the collector of the second eighth triode Q28; the collector electrode of the second triode Q21 is respectively connected with the second end of the ninth seventh capacitor C97, the second end of the fourth motor M4 and the collector electrode of the second seventh triode Q27; the positive electrode of the third diode D32, the emitter of the second eighth transistor Q28, the emitter of the second seventh transistor Q27, and the positive electrode of the third diode D33 are respectively grounded.

FIG. 19 is a schematic circuit diagram of a memory control circuit in an aluminum die plate memory device according to an embodiment of the invention; as shown in fig. 19, in one embodiment of the present invention, the memory controller includes a fourth chip U4, a third chip U3, a first crystal oscillator Y1, a second crystal oscillator Y2, a fifth crystal oscillator Y5, a second inductor L2, a third inductor L3, a fourth inductor L4, a seventh diode D7, a plurality of capacitors, and a plurality of resistors. The model of the fourth chip U4 may be MSP430F149, and the model of the third chip U3 may be nRF24L01. The pins of the fourth chip U4 are respectively connected with the pins of the third chip U3, and the specific connection relationship can be seen in the circuit diagram.

The ninth pin of the fourth chip U4 is connected with the first end of the fifth crystal oscillator Y5, and the tenth pin of the fourth chip U4 is connected with the second end of the fifth crystal oscillator Y5; the fifth second pin of the fourth chip U4 is connected with the first end of the first crystal oscillator Y1, and the fifth third pin of the fourth chip U4 is connected with the second end of the first crystal oscillator Y1. The ninth pin of the third chip U3 is connected with the first end of the second crystal Y2, and the tenth pin of the third chip U3 is connected with the second end of the second crystal Y2. The fifth second pin of the fourth chip U4 is grounded through a tenth capacitor C10, and the fifth third pin of the fourth chip U4 is grounded through a fourteenth capacitor C14; the second power supply voltage (+ 3.3V) is respectively connected with the first end of the thirteenth resistor R13 and the negative electrode of the seventh diode D7, the second end of the thirteenth resistor R13 is respectively connected with the fifth eight pin of the fourth chip U4, the positive electrode of the seventh diode D7 and the first end of the second fifth capacitor C25, and the second end of the second fifth capacitor C25 is grounded. The eleventh pin of the third chip U3 is respectively connected with the first end of the nineteenth capacitor C19, the first end of the eighteenth capacitor C18 and the second end of the fourth inductor L4, and the second end of the nineteenth capacitor C19 and the second end of the eighteenth capacitor C18 are respectively grounded; the twelfth pin of the third chip U3 is respectively connected with the first end of the fourth inductor L4 and the second end of the third inductor L3; the thirteenth pin of the third chip U3 is connected to the first end of the third inductor L3 and the second end of the second inductor L2, the first end of the second inductor L2 is connected to the first end of the second capacitor C2, the second end of the second capacitor C2 is connected to the first ends of the first antenna E1 and the eleventh capacitor C11, and the second end of the eleventh capacitor C11 is grounded.

FIG. 20 is a circuit diagram of a first motor control circuit in an aluminum stencil memory device in accordance with an embodiment of the present invention; as shown in fig. 20, in one embodiment of the present invention, the first motor driving circuit includes a fourteenth chip U14, a fourth transistor Q4, a fifth transistor Q5, a sixth transistor Q6, a seventh transistor Q7, an eighth transistor Q8, a ninth transistor Q9, a tenth transistor Q10, and an eleventh transistor Q11.

VCC power supply voltage is respectively connected with the emitter of the fourth triode Q4 and the emitter of the fifth triode Q5; the eighteenth pin of the fourteenth chip U14 is connected to the base of the fourth transistor Q4, and the seventeenth pin of the fourteenth chip U14 is connected to the base of the fifth transistor Q5. The collector of the fourth triode Q4 is respectively connected with the first port of the first direct current motor B1 and the emitter of the sixth triode Q6, and the collector of the fifth triode Q5 is respectively connected with the third port of the first direct current motor B1 and the emitter of the seventh triode Q7. Sixteen pins of the fourteenth chip U14 are connected with the base electrode of the seventh triode Q7, and fifteen pins of the fourteenth chip U14 are connected with the base electrode of the sixth triode Q6; the collector of the sixth transistor Q6 and the collector of the seventh transistor Q7 are grounded, respectively.

VCC power supply voltage is respectively connected with the emitter of the ninth triode Q9 and the emitter of the eighth triode Q8; the fourteenth pin of the fourteenth chip U14 is connected to the base of the ninth transistor Q9, and the thirteenth pin of the fourteenth chip U14 is connected to the base of the eighth transistor Q8. The collector of the ninth triode Q9 is respectively connected with the fourth port of the first direct current motor B1 and the emitter of the eleventh triode Q11, and the collector of the eighth triode Q8 is respectively connected with the sixth port of the first direct current motor B1 and the emitter of the thirteenth triode Q10. Sixteen pins of the fourteenth chip U14 are connected with the base electrode of the thirteenth transistor Q10, and fifteen pins of the fourteenth chip U14 are connected with the base electrode of the eleventh transistor Q11; the collector of the eleventh transistor Q11 and the collector of the thirteenth transistor Q10 are grounded, respectively. The second port and the fifth port of the first direct current motor B1 are respectively grounded.

FIG. 21 is a schematic circuit diagram of an infrared distance sensing circuit in an aluminum template storage device according to an embodiment of the present invention; as shown in fig. 21, in one embodiment of the present invention, the infrared distance sensor includes a ninth chip U9, a fifth chip U5, a first transistor Q1, a fifth diode D5, a sixth diode D6, a plurality of capacitors, and a plurality of resistors. The model of the ninth chip U9 may be LM567, and the fifth chip U5 may be an operational amplifier having a model LM741 CN.

The first power supply voltage (+5v) is connected to a first end of a fourth resistor R4 (the resistor may be a sliding rheostat), a second end of the fourth resistor R4 is connected to an anode of a fifth diode D5, and a cathode of the fifth diode D5 is connected to a collector of the first triode Q1; the emitter of the first triode Q1 is grounded, and the base of the first triode Q1 is connected with the first end of the nineteenth resistor R19.

The first power supply voltage (+ 5V) is connected with the first end of the fifth resistor R5, and the second end of the fifth resistor R5 is respectively connected with the first end of the fifteenth capacitor C15 and the first end of the sixth resistor R6; the second terminal of the fifteenth capacitor C15 is grounded. The second end of the sixth resistor R6 is connected to the first end of the seventh resistor R7 and the positive electrode of the sixth diode D6, respectively, and the negative electrode of the sixth diode D6 is grounded.

The second end of the nineteenth resistor R19 is respectively connected with the first end of the twentieth resistor R20 and the fifth pin of the ninth chip U9; the second end of the twenty-first resistor R20 is respectively connected with the sixth pin of the ninth chip U9 and the first end of the second ninth capacitor C29, and the second end of the second ninth capacitor C29 and the seventh pin of the ninth chip U9 are respectively grounded. The first pin of the ninth chip U9 is connected with the first end of the second seventh capacitor C27, and the second pin of the ninth chip U9 is connected with the first end of the second sixth capacitor C26; the second end of the second seventh capacitor C27 and the second end of the second sixth capacitor C26 are grounded respectively. The third pin of the ninth chip U9 is connected with the second end of the seventeenth capacitor C17; the fourth pin of the ninth chip U9 is connected to the first power supply voltage (+5v).

The second end of the seventh resistor R7 is connected to the first end of the sixteenth capacitor C16, the second end of the sixteenth capacitor C16 is respectively connected to the negative phase input end of the fifth chip U5 and the first end of the tenth resistor R10, the positive phase input end of the fifth chip U5 is grounded, and the output end of the fifth chip U5 is respectively connected to the second end of the tenth resistor R10 and the first end of the seventeenth capacitor C17.

FIG. 22 is a schematic circuit diagram of a pressure sensing circuit in an aluminum die plate storage device according to an embodiment of the invention; as shown in fig. 22, in one embodiment of the present invention, the pressure sensor includes a thirteenth a amplifier U13A, a thirteenth B amplifier U13B, a thirteenth C amplifier U13C, a thirteenth D amplifier U13D, a wheatstone bridge R45, a plurality of capacitors, a plurality of resistors.

The first power supply voltage (+5v) is connected to the first end of the wheatstone bridge R45 through the fourth resistor R41, the second end of the wheatstone bridge R45 is connected to the non-inverting input of the thirteenth a amplifier U13A through the fortieth resistor R40, the fourth end of the wheatstone bridge R45 is connected to the non-inverting input of the thirteenth B amplifier U13B through the fifth second resistor R52, and the third end of the wheatstone bridge R45 is grounded. The inverting input end of the thirteenth A amplifier U13A is respectively connected with the second end of the fourth sixth resistor R46 and the first end of the fourth ninth resistor R49; the inverting input terminal of the thirteenth B amplifier U13B is connected to the second terminal of the fourth nine resistor R49 and the first terminal of the fifty-th resistor R59, respectively. The output end of the thirteenth A amplifier U13A is respectively connected with the first end of the fourth sixth resistor R46 and the first end of the fourth third resistor R43; the output end of the thirteenth B amplifier U13B is respectively connected with the second end of the fifty-first resistor R59 and the first end of the fifth third resistor R53. The second end of the fourth third resistor R43 is respectively connected with the first end of the fourth resistor R44, the first end of the fifth sixth capacitor C56 and the non-inverting input end of the thirteenth C amplifier U13C; the second end of the fifth third resistor R53 is connected to the inverting input end of the thirteenth C amplifier U13C, the first end of the fifth first resistor R51, and the first end of the sixty capacitor C60, respectively.

The output end of the thirteenth C amplifier U13C is respectively connected with the second end of the fourth resistor R44, the second end of the fifth sixth capacitor C56 and the first end of the fourth seventh resistor R47; the second end of the fifth resistor R51 and the second end of the sixty capacitor C60 are grounded respectively. The second end of the fourth seventh resistor R47 is respectively connected with the first end of the fifth capacitor C55 and the first end of the fourth eighth resistor R48; the second end of the fifth capacitor C55 is respectively connected with the negative phase input end of the thirteenth D amplifier U13D and the output end of the thirteenth D amplifier U13D; the second end of the fourth eighth resistor R48 is connected to the non-inverting input end of the thirteenth D amplifier U13D, the first end of the fifth eighth capacitor C58, and the second end of the fifth eighth capacitor C58 is grounded.

In an automatic warehousing application of the invention, a new template, or a template after cleaning and correction, needs to be warehoused. After the model of the template is identified, printing a two-dimensional code through equipment (a Bluetooth printer) and attaching the two-dimensional code to the template; the template is then moved to the conveyor. The conveyor belt is provided with a camera, identifies the two-dimensional code, drives the conveyor belt, and walks to the corresponding garage position gate. The robot arm feeds the template into the lattice. In an automated ex-warehouse application of the present invention, a packaging inventory is obtained. The manipulator finds out the templates according to the sequence to the corresponding library positions, transmits the templates to a conveyor belt and transmits the templates to a packing position; the automatic packing machine tightens the packing rope to realize packing.

In summary, the automatic aluminum template warehousing coding equipment and the automatic aluminum template warehousing coding method can intelligently and automatically warehouse aluminum templates, improve the working efficiency and save human resources.

The description and applications of the present invention herein are illustrative and are not intended to limit the scope of the invention to the embodiments described above. Variations and modifications of the embodiments disclosed herein are possible, and alternatives and equivalents of the various components of the embodiments are known to those of ordinary skill in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other assemblies, materials, and components, without departing from the spirit or essential characteristics thereof. Other variations and modifications of the embodiments disclosed herein may be made without departing from the scope and spirit of the invention.

Claims

1. The automatic aluminum template warehousing coding equipment is characterized by comprising a main control device, an aluminum template identification device, an identification code generation device, a coding device, a mobile conveying device and an aluminum template storage device;

the main control device is respectively connected with the aluminum template recognition device, the identification code generation device, the code printing device, the aluminum template storage device and the mobile conveying device;

The aluminum template recognition device is used for recognizing the model of the aluminum template by detecting the distance from each point on the periphery of the aluminum template to the distance detection unit; the aluminum template recognition device comprises four distance detection units, a shape generation unit, a template information database and a template recognition unit;

the four distance detection units are enclosed into a rectangle, so that the aluminum template can be enclosed in the middle; the four distance detection units respectively detect the distances between each point on the four directions of the aluminum template and the corresponding point on the distance detection unit, and send the distance information to the shape generation unit;

each distance detection unit comprises a horizontally arranged slide rail, a distance detector capable of sliding on the slide rail and a driving mechanism for controlling the distance detector to move at a uniform speed; the direction detected by the distance detector is a horizontal direction and forms an angle of 90 degrees with the sliding rail; the distance detector generates the distance from each point on the corresponding azimuth to the distance detector along with the change of time, and the time and the corresponding distance information are sent to the shape generating unit;

The template recognition unit compares the generated template data with template data stored in a template information database, and if the comparison error is in a set range, the model of the template is obtained;

the identification code generating device is used for generating an identification code according to the identification result of the aluminum template identifying device, and the generated identification code is printed by the code printing device so as to be attached to the corresponding aluminum template;

the aluminum template recognition device, the identification code generation device and the code printing device are arranged at one end of the conveying belt, and the mobile conveying device is arranged at the other end of the conveying belt; the mobile conveying device conveys each aluminum template to a corresponding storage grid of the aluminum template storage device;

each storage grid is provided with at least one workbench, and the workbench is provided with a first electric sliding rail which is connected with the workbench and can drive the workbench to enter and exit the corresponding storage grid; each workbench is provided with a pressure sensor for sensing the weight of the aluminum template borne by the workbench;

The two sides of each storage grid are respectively provided with a first slideway, and the two sides of the workbench are provided with pulleys matched with the first slideway, so that the workbench can slide in a certain area under the matching of the first slideway and the pulleys;

the first electric sliding rail comprises a first motor control circuit, a first motor, two first driving gears, two first transmission racks and two first transmission chains; the first motor control circuit is connected with the first motor and controls the action of the first motor;

the two first transmission racks are arranged on two sides below the workbench, the first motor is a double-output-shaft motor, the first motor is respectively connected with two first driving gears through two output shafts, and each first driving gear is connected with a corresponding first transmission gear through a respective first transmission chain, so that the two first driving gears and the two first transmission gears synchronously rotate; the two first driving gears and the two first transmission gears are respectively meshed with the corresponding first transmission racks, and the workbench is driven by the first motor to move out of the set position from the corresponding storage grid;

the manipulator sucker comprises a mechanical arm and a sucker mechanism, and the sucker mechanism is arranged at one end of the mechanical arm; the sucking disc mechanism is provided with a ventilation pipeline, and the inflation and deflation mechanism is connected with the ventilation pipeline and can inflate and deflate the sucking disc mechanism; the inflation and deflation mechanism comprises an inflator pump and an air pump;

the mechanical arm comprises a first arm body, a second arm body and a second arm body driving mechanism, wherein the first arm body is connected with the second arm body, and the first end of the first arm body is arranged on the first track assembly; the first arm body is internally provided with a second electric sliding rail, one end of the second arm body is arranged in the second electric sliding rail, and a second arm body driving mechanism is connected with the second arm body and drives the second arm body to move in the second electric sliding rail; one end of the second arm body is fixed with the sucker mechanism;

the master control device comprises an aluminum template storage state database, an aluminum template storage position distribution module and a state database updating module;

the aluminum template storage state database is used for storing state data stored by the aluminum templates in each storage grid;

the conveying control circuit of the mobile conveying device sets actions to be executed by the first mobile driving mechanism and the second arm body driving mechanism according to the received coordinate information;

the first motor control circuit of the aluminum template storage device controls the corresponding workbench to push out part of positions from the corresponding storage grid under the drive of the first motor according to the received coordinate information, so that aluminum templates of corresponding models can be placed conveniently.

2. An automatic aluminum template warehousing coding device is characterized by comprising a main control device, a mobile conveying device and an aluminum template storage device;

the main control device is respectively connected with the aluminum template storage device and the mobile conveying device; the aluminum template storage device is used for storing aluminum templates of different models; the movable conveying device is used for moving the aluminum template from one position to another position;

the automatic aluminum template warehousing encoding equipment further comprises an aluminum template model acquisition device, and the main control device is connected with the aluminum template model acquisition device; the aluminum template model obtaining device is used for obtaining the model of the aluminum template;

the aluminum template storage position distribution module is used for distributing position coordinates for the corresponding aluminum templates according to the information acquired by the aluminum template model acquisition device, combining the state data stored in the aluminum template storage state database and used for storing the aluminum templates in the storage grids of the aluminum templates of the corresponding models, and transmitting the position coordinates to the mobile conveying device and the aluminum template storage device;

3. The aluminum template automatic warehousing coding device according to claim 2, wherein:

the two first transmission racks are arranged on two sides below the workbench, the first motor is a double-output-shaft motor, the first motor is respectively connected with two first driving gears through two output shafts, and each first driving gear is connected with a corresponding first transmission gear through a respective first transmission chain, so that the two first driving gears and the two first transmission gears synchronously rotate; the two first driving gears and the two first transmission gears are respectively meshed with the corresponding first transmission racks, and the workbench is driven by the first motor to move out of the set position from the corresponding storage grid.

4. The aluminum template automatic warehousing coding device according to claim 2, wherein:

the mobile conveying device comprises a conveying control circuit, a first track assembly, a first mobile driving mechanism, a manipulator sucker and an inflation and deflation mechanism; the conveying control circuit is respectively connected with the first movable driving mechanism, the manipulator sucker and the inflation and deflation mechanism;

one end of the manipulator sucker is arranged on the first track assembly, and the first movable driving mechanism is connected with the manipulator sucker and can drive the manipulator sucker to slide in the first track assembly;

the mechanical arm comprises a first arm body, a second arm body and a second arm body driving mechanism, wherein the first arm body is connected with the second arm body, and the first end of the first arm body is arranged on the first track assembly; the first arm body is internally provided with a second electric sliding rail, one end of the second arm body is arranged in the second electric sliding rail, and a second arm body driving mechanism is connected with the second arm body and drives the second arm body to move in the second electric sliding rail; one end of the second arm body is fixed with the sucker mechanism.

5. The aluminum template automatic warehousing coding device according to claim 2, wherein:

the aluminum template automatic warehousing coding equipment further comprises an identification code generating device and a coding device, and the main control device is respectively connected with the identification code generating device and the coding device;

the identification code generating device is used for generating an identification code according to the information acquired by the aluminum template model acquiring device, and the generated identification code is printed by the code printing device so as to be attached to the corresponding aluminum template;

the aluminum template model obtaining device comprises an aluminum template identifying device, wherein the aluminum template identifying device is used for identifying the model of the aluminum template by detecting the distance from each point on the periphery of the aluminum template to the distance detecting unit; the aluminum template recognition device comprises four distance detection units, a shape generation unit, a template information database and a template recognition unit;

the aluminum template recognition device, the identification code generation device and the code printing device are arranged at one end of the conveying belt, and the mobile conveying device is arranged at the other end of the conveying belt; and the movable conveying device conveys each aluminum template to the corresponding storage grid of the aluminum template storage device.

6. The aluminum template automatic warehousing coding device according to claim 2, wherein:

the master control device can adaptively allocate conveying coordinates for the aluminum templates according to the positions of the aluminum templates which are already put in storage and the attributes of the aluminum templates to be put in storage, which are detected in real time, and record the conveying coordinates in a database; the transport coordinates include coordinates in the X, Y, and Z axes of the storage space.

7. The automatic aluminum template warehousing encoding device according to claim 4, wherein:

the first track assembly includes at least one track, and when the first track assembly includes more than two tracks, there are intersecting tracks, and the manipulator suction cup can move from one track to the other track intersecting the one track.

8. An automatic warehousing coding method of an aluminum template automatic warehousing coding device according to one of claims 1 to 7, characterized by comprising the following steps:

s6, the mobile conveying device firstly positions the aluminum template, and the aluminum template is sucked by using the sucking disc; then the mechanical arm is driven to move to a position close to the corresponding workbench by utilizing the first movement driving mechanism; then the second arm body driving mechanism drives the position of the second arm body, so that the aluminum template can be placed in the corresponding position;

The main control device stores specific movement position data of each part of the movement conveying device corresponding to each position coordinate, and the movement conveying device can accurately acquire the movement position according to the coordinate position of the aluminum template;