CN115352790A

CN115352790A - Article storage management device and article management method

Info

Publication number: CN115352790A
Application number: CN202211074097.1A
Authority: CN
Inventors: 贡仲林; 郭春; 吴新军; 王磊; 束金伟
Original assignee: Jiangsu Xunjie Cabinet Technology Co Ltd
Current assignee: Jiangsu Xunjie Cabinet Technology Co Ltd
Priority date: 2022-09-02
Filing date: 2022-09-02
Publication date: 2022-11-18

Abstract

The invention discloses an article storage management device and an article management method, wherein the article storage management device comprises an article storage rack, wherein the article storage rack is used for storing articles; the manipulator moves back and forth between the article storage rack and the article access window, and transports the articles stored on the article storage rack to the article access window according to the instruction, or transports the articles to be stored to the article storage rack from the article access window according to the instruction; the manipulator is characterized by further comprising an integrated control module based on a single chip microcomputer, wherein the integrated control module based on the single chip microcomputer is connected with the manipulator and used for controlling the manipulator to transport articles. Integrated control module specification and size based on the singlechip is less, and article storage management device dwindles greatly in the structure size, and easily modular production, installation and operation of integrated control module based on the singlechip, and chip technology is more mature, and data processing is bigger more fast, very big promotion management article efficiency, intelligent operation, user experience is splendid.

Description

Article storage management device and article management method

Technical Field

The invention belongs to the technical field of article management, and particularly relates to an article storage management device and an article management method.

Background

The object of article management is article, the service object is article manager (storage, taking), the basic contradiction to be solved is the contradiction between the condition of article dispersion, disorder, impurity, large quantity, solitary and the like and the centralized requirement, system, high quality, special indication and wide scope of article management.

In chinese patent document CN112591364A, an intelligent archive data management method, apparatus and use method are disclosed, and for the managed article files, an intelligent drawer-type archive data management apparatus is specifically disclosed, which comprises an archive data storage drawer for storing archive data, the archive data storage drawer being placed in an archive data management library, the archive data management library having a rack for placing the archive data storage drawer; the manipulator device is used for transferring the archival data storage drawer between a archival data taking position and the support; the system also comprises a plurality of storage components for storing the identity information of the archival data, wherein each archival data has one storage component corresponding to the archival data one by one; and an identification means for identifying the profile identification information stored in the storage means.

However, in the above technical solutions, it is found in the actual research and development process that the control components of the intelligent drawer-type archive management device and other article management devices currently used in the market are all implemented by a PLC or a component similar to a large component, which is not suitable for small-sized modular installation and operation, or when many articles are managed, the efficiency of managing articles is improved only to a limited extent.

Therefore, there is a need to develop a new article storage management device and an article management method, which can enhance the intelligence and convenience of use and enhance the user experience.

Disclosure of Invention

The invention aims to provide an article storage management device with an integrated control module based on a single chip microcomputer, which improves the article management efficiency and is more suitable for modularized installation and operation.

In order to solve the technical problem, the technical scheme adopted by the invention is that the article storage management device comprises an article storage rack, wherein the article storage rack is used for storing articles; the manipulator moves back and forth between the article storage rack and the article access window, and transports the articles stored on the article storage rack to the article access window according to instructions or transports the articles to be stored to the article storage rack from the article access window according to instructions; the manipulator is characterized by also comprising an integrated control module based on a single chip microcomputer, wherein the integrated control module based on the single chip microcomputer is connected with the manipulator and used for controlling the manipulator to transfer articles; the integrated control module based on the single chip microcomputer comprises a main control board, and the single chip microcomputer is installed on the main control board.

In the technical scheme, the core component of the integrated control module based on the single chip microcomputer is a common integrated circuit board on the market, while a PLC device (PLC control system) used in the existing article management device needs to be provided with a plurality of components (cables or the components occupy too much space), and the integrated control module based on the single chip microcomputer does not need to be relatively smaller in specification and size and small in space occupation; the article storage management device can be greatly reduced in structural size and is suitable for miniaturization, an integrated control module based on a single chip microcomputer is adopted, modular production, installation and operation are easy, the chip technology is mature, data processing is larger and faster, and article management efficiency is greatly improved; the integrated control module based on the single chip microcomputer is connected with the manipulator, the manipulator is controlled to transport articles, the manipulator is used for transferring between the article storage window position and the article storage rack position, intelligent operation is achieved, and user experience is excellent; furthermore, the integrated control module based on the single chip microcomputer comprises a main control board (an integrated circuit board), the size is small, the occupied space is small, and the single chip microcomputer is installed on the main control board.

The further improvement is that the manipulator is provided with a storage cavity, and the integrated control module based on the single chip microcomputer is arranged in the storage cavity; the article storage rack is provided with a manipulator transferring space, and the article access window is located on the side face of the manipulator transferring space.

The transfer space of the manipulator is necessary in the article management device, and the integrated control module based on the single chip microcomputer can be arranged in the storage cavity of the manipulator due to small enough size, and does not occupy more space or additionally arrange more space structures; and the integrated control module based on the single chip microcomputer is arranged in the storage cavity of the manipulator, and the connecting line between the integrated control module and the storage cavity is simpler.

The further improvement is that the article storage rack comprises a first storage rack and a second storage rack, and the article storage management device also comprises an intermediate operating rack; the first storage rack and the second storage rack are respectively spliced and combined and are positioned on the left side and the right side of the middle operating rack to form the manipulator transferring space; the first storage rack, the second storage rack and the middle operating rack are mutually independent as splicing combination modules.

The first storage rack, the second storage rack and the middle operating rack are spliced and combined in a modularized mode, and the operation can be carried out by using field non-professional technicians for assembly.

In a further improvement, the middle operating frame is provided with an up-and-down moving chute, and the manipulator moves along the up-and-down moving chute in the Z-axis direction.

The up-and-down movement sliding groove guides the mechanical arm to move in the direction vertical to the Z axis.

The further improvement is that a toothed belt along the Z-axis direction is arranged on the side face of the up-and-down movement sliding groove, and a shaft gear on the manipulator moves along the toothed belt to further drive the manipulator to move along the Z-axis direction along the up-and-down movement sliding groove.

The shaft gear, namely the rotating shaft of the manipulator is provided with a gear which drives the rotating shaft, and the gear and the toothed belt are meshed with each other to drive the manipulator to move along the up-and-down moving chute.

The further improvement is that the first storage rack, the second storage rack and the middle operating rack are all arranged on a base, and a plurality of row wheels are arranged on the base; the first storage rack or the second storage rack can move along the row wheels, so that the first storage rack or the second storage rack protrudes outwards relative to the middle operating rack; and the first storage rack and the second storage rack are respectively connected with the storage rack rails on the base.

Based on the fact that the first storage rack, the second storage rack and the middle operating rack are assembled in a modularized splicing mode, when a manipulator or an integrated control module based on a single chip microcomputer breaks down, and the article storage management device cannot automatically store and take managed articles, the first storage rack or the second storage rack moves through the row wheels, and a manager can manually store and take the articles; first storage frame and second storage frame all link to each other with the storage frame track respectively, pull out forward or push backward when conveniently carrying out emergency treatment flow.

The manipulator is further improved in that the manipulator is divided into a hook layer and a bracket layer, wherein the bracket layer is positioned below the hook layer; the object placing cavity is positioned on the bracket layer, and the bracket layer is also provided with a Y-axis movement component for driving the hook layer to move in the Y-axis direction; the hook layer is provided with a hook, and the hook is used for dragging an article on the article storage rack to the hook layer or pushing the article on the hook layer to the article storage rack; the hook layer is provided with an X-axis movement assembly for driving the hook to move in the X-axis direction.

The hook is used for hooking articles or loading frames of the articles; the X-axis motion assembly and the Y-axis motion assembly respectively control the hook to move in the X-axis direction and the Y-axis direction; the manipulator is divided into an upper hook layer and a lower hook layer and a bracket layer, and the object placing cavity is positioned on the bracket layer, so that the dragging and pushing actions of the hooks are not influenced; the left-right movement direction is defined as the X-axis direction, the front-back movement direction is defined as the Y-axis direction, and the up-down movement direction is defined as the Z-axis direction.

The hook is positioned in a hook moving groove of the hook layer, the hook moving groove is arranged along the X-axis direction of the hook layer, and a hook sliding rail is also arranged in the hook moving groove; the hook moves along the hook slide rail through a hook slide block arranged on the hook slide rail, so as to drag or push an article; the couple slider is connected with the couple hold-in range, the couple hold-in range is by couple motor drive.

The hook sliding rail, the hook sliding block, the hook synchronous belt and the hook motor are adopted to work cooperatively to move the hook in the X-axis direction in the hook moving groove, so that the hook moves stably and the error rate is low; when the hook drags or pushes the article, the hook moving groove moves along the X-axis direction of the hook layer, and then the article can be dragged to the hook layer, or the article can be pushed to the article storage rack from the hook layer.

The further improvement is that pulleys are arranged on two sides of the hook moving groove; the lifting screw rod is sleeved with the lifting screw rod nut, and the lifting motor drives the lifting screw rod to rotate to control the lifting of the hook.

The lifting structure is used for lifting the hook in a small range, so that the hook is conveniently connected with an article or a frame for loading the article, and the hook is convenient for transferring the article between the article storage rack and the article access window.

The pulley is used for reducing the friction force when the hook drags or pushes the object, and meanwhile, the pulley is also used for supporting the object; adopt elevation structure to go up and down to the couple and control, when the couple removes to article, elevation structure control couple rises, hooks article (or load the frame of article) and drag to couple the layer on, when needs propelling movement article return to article storage frame in, treat that article reachs the preset position in the article storage frame, elevation structure control couple descends, moves to the initial position on the couple layer along the X axle direction in couple shifting chute behind the couple breaking away from article storage frame again.

The further improvement is that the hook is arranged on a hook bracket, and the lifting screw rod nut is fixedly connected with the hook bracket; the hook support is further connected with a lifting slide block, and the lifting slide block moves up and down along a lifting slide rail.

The hook support moves up and down on the lifting slide rail through the lifting slide block to control the lifting of the hook.

The Y-axis motion component comprises a Y-axis slide rail, a Y-axis slide block is arranged on the Y-axis slide rail, the Y-axis slide block is connected with the hook layer, and the hook layer is driven by a Y-axis motion motor to move along the Y-axis slide rail in the Y-axis direction.

The whole hook layer (including the hook) moves along the Y axis, the sliding rail and the sliding block are matched in a cooperative mode, the movement is stable, and the error rate is low.

The further improvement lies in that the X-axis motion assembly is composed of the hook slide rail, the hook slide block and the hook motor.

The further improvement is that the mechanical arm is connected with a sliding chute sliding block through a sliding chute connecting block, and the sliding chute sliding block is positioned in the up-and-down movement sliding chute; a pulley is arranged on the side surface of the sliding chute sliding block and is in contact with the up-and-down movement sliding chute; the pulley has two functions, namely, the pulley is used for reducing friction between the sliding chute sliding block and the up-and-down moving sliding chute, and is used for tensioning a gap between the sliding chute sliding block and the up-and-down moving sliding chute, so that the sliding chute sliding block is tightly matched in the up-and-down moving sliding chute.

The further improvement is that a plurality of article frames are arranged on the article storage rack, and articles stored on the article storage rack are loaded in the article frames; the article information loaded in each article frame is stored in a control system, and the position information of each article frame on the article storage rack is stored in the integrated control module based on the single chip microcomputer.

And the integrated control module based on the single chip microcomputer instructs the manipulator to move to a preset position to drag or push the article according to the article information and the position information.

The further improvement is that the length of the Y-axis slide rail is the same as the length of the article storage rack in the Y-axis direction; the hook layer moves according to the length of the Y-axis slide rail, the length of the Y-axis slide rail is consistent with the length of the article storage rack in the Y-axis direction, and each article on the article storage rack can be pulled or pushed by a manipulator (hook).

The integrated control module based on the single chip microcomputer is plate-shaped, the length is less than 15cm, the width is less than 10cm, and the thickness of the main control plate is not more than 1cm; the integrated control module based on the single chip microcomputer can control the length within a range of less than 15cm and the width within a range of less than 10cm, has small size, convenient installation and miniaturized structure, and is suitable for modularized production, transportation, installation and operation.

The further improvement is that a buffer storage rack is arranged in the middle operation rack, and the buffer storage rack is used for buffering and transferring articles between the article access window and the manipulator; and the buffer frame moves up and down in the Z-axis direction in the middle operating frame.

The arrangement of the cache frame saves the space size of the article storage management device, and an article access window with a large size is not required to be additionally arranged outside the article storage frame; the buffer storage rack is positioned in the middle operation rack, and no extra space is occupied; the buffer frame moves up and down in the Z-axis direction in the middle operating frame, so that the buffer frame and the manipulator can perform article handing-over buffer in the horizontal direction.

The further improvement is that the buffer storage frame comprises a buffer storage manipulator and a buffer storage control unit frame, and the buffer storage manipulator is positioned above the buffer storage control unit frame; the cache control unit frame comprises a cache frame and a cache frame control layer, a plurality of mutually independent article storage compartments are arranged on the cache frame, and the cache frame control layer drives the cache frame to move so that the article storage compartments correspond to articles on the manipulator; the cache manipulator is used for pushing articles between the manipulator and the cache frame.

The further improvement is that the buffer manipulator comprises a buffer guide rail, and the buffer pushing hand moves along the buffer guide rail in the X-axis direction; the buffer pushing hand moves along the buffer frame screw rod in the Y-axis direction.

The further improvement is that the buffer frame control layer drives the buffer frame to perform reciprocating movement in the X-axis direction; the buffer frame control layer is provided with a buffer hook, the buffer hook is positioned in a buffer hook moving groove of the buffer frame control layer, the buffer hook moving groove is arranged along the X-axis direction of the buffer frame control layer, and a buffer hook sliding rail is also arranged in the buffer hook moving groove; the cache hook moves along the cache hook slide rail through a cache hook slide block arranged on the cache hook slide rail, so that the cache frame is dragged or pushed; the buffer hook sliding block is connected with a buffer hook synchronous belt, and the buffer hook synchronous belt is driven by a buffer hook motor.

The further improvement is that buffer pulleys are arranged on two sides of the buffer hook moving groove; the buffer hook is arranged on a buffer hook lifting structure, the buffer hook lifting structure is composed of a buffer hook lifting motor, a buffer hook lifting screw rod and a buffer hook lifting screw nut, the buffer hook is fixedly connected with the buffer hook lifting screw nut, the buffer hook lifting screw nut is sleeved on the buffer hook lifting screw rod, and the buffer hook lifting motor drives the buffer hook lifting screw rod to rotate and control the buffer hook to lift.

The buffer hook is arranged on a buffer hook support, and the buffer hook lifting screw nut is fixedly connected with the buffer hook support; the buffer hook support is further connected with a buffer hook lifting slide block, and the buffer hook lifting slide block moves up and down along the buffer hook lifting slide rail.

The buffer frame control layer is further improved in that the buffer frame control layer is provided with a buffer shaft gear, and the buffer frame is driven by the buffer shaft gear to move along the up-and-down movement sliding groove in the Z-axis direction.

The buffer rack is characterized in that a buffer toothed belt in the Z-axis direction is arranged on the side face of the up-and-down movement sliding groove, and a buffer shaft gear on the buffer frame control layer moves along the buffer toothed belt to further drive the buffer rack to move in the Z-axis direction along the up-and-down movement sliding groove.

The buffer frame control layer is further improved in that a sliding block is arranged on the buffer frame control layer, and the sliding block is matched with a sliding rail on the middle operating frame, so that the buffer frame is driven by the sliding block to move in the Z-axis direction.

Carry out Z axle motion for aforementioned gear, the cingulum cooperation mode of buffer memory frame, adopt slider and slide rail cooperation mode to make buffer memory frame carry out the motion of Z axle direction, more stable, fix a position more accurately, avoided the trouble that gear and cingulum meshing appear.

The buffer frame control layer is provided with a positioning cross rod, the side surface of the buffer frame control layer is provided with a supporting block assembly, and the supporting block assembly is matched with the positioning cross rod on the middle operating frame, so that the supporting block assembly is in contact with the positioning cross rod and is used for fixing the buffer frame.

When the cache frame reaches a preset position, the support block assembly is matched with the positioning cross rod on the middle operating frame to fix the cache frame; so that the relative positions of the buffer frame and the middle operation frame are fixed.

The further improvement is that the supporting block is controlled by a positioning driving structure, and the positioning driving structure is arranged at the bottom of the cache frame control layer; and a magnet piece is also arranged on the side surface of the buffer memory frame control layer.

The positioning driving structure is placed at the bottom, does not occupy space, and is compact and concise in structure; the magnet piece attracts mutually with middle handling frame, avoids buffer memory frame to rock.

The further improvement is that the positioning driving structure comprises a positioning driving motor, the positioning driving motor drives a positioning gear to rotate, and the positioning gear drives a first positioning push rod and a second positioning push rod; the first positioning push rod is connected with the first positioning push plate, and the second positioning push rod is connected with the second positioning push plate; the first positioning push plate pushes the first supporting block and the second supporting block to protrude outwards through the first linear push rod and the second linear push rod; the positioning push plate II pushes the support block III and the support block IV to protrude outwards through the linear push rod III and the linear push rod IV; the first support block, the second support block, the third support block and the fourth support block form the support block assembly.

The positioning driving structure has the advantages that all parts are connected compactly, the transmission efficiency is high, the thrust is stable, and the positioning driving structure is correspondingly quick; the supporting block assembly formed by the four supporting blocks is contacted with the positioning cross rod, and the position of the buffer frame is fixed.

The further improvement lies in that the integrated control module based on the single chip microcomputer further comprises a stepping motor drive board and a servo motor control board, wherein the main control board is connected with the stepping motor drive board and the servo motor control board in a manner that: the main control board is provided with a plurality of expansion slots, and the stepping motor driving board and the servo motor control board are inserted into the expansion slots; the stepping motor drive board is used for controlling the rotating direction and the rotating speed of the stepping motor, and the servo motor control board is used for controlling the rotating direction and the rotating speed of the servo motor.

The further improvement is that a power interface, a communication interface, a sensor signal interface and a motor power signal interface are arranged on the main control board; the power interface is the connection working power supply of the main control board, the communication interface is that the main control board provides the communication interface with the control system, the sensor signal interface is that the main control board provides the interface with being connected of each sensor, the motor power signal interface is that the main control board provides the interface with being connected of each motor.

The further improvement is that the article access window is provided with an article access window door, and the manipulator is also provided with an RFID antenna and an LED indicator lamp.

The invention also provides an article management method adopting the integrated control module based on the single chip microcomputer, the article management method comprises an S1 article storage process, and the S1 article storage process specifically comprises the following processes:

s1-1: inputting information of an article to be stored into a control system, and confirming a storage operation;

s1-2: sending an article storage instruction to an integrated control module based on a single chip microcomputer by a control system;

s1-3: after receiving the instruction, the integrated control module based on the single chip controls the manipulator to take out an article frame for storing the article from the article storage rack, move the article frame to an article access window, light an LED indicator lamp corresponding to the position to be stored, and simultaneously control the cache rack to move into the first storage rack or the second storage rack;

s1-4: after the manipulator runs to the article access window, opening an article access window door;

s1-5: after the article is put to the position where the LED indicator light of the article frame on the manipulator is turned on, pressing a confirmation button;

s1-6: the integrated control module based on the single chip microcomputer detects RFID electronic tags on all articles in the article frame and feeds detection data back to the control system, and the control system checks whether the storage is correct or not; s1-7: the integrated control module based on the single chip microcomputer closes the article access window door and extinguishes the LED indicating lamp; s1-8: the integrated control module based on the single chip microcomputer sends out an instruction to control the mechanical arm to send the object frame back to the object storage rack;

s1-9: and (4) after detecting that the article frame in the step (S1-8) is sent back to the article storage rack, the integrated control module based on the single chip microcomputer sends a completion instruction to the control system to complete storage.

The further improvement lies in that the method also comprises an S2 article taking-out process, wherein the S2 article taking-out process specifically comprises the following processes:

s2-1: inputting information of articles to be taken out into the control system, and confirming taking-out operation;

s2-2: sending an article taking instruction to the integrated control module based on the single chip microcomputer by the control system; s2-3: after receiving the instruction, the integrated control module based on the single chip microcomputer controls the mechanical arm to take out the article frame stored with the article from the article storage rack and move the article frame to the article access window, and simultaneously controls the cache rack to move to the article access window;

s2-4: the cache manipulator pushes the article to be taken out to the cache rack from the specified position in the article frame on the manipulator;

s2-5: the integrated control module based on the single chip microcomputer detects RFID electronic tags on all articles in the article frame and feeds detection data back to the control system, and the control system checks whether the articles are taken out correctly or not;

s2-6: the integrated control module based on the single chip microcomputer controls the mechanical arm to send the object frame back to the object storage rack;

s2-7: the integrated control module based on the single chip microcomputer opens the article access window door;

s2-8: taking the article from the cache frame at the position of the article access window, and pressing a confirmation button; s2-9: the integrated control module based on the single chip microcomputer detects whether the articles in the cache rack are taken out or not;

s2-10: after detecting that the articles in the cache rack are taken out, the integrated control module based on the single chip microcomputer closes the article access window door;

s2-11: and (4) after detecting that the article frame in the step (S2-6) is sent back to the article storage rack, the integrated control module based on the single chip microcomputer sends a completion instruction to the control system to complete storage.

It should be noted that steps S2-11 are performed in synchronization with steps S2-7, and that steps S2-11 are performed without being associated with opening or closing of the article access window door.

The further improvement lies in that the system also comprises an S3 emergency processing flow, when the article storage management device is in fault or power failure, the first storage rack or the second storage rack can be opened to manually store or take out articles, and the system specifically comprises the following flows:

s3-1: opening a front panel door of the first storage rack or the second storage rack;

s3-2: opening the locking mechanism;

s3-3: pulling the first storage rack or the second storage rack forward;

s3-4: pulling out an article frame of the article to be stored and taken;

s3-5: storing or taking out articles;

s3-6: returning the item frame to the item storage rack;

s3-7: pushing the first or second storage rack backwards into an item storage rack;

s3-8: closing the locking mechanism;

s3-9: the front panel door is closed.

The further improvement is that the method also comprises an S4 disc library processing flow, and specifically comprises the following flows:

s4-1: confirming a disc library operation in the control system;

s4-2: sending a inventory command to the integrated control module based on the single chip microcomputer by the control system;

s4-3: after receiving the instruction, the integrated control module based on the single chip microcomputer controls the mechanical arm to take out an article frame from the article storage rack to the mechanical arm;

s4-4: the integrated control module based on the single chip microcomputer detects and reads the RFID of all the articles in the article frame; s4-5: the integrated control module based on the single chip microcomputer feeds the read RFID information and the corresponding article position information back to the control system;

s4-6: the control system updates the RFID and the position information of the articles in the article frame in real time;

s4-7: the integrated control module based on the single chip microcomputer controls the mechanical arm to send the object frame back to the object storage rack; s4-8: repeating the steps S4-3 to S4-7 until all the object frames are checked;

s4-9: and the integrated control module based on the single chip sends a completion instruction to the control system to complete the inventory.

Drawings

The following further detailed description of embodiments of the invention is made with reference to the accompanying drawings:

FIG. 1 is a schematic view of the overall construction of an article storage management apparatus according to the present invention;

FIG. 1b is a schematic view of the overall structure (including the housing) of the article storage management device of the present invention;

FIG. 2 is a first schematic structural view of the intermediate operating frame of FIG. 1 a;

FIG. 3 is a schematic view of the first (left) storage rack of FIG. 1 a;

FIG. 4 is a schematic view of the second storage rack (right) of FIG. 1 a;

FIG. 5 is a schematic view of the base structure of the article storage management device of the present invention;

FIG. 6 is a second schematic structural view of the intermediate handling frame of FIG. 1 a;

FIG. 7 is an enlarged structural diagram of layout A in FIG. 6;

FIG. 8 is a first structural diagram of a robot;

FIG. 9a is a second schematic view of the robot;

FIG. 9b is a schematic view of a robot with an RFID antenna and an LED indicator;

FIG. 9c is a partial rear view block diagram of FIG. 9 b;

FIG. 10 is an exploded view of the robot;

FIG. 11 is a schematic top view of the hook layer of FIG. 10;

fig. 12 is a schematic view of the overall structure of the article storage management device with a buffer rack according to the present invention;

FIG. 13 is a schematic view of the intermediate carrier structure of FIG. 12;

FIG. 14 is a schematic diagram of the cache shelf structure of FIG. 12;

FIG. 15 is a schematic view of the configuration of the buffer racks in cooperation with the robot for transferring articles;

FIG. 16 is an enlarged schematic diagram of a control layer of a cache frame;

fig. 17 is a schematic view of the overall structure of another article storage management apparatus with a buffer rack according to the present invention;

FIG. 18 is a schematic view of the intermediate frame structure of FIG. 17;

FIG. 19 is a schematic diagram of the cache shelf structure of FIG. 17;

FIG. 20 is a schematic view of the configuration of the buffer racks of FIG. 17 in cooperation with a robot for transferring articles;

FIG. 21 is a bottom structure diagram of the cache frame control layer of FIG. 17;

FIG. 22 is a schematic diagram of the structure of an integrated control module based on a single-chip microcomputer;

fig. 23 is a schematic structural view of the main control board (electronic components not shown) in fig. 22;

wherein: 1-article storage rack, 101-robot transfer space, 102-first storage rack, 103-second storage rack, 104-article frame, 105-housing, 106-front panel door, 107-touch all-in-one machine; 2-mechanical arm, 201-article holding cavity, 202-shaft gear, 20201-rotating shaft, 20202-gear, 203-hook layer, 20301-hook, 20302-hook moving groove, 20303-hook sliding rail, 20304-hook sliding block, 20305-hook synchronous belt, 20306-hook motor and 20307-pulley; 20308-a lifting structure, 20309-a lifting motor, 203010-a lifting screw rod, 203011-a lifting screw rod nut, 203012-a hook bracket, 203013-a lifting slider, 203014-a lifting slide rail, 204-a bracket layer, 205-a Y-axis motion component, 20501-a Y-axis slide rail, 20502-a Y-axis slider, 20503-a Y-axis motion motor, 206-an X-axis motion component, 207-a chute connecting block, 208-a chute slider, 20801-a chute pulley, 209-an RFID antenna and 2010-an LED indicator light; 3-an integrated control module based on a single chip microcomputer, 301-the single chip microcomputer, 302-a main control board, 303-a stepping motor drive board, 304-a servo motor control board, 305-an expansion slot, 306-an electronic component, 307-a power interface, 308-a communication interface, 309-a sensor signal interface and 3010-a motor power signal interface; 4-base, 401-tier wheel, 402-storage rack track; 5-a middle operation frame, 501-an up-and-down movement sliding groove, 502-a toothed belt, 503-a buffer toothed belt, 504-a sliding rail and 505-a positioning cross bar; 6-item access window, 601-item access window door; 7-buffer rack, 701-buffer manipulator, 70101-buffer guide rail, 70102-buffer pusher, 70103-buffer rack screw, 702-buffer control unit rack, 703-buffer frame, 70301-article storage compartment, 704-buffer frame control layer, 70401-buffer hook, 70402-buffer hook moving slot, 70403-buffer hook slide rail, 70404-buffer hook slide block, 70405-buffer hook synchronous belt, 70406-buffer hook motor, 70407-buffer pulley, 70408-buffer hook support, 70409-buffer hook lifting slide block, 704010-buffer hook lifting slide rail, 705-buffer hook lifting structure, 70501-buffer hook lifting motor, 70502-buffer hook lifting screw rod, 70503-buffer hook lifting screw nut, 706-buffer shaft gear, 70601-buffer rotating shaft, 70602-buffer gear; 707-a sliding block, 708-a supporting block component, 70801-a first supporting block, 70802-a second supporting block, 70803-a third supporting block, 70804-a fourth supporting block, 709-a positioning driving structure, 70901-a positioning driving motor, 70902-a positioning gear, 70903-a first positioning push rod, 70904-a second positioning push rod, 70905-a first positioning push plate, 70906-a second positioning push plate, 70907-a first linear push rod, 70908-a second linear push rod, 70909-a third linear push rod, 709010-a fourth linear push rod and 7010-a magnet piece; 8-locking mechanism.

Detailed Description

Fig. 1a shows an article storage management apparatus of the present embodiment, which includes an article storage rack 1, the article storage rack 1 being used for storing articles (each article having an RFID tag attached thereon); the mechanical arm 2 moves back and forth between the article storage rack 1 and the article access window 6, and transports the articles stored on the article storage rack 1 to the article access window 6 according to the instruction, or transports the articles to be stored to the article storage rack 1 from the article access window 6 according to the instruction; the manipulator is characterized by also comprising an integrated control module 3 based on a single chip microcomputer, wherein the integrated control module 3 based on the single chip microcomputer is connected with the manipulator 2 and controls the manipulator 2 to transport articles; the integrated control module 3 based on the single chip microcomputer comprises a main control board 302, and the single chip microcomputer 301 is installed on the main control board 302.

The manipulator 2 is provided with an article placing cavity 201, and the integrated control module 3 based on the single chip microcomputer is arranged in the article placing cavity 201; the article storage rack 1 is provided with a manipulator transfer space 101, and the article access window 6 is positioned on the side surface of the manipulator transfer space 101; the article access window 6 is provided with an article access window door 601 (as shown in fig. 1b, the installation position is on the side of the article access window 6), and the manipulator 2 is further provided with an RFID antenna (for identifying an RFID tag on an article and feeding back the identified information) and an LED indicator, as shown in fig. 9b and 9 c.

The article storage rack 1 comprises a first storage rack 102 and a second storage rack 103, and the article storage management device further comprises an intermediate operating rack 5; the first storage rack 102 and the second storage rack 103 are respectively spliced and combined to be positioned at the left side and the right side of the middle operating rack 5 to form a manipulator transfer space 101; the first storage rack 102, the second storage rack 103 and the intermediate handling rack 5 are independent of each other as a splicing combination module, as shown in fig. 2-4; as shown in fig. 1b, the outer side of the article storage rack 1 is further provided with a casing 105, which wraps the base 4 and the whole article storage rack 1, so that the article storage management device is more beautiful, the casing 105 is provided with a touch all-in-one machine 107, corresponding information input and display content viewing are performed through the touch all-in-one machine 107, and emergency stop, reset and confirmation buttons are arranged below the touch all-in-one machine 107.

The intermediate operation frame 5 has an up-down movement chute 501, and the robot 2 performs movement in the Z-axis direction along the up-down movement chute 501.

A toothed belt 502 along the Z-axis direction is arranged on the side surface of the up-and-down movement chute 501, and the shaft gear 202 on the manipulator 2 moves along the toothed belt 502 to drive the manipulator 2 to move along the up-and-down movement chute 501 along the Z-axis direction; as shown in fig. 8, the shaft gear 202 is constituted by a rotating shaft 20201 and a gear 20202.

The first storage rack 102, the second storage rack 103 and the middle operating rack 5 are all arranged on the base 4, and a plurality of row wheels 401 are arranged on the base 4, as shown in fig. 5; the first storage rack 102 or the second storage rack 103 can move along the row wheel 401, so that the first storage rack 102 or the second storage rack 103 protrudes outwards relative to the middle operating rack 5, the first storage rack 102 and the second storage rack 103 are respectively connected with the storage rack track 402 on the base 4, and in fig. 5, two storage rack tracks 402 are arranged on the left side and the right side of the base 4; it should be noted that the article storage management device of the embodiment is further provided with a locking mechanism 8 (which may be implemented by using existing components such as positioning latches, etc.), the locking mechanism 8 is located on the middle operating rack 5 and is used for fixing the assembled positions of the first storage rack 102 and the second storage rack 103, the front panel door 106 is located in front of the first storage rack 102 and the second storage rack 103, the front panel door 106 is a part of the housing 105, and the locking mechanism 8 is used for fixing the first storage rack 102 and the second storage rack 103, as shown in fig. 1 b.

As shown in fig. 8-11, the robot 2 is divided into a hook layer 203 and a carrier layer 204, as shown in fig. 8 and 9a, wherein the carrier layer 204 is located below the hook layer 203; the article placing cavity 201 is positioned on the bracket layer 204, and the bracket layer 204 is also provided with a Y-axis movement component 205 for driving the hook layer 203 to move in the Y-axis direction; the hook layer 203 is provided with a hook 20301, and the hook 20301 is used for dragging an article on the article storage rack 1 onto the hook layer 203 or pushing the article on the hook layer 203 onto the article storage rack 1; the hook layer 203 is provided with an X-axis movement assembly 206 that drives the hook 20301 to perform X-axis direction movement.

The hook 20301 is located in a hook moving groove 20302 of the hook layer 203, the hook moving groove 20302 is arranged along the X-axis direction of the hook layer 203, and a hook slide rail 20303 is further arranged in the hook moving groove 20302; the hook 20301 moves along the hook rail 20303 through a hook slider 20304 arranged on the hook rail 20303, and further drags or pushes an article; the hook sliding block 20304 is connected with a hook synchronous belt 20305, and the hook synchronous belt 20305 is driven by a hook motor 20306.

Pulleys 20307 are arranged on both sides of the hook moving groove 20302; the hook 20301 is arranged on the lifting structure 20308, the lifting structure 20308 is composed of a lifting motor 20309, a lifting lead screw 203010 and a lifting lead screw nut 203011, the hook 20301 is fixedly connected with the lifting lead screw nut 203011, the lifting lead screw nut 203011 is sleeved on the lifting lead screw 203010, and the lifting motor 20309 drives the lifting lead screw 203010 to rotate to control the hook 20301 to lift.

The hook 20301 is arranged on the hook bracket 203012, and the lifting screw nut 203011 is fixedly connected with the hook bracket 203012; the hook bracket 203012 is further connected with a lifting slider 203013, and the lifting slider 203013 moves up and down along a lifting slide rail 203014.

The Y-axis motion assembly 205 comprises a Y-axis slide rail 20501, a Y-axis slider 20502 is arranged on the Y-axis slide rail 20501, the Y-axis slider 20502 is connected with the hook layer 203, and the hook layer 203 is driven by a Y-axis motion motor 20503 to move along the Y-axis slide rail 20501 in the Y-axis direction.

The X-axis moving assembly 206 is composed of a hook slide rail 20303, a hook slide 20304, and a hook motor 20306.

The manipulator 2 is connected with a chute sliding block 208 through a chute connecting block 207, and the chute sliding block 208 is positioned in the up-and-down movement chute 501; a pulley 20801 is arranged on the side surface of the chute slide block 208, and the pulley 20801 is in contact with the up-and-down movement chute 501, as shown in fig. 6 and 7.

The article storage rack 1 is provided with a plurality of article frames 104, and articles stored on the article storage rack 1 are loaded in the article frames 104; the article information loaded in each article frame 104 is stored in the control system, and the position information of each article frame 104 on the article storage rack 1 is stored in the integrated control module 3 based on the single chip microcomputer.

The length of the Y-axis slide rail 20501 is the same as the length of the article storage rack 1 in the Y-axis direction; the integrated control module 3 based on the single chip microcomputer is plate-shaped, the length is less than 15cm, and the width is less than 10cm.

As shown in fig. 22-23, the integrated control module 3 based on the single chip microcomputer further includes a stepping motor driving board 303 and a servo motor control board 304, the main control board 302 is connected with the stepping motor driving board 303 and the servo motor control board 304, and the connection manner is as follows: the main control board 302 is provided with a plurality of expansion slots 305, and the stepping motor driving board 303 and the servo motor control board 304 are inserted into the expansion slots 305 (not only limited to the installation and connection manner, but also integrated on the main control board 302); it should be noted that the main control board 302, the stepping motor driving board 303, and the servo motor control board 304 are all made of PCB circuit boards (in this embodiment, the stepping motor driving board 303 and the servo motor control board 304 are also both installed with a single chip), and various electronic components 306 are installed and arranged thereon; the single chip microcomputer 301 is arranged on the main control board 302. The stepping motor driving board 303 is used for controlling the rotating direction and the rotating speed of the stepping motor, and the servo motor control board 304 is used for controlling the rotating direction and the rotating speed of the servo motor.

As shown in fig. 23, the main control board 302 is provided with a power interface 307, a communication interface 308, a sensor signal interface 309 and a motor power signal interface 3010, and the number and the position of the main control board are adjustable; wherein, the power interface 307 is a working power supply for connection of the main control board 302, and adopts low-voltage power supply, which is safe and stable; communication interface 308 provides a communication interface for main control board 302 and a control system or other functional units, typically RS485, RS232 or LAN; the sensor signal interface 309 provides an interface for the connection between the main control board and each sensor, and the sensor is used for detecting the state of each motor (installed stepping motor and servo motor) in the article storage management device of the present invention executing relevant actions, and feeding back the received action state signal to the main control board 302 for analysis; the motor power supply signal interface 3010 provides an interface for connecting the main control board 302 with each motor;

the stepping motor, the servo motor and the sensor in the article storage management device are directly connected with the main control board 302 through the motor power signal interface 3010 and controlled by the main control board 302; the control system sends an instruction to the main control board 302, and after the main control board 302 receives and analyzes the instruction, the main control board 302 controls each motor to execute related actions, detects the state of each sensor in real time, and continuously adjusts the working state of the motor according to the signal fed back by the sensor until the task required by the instruction is completed. Meanwhile, the working state of the main control board 302 is fed back to the control system in real time so that the control system can monitor the working state.

In the integrated control module 3 based on a single chip microcomputer in this embodiment, the electronic component 306 is only illustrated in the drawing, and may be a resistor, a capacitor, a diode, a triode, a MOS transistor, an integrated circuit, an isolation power supply, an inductor, an optocoupler, an euro-type socket, a connector, and other electronic components set by a person skilled in the art on the premise of implementing the functions of the integrated control module 3 based on a single chip microcomputer in this embodiment.

When in specific use: splicing and assembling the first storage rack 102, the second storage rack 103 and the middle operating rack 5 which are delivered to a use place on the base 4, wherein the first storage rack 102 and the second storage rack 103 are also provided with a front panel door 106, and after the assembling position is finished, the locking mechanism 8 is installed; the position of each article frame for storing articles on the article storage rack 1 consisting of the first storage rack 102 and the second storage rack 103 is subjected to coding record and storage, and each article frame is subjected to identity information input and storage, so that each identity information is ensured to be uniquely corresponding to one article frame;

when the articles need to be stored, inputting an instruction through a touch screen, sending the instruction based on the integrated control module 3 of the single chip microcomputer to control the manipulator 2 to move to a preset position, pulling out the article frame 104 at the corresponding position in the article storage rack 1, and moving the article frame to the article access window 6;

after the article is placed in the article frame 104, the command is sent again to control the manipulator 2 to move the article frame 104 to the position corresponding to the article storage rack 1 where the article is stored in the article frame 104;

when the articles need to be taken, inputting an instruction through the touch screen, sending the instruction based on the integrated control module 3 of the single chip microcomputer to control the manipulator 2 to move to a preset position, pulling out the article frame 104 at the corresponding position in the article storage rack 1, and moving the article frame to the article access window 6;

if the gear-taking task is carried out for multiple times, the operation of taking the articles is circulated.

The article storage management device of this embodiment may further include a buffer rack 7, as shown in fig. 12 to 16, the buffer rack 7 is disposed in the middle handling rack 5, and the buffer rack 7 is used for buffering and circulating articles between the article access window 6 and the manipulator 2; the buffer rack 7 moves up and down in the Z-axis direction in the intermediate operation rack.

As shown in fig. 14, the buffer storage rack 7 includes a buffer storage manipulator 701 and a buffer storage control unit rack 702, wherein the buffer storage manipulator 701 is located above the buffer storage control unit rack 702; the cache control unit rack 702 comprises a cache frame 703 and a cache frame control layer 704, wherein the cache frame 703 is provided with a plurality of mutually independent article storage compartments 70301, and the cache frame control layer 704 drives the cache frame 703 to move so that the article storage compartments 70301 correspond to articles on the manipulator 2; the buffer robot 701 is configured to push the item between the robot 2 and the buffer box 703.

The buffer manipulator 701 comprises a buffer guide rail 70101, and the buffer pusher 70102 moves in the X-axis direction along the buffer guide rail 70101; the buffer pusher 70102 moves in the Y-axis direction along the buffer rack lead screw 70103.

As shown in fig. 16, the buffer frame control layer 704 drives the buffer frame 703 to reciprocate in the X-axis direction; the buffer frame control layer 704 is provided with a buffer hook 70401, the buffer hook 70401 is positioned in a buffer hook moving groove 70402 of the buffer frame control layer 704, the buffer hook moving groove 70402 is arranged along the X-axis direction of the buffer frame control layer 704, and a buffer hook sliding rail 70403 is further arranged in the buffer hook moving groove 70402; the buffer hook 70401 moves along the buffer hook sliding rail 70403 through the buffer hook sliding block 70404 arranged on the buffer hook sliding rail 70403, so as to drag or push the buffer frame 703; the buffer hook sliding block 70404 is connected with a buffer hook synchronous belt 70405, and the buffer hook synchronous belt 70405 is driven by a buffer hook motor 70406.

Buffer pulleys 70407 are arranged on two sides of the buffer hook moving groove 70402; the buffer hook 70401 is arranged on a buffer hook lifting structure 705, the buffer hook lifting structure 705 is composed of a buffer hook lifting motor 70501, a buffer hook lifting screw 70502 and a buffer hook lifting screw nut 70503, the buffer hook 70401 is fixedly connected with the buffer hook lifting screw nut 70503, the buffer hook lifting screw nut 70503 is sleeved on the buffer hook lifting screw 70502, and the buffer hook lifting motor 70501 drives the buffer hook lifting screw 70502 to rotate to control the buffer hook 70401 to lift, as shown in fig. 16.

The buffer hook 70401 is arranged on the buffer hook support 70408, and the buffer hook lifting lead screw nut 70503 is fixedly connected with the buffer hook support 70408; the buffer hook support 70408 is also connected with a buffer hook lifting slider 70409, and the buffer hook lifting slider 70409 moves up and down along a buffer hook lifting slide rail 704010.

The buffer frame control layer 704 has a buffer shaft gear 706 (the buffer shaft gear 706 has a buffer rotating shaft 70601 and a buffer gear 70602), and the buffer frame 7 is driven by the buffer shaft gear 706 to move along the up-and-down movement chute 501 in the Z-axis direction; a buffer gear belt 503 (as shown in fig. 13) along the Z-axis direction is disposed on a side surface of the up-and-down movement sliding slot 501, and a buffer shaft gear 706 (a buffer gear 70602 therein) on the buffer frame control layer 704 moves along the buffer gear belt 503 to drive the buffer rack 7 to move along the up-and-down movement sliding slot 501 along the Z-axis direction.

In this embodiment, the movement of the buffer frame 7 in the Z-axis direction can also be realized by the following structural manner: as shown in fig. 17 to 21, the article storage management device is another article storage management device to which the buffer rack 7 is added, and is different from the article storage management device shown in fig. 12 to 16 only in the way of realizing the movement of the buffer rack 7 in the Z-axis direction; specifically, the buffer frame control layer 704 has a sliding block 707, and the sliding block 707 is matched with the sliding rail 504 on the middle operation frame 5, so that the sliding block 707 drives the buffer frame 7 to move in the Z-axis direction.

A support block assembly 708 is further disposed on the side of the cache frame control layer 704, and the support block assembly 708 is matched with the positioning crossbar 505 on the middle handling frame 5, so that the support block assembly 708 is in contact with the positioning crossbar 505 for fixing the cache frame 7 (at this time, the cache manipulator 701 pushes the article between the manipulator 2 and the cache frame 703).

The support block assembly 708 is controlled by a positioning driving structure 709, and the positioning driving structure 709 is disposed at the bottom of the cache frame control layer 704, as shown in fig. 21; the positioning driving structure 709 comprises a positioning driving motor 70901, the positioning driving motor 70901 drives a positioning gear 70902 to rotate, and the positioning gear 70902 drives a first positioning push rod 70903 and a second positioning push rod 70904; the first positioning push rod 70903 is connected with a first positioning push plate 70905, and the second positioning push rod 70904 is connected with a second positioning push plate 70906; the first positioning push plate 70905 pushes the first supporting block 70801 and the second supporting block 70802 to protrude outwards through the first linear push rod 70907 and the second linear push rod 70908; the second positioning push plate 70906 pushes the third support block 70803 and the fourth support block 70804 to protrude outwards through the third linear push rod 70909 and the fourth linear push rod 709010; support block assembly 708 is comprised of support block one 70801, support block two 70802, support block three 70803, and support block four 70804.

A magnet 7010 is further disposed on the side surface of the buffer frame control layer 704, and as shown in fig. 17 and 18, when the support block assemblies 708 are in contact with the positioning crossbar 505 for fixing the buffer frame 7, the magnet 7010 attracts the middle operation frame 5, thereby preventing the buffer frame 7 from shaking.

Compared with the former gear and toothed belt motion mode, the motion mode of the buffer frame 7 by the slide block and the slide rail can be realized without power, the buffer frame 7 is upwards supported by the manipulator 2 to move to a preset position, after the preset position is reached, the supporting block in the supporting block assembly 708 extends out to be matched with the positioning cross rod 505 for fixing, and at the moment, the manipulator 2 can also automatically separate from the buffer frame 7 to perform other actions according to instructions; when the buffer storage rack 7 needs to be lowered (i.e. moved downwards), the supporting blocks in the supporting block assembly 708 are retracted, and the buffer storage rack 7 is carried by the manipulator 2 to move downwards, so that the buffer storage rack 7 does not need to move under the power of the manipulator in a gear and toothed belt movement mode.

In this embodiment, the article management method using the integrated control module based on the single chip microcomputer includes an S1 article storage process, where the S1 article storage process specifically includes the following processes:

s1-2: sending an article storing instruction to the integrated control module 3 based on the single chip microcomputer by the control system;

s1-3: after receiving the instruction, the integrated control module 3 based on the single chip microcomputer controls the manipulator 2 to take out the article frame 104 for storing the article from the article storage rack 1 and move the article frame to the article access window 6, lights the LED indicator 2010 corresponding to the position to be stored, and controls the buffer rack 7 to move into the first storage rack 102 or the second storage rack 103;

s1-4: after the manipulator 2 moves to the article access window 6, opening an article access window door 601; s1-5: after the article is put in to the position where the article frame LED indicator lamp 2010 on the manipulator 2 is turned on, pressing a confirmation button;

s1-6: the integrated control module 3 based on the single chip microcomputer detects RFID electronic tags on all articles in the article frame and feeds detection data back to the control system, and the control system checks whether the storage is correct or not; s1-7: the integrated control module based on the single chip microcomputer closes the article access window door 601 and extinguishes the LED indicating lamp 2010;

s1-8: the integrated control module 3 based on the single chip microcomputer sends out an instruction to control the mechanical arm 2 to send the article frame 104 back to the article storage rack 1;

s1-9: and (4) after detecting that the article frame 104 in the step (S1-8) is sent back to the article storage rack 1, the integrated control module 3 based on the single chip microcomputer sends a completion instruction to the control system to complete storage.

In this embodiment, the article management method using the integrated control module based on the single chip microcomputer further includes an S2 article taking-out process, where the S2 article taking-out process specifically includes the following processes:

s2-2: the control system sends an instruction for taking out the article to the integrated control module 3 based on the single chip microcomputer;

s2-3: after receiving the instruction, the integrated control module 3 based on the single chip microcomputer controls the manipulator 2 to take out the article frame 104 storing the article from the article storage rack 1 and move the article frame to the article access window 6, and controls the cache rack 7 to move to the article access window 6;

s2-4: the cache manipulator 701 pushes an article to be taken out to the cache shelf 7 from a specified position in the article frame on the manipulator 2;

s2-5: the integrated control module 3 based on the single chip microcomputer detects RFID electronic tags on all articles in the article frame and feeds detection data back to the control system, and the control system checks whether the articles are taken out correctly or not; s2-6: the integrated control module 3 based on the single chip microcomputer controls the mechanical arm 2 to send the object frame back to the object storage rack 1;

s2-7: the integrated control module 3 based on the single chip microcomputer opens the article access window door 601;

s2-8: taking out the article from the buffer frame 7 at the position of the article access window 6, and pressing a confirmation button;

s2-9: the integrated control module 3 based on the single chip microcomputer detects whether the articles in the cache rack 7 are taken out; s2-10: after detecting that the articles in the cache rack 7 are taken out, the integrated control module 3 based on the single chip microcomputer closes the article access window door 601;

s2-11: and (4) after detecting that the article frame in the step (S2-6) is sent back to the article storage rack 1, the integrated control module 3 based on the single chip microcomputer sends a completion instruction to the control system to complete storage.

In this embodiment, the article management method using the integrated control module based on the single chip microcomputer further includes an S3 emergency processing procedure, and when the article storage management apparatus fails or is powered off, the first storage rack 102 or the second storage rack 103 may be opened to manually store/retrieve articles, which specifically includes the following procedures:

s3-1: opening a front panel door 106 of the first storage rack 102 or the second storage rack 103;

s3-2: opening the locking mechanism 8;

s3-3: pulling out the first storage rack 102 or the second storage rack 103 forward;

s3-4: pulling out the article frame 104 of the article to be stored and taken;

s3-5: storing or taking out articles;

s3-6: returning the article frame 104 to the article storage shelf 1;

s3-7: pushing the first magazine 102 or the second magazine 103 backward into the article magazine 1;

s3-8: closing the locking mechanism 8;

s3-9: the front panel door 106 is closed.

In this embodiment, the article management method using the integrated control module based on the single chip microcomputer further includes an S4 inventory processing procedure, which specifically includes the following procedures:

s4-1: confirming a disc library operation in the control system;

s4-2: sending a disc library instruction to the integrated control module 3 based on the single chip microcomputer by the control system;

s4-3: after receiving the instruction, the integrated control module 3 based on the single chip microcomputer controls the manipulator 2 to take the article frame 104 out of the article storage rack 1 to the manipulator 2;

s4-4: the integrated control module 3 based on the single chip microcomputer detects and reads the RFID of all the articles in the article frame 104;

s4-5: the integrated control module 3 based on the single chip microcomputer feeds the read RFID information and the corresponding article position information back to the control system;

s4-6: the control system updates the RFID and location information of the items in the item box 104 in real time;

s4-7: the integrated control module 3 based on the single chip microcomputer controls the mechanical arm 2 to send the article frame 104 back to the article storage rack 1;

s4-8: repeating the steps S4-3 to S4-7 until all the article frames 104 are completely checked;

s4-9: and the integrated control module 3 based on the single chip microcomputer sends a completion instruction to the control system to complete the inventory making.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended as illustrations of the principles of the invention, but that various changes and modifications, such as changes in size or variations in materials, may be made without departing from the spirit and scope of the invention, and all such changes and modifications are intended to be included within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An article storage management device is characterized by comprising an article storage rack, wherein the article storage rack is used for storing articles; the manipulator moves back and forth between the article storage rack and the article access window, and transports the articles stored on the article storage rack to the article access window according to instructions or transports the articles to be stored to the article storage rack from the article access window according to instructions; the manipulator is characterized by also comprising an integrated control module based on a single chip microcomputer, wherein the integrated control module based on the single chip microcomputer is connected with the manipulator and used for controlling the manipulator to transfer articles; the integrated control module based on the single chip microcomputer comprises a main control board, and the single chip microcomputer is installed on the main control board.

2. The article storage management device according to claim 1, wherein the manipulator is provided with a shelving cavity, and the integrated control module based on the single chip microcomputer is installed in the shelving cavity; the article storage rack is provided with a manipulator transferring space, and the article access window is located on the side face of the manipulator transferring space.

3. The article storage management device according to claim 2, wherein the article storage shelves comprise a first storage shelf and a second storage shelf, and the article storage management device further comprises an intermediate handling shelf; the first storage rack and the second storage rack are respectively spliced and combined to be positioned at the left side and the right side of the middle operating rack to form the manipulator transferring space; the first storage rack, the second storage rack and the middle operating rack are mutually independent as splicing combination modules.

4. The article storage management device according to claim 3, wherein the intermediate handling frame has an up-down moving chute, and the robot performs a movement in a Z-axis direction along the up-down moving chute.

5. The article storage management apparatus according to claim 4, wherein a toothed belt is provided on a side surface of the up-and-down moving chute in the Z-axis direction, and an axis gear on the robot arm moves along the toothed belt to drive the robot arm to perform the Z-axis movement along the up-and-down moving chute.

6. The item storage management device of claim 5, wherein the first storage rack, the second storage rack, and the intermediate handling rack are all mounted on a base, the base having a plurality of casters disposed thereon; the first storage rack or the second storage rack can be separated from the article storage management device along the row wheels, so that the first storage rack or the second storage rack protrudes outwards relative to the middle operating rack; and the first storage rack and the second storage rack are respectively connected with the storage rack rails on the base.

7. The article storage management apparatus of any one of claims 1-6, wherein said robot is divided into a hook level and a tray level, wherein said tray level is located below said hook level; the object placing cavity is positioned on the bracket layer, and the bracket layer is also provided with a Y-axis movement component for driving the hook layer to move in the Y-axis direction; the hook layer is provided with a hook, and the hook is used for dragging an article on the article storage rack to the hook layer or pushing the article on the hook layer to the article storage rack; the hook layer is provided with an X-axis movement assembly for driving the hook to move in the X-axis direction.

8. The article storage management device according to claim 7, wherein the hook is located in a hook moving groove of the hook layer, the hook moving groove is arranged along an X-axis direction of the hook layer, and a hook slide rail is further arranged in the hook moving groove; the hook moves along the hook slide rail through a hook slide block arranged on the hook slide rail, so as to drag or push an article; the couple slider is connected with the couple hold-in range, the couple hold-in range is by couple motor drive.

9. The article storage management device according to claim 8, wherein pulleys are provided on both sides of the hook moving groove; the lifting screw rod is sleeved with the lifting screw rod nut, and the lifting motor drives the lifting screw rod to rotate to control the lifting of the hook.

10. The article storage management device of claim 9, wherein the hook is disposed on a hook bracket, the lifting screw nut being fixedly connected to the hook bracket; the hook support is further connected with a lifting slide block, and the lifting slide block moves up and down along a lifting slide rail.

11. The article storage management device according to claim 7, wherein the Y-axis moving assembly comprises a Y-axis slide rail, the Y-axis slide rail is provided with a Y-axis slider, the Y-axis slider is connected with the hook layer, and the hook layer is driven by a Y-axis moving motor to move along the Y-axis slide rail in a Y-axis direction.

12. The item storage management device of claim 8, wherein the X-axis motion assembly is comprised of the hanger slide, the hanger slider, and a hanger motor.

13. The article storage management device according to claim 6, wherein the robot is connected to a chute block through a chute connection block, the chute block being located in the up-and-down movement chute; and a pulley is arranged on the side surface of the sliding chute sliding block and is in contact with the up-and-down moving sliding chute.

14. The article storage management apparatus according to any one of claims 1 to 6, wherein a plurality of article frames are provided on the article storage rack, and the articles stored on the article storage rack are loaded in the article frames; the information of the articles loaded in each article frame is stored in a control system, and the position information of each article frame on the article storage rack is stored in the integrated control module based on the single chip microcomputer.

15. The article storage management device according to claim 11, wherein a length of the Y-axis slide is the same as a length of the article storage rack in a Y-axis direction.

16. The article storage management apparatus according to any one of claims 4 to 6, wherein a buffer shelf is provided in the intermediate handling frame, and the buffer shelf is used for buffering and circulating articles between the article access window and the manipulator; and the buffer frame moves up and down in the Z-axis direction in the middle operating frame.

17. The article storage management device according to claim 16, wherein the buffer storage shelf comprises a buffer storage manipulator and a buffer storage control unit shelf, and the buffer storage manipulator is located above the buffer storage control unit shelf; the cache control unit frame comprises a cache frame and a cache frame control layer, a plurality of mutually independent article storage compartments are arranged on the cache frame, and the cache frame control layer drives the cache frame to move so that the article storage compartments correspond to articles on the manipulator; the cache manipulator is used for pushing articles between the manipulator and the cache frame.

18. The article storage management device according to claim 17, wherein the buffer manipulator includes a buffer guide rail, and the buffer pusher moves in an X-axis direction along the buffer guide rail; the buffer pushing hand moves along the buffer frame screw rod in the Y-axis direction.

19. The article storage management device according to claim 17, wherein the buffer frame control layer drives the buffer frame to reciprocate in an X-axis direction; the buffer frame control layer is provided with a buffer hook, the buffer hook is positioned in a buffer hook moving groove of the buffer frame control layer, the buffer hook moving groove is arranged along the X-axis direction of the buffer frame control layer, and a buffer hook sliding rail is also arranged in the buffer hook moving groove; the cache hook moves along the cache hook slide rail through a cache hook slide block arranged on the cache hook slide rail, so that the cache frame is dragged or pushed; the buffer hook sliding block is connected with a buffer hook synchronous belt, and the buffer hook synchronous belt is driven by a buffer hook motor.

20. The article storage management device according to claim 19, wherein buffer pulleys are provided on both sides of the buffer hook moving groove; the buffer memory couple sets up on buffer memory couple elevation structure, buffer memory couple elevation structure comprises buffer memory couple elevator motor, buffer memory couple lift lead screw and buffer memory couple lift screw nut, the buffer memory couple with buffer memory couple lift screw nut fixed connection, buffer memory couple lift screw nut suit is in on the buffer memory couple lift lead screw, buffer memory couple elevator motor is through the drive buffer memory couple lift lead screw rotation control the buffer memory couple goes up and down.

21. The item storage management device of claim 20, wherein the cache hook is arranged on a cache hook support, and the cache hook lifting screw nut is fixedly connected with the cache hook support; the buffer hook support is further connected with a buffer hook lifting slide block, and the buffer hook lifting slide block moves up and down along the buffer hook lifting slide rail.

22. The article storage management device according to claim 17, wherein the buffer frame control layer has a buffer shaft gear, and the buffer frame is driven by the buffer shaft gear to perform a Z-axis movement along the up-and-down movement chute.

23. The article storage management device according to claim 22, wherein a buffer gear rack is provided on a side surface of the up-and-down moving chute along a Z-axis direction, and the buffer gear on the buffer frame control layer moves along the buffer gear rack to drive the buffer rack to move along the up-and-down moving chute along the Z-axis direction.

24. The article storage management device according to claim 17, wherein the buffer frame control layer has a slider, and the slider is engaged with a slide rail on the intermediate handling frame, so that the buffer frame is moved in the Z-axis direction by the slider.

25. The item storage management device according to claim 24, wherein a support block assembly is further disposed on a side of the cache frame control layer, and the support block assembly is engaged with a positioning crossbar disposed on the intermediate handling frame, so that the support block assembly is in contact with the positioning crossbar for fixing the cache frame.

26. The item storage management device of claim 25, wherein said support block assemblies are controlled by a positioning drive structure disposed at the bottom of said cache frame control layer; and a magnet piece is also arranged on the side surface of the buffer memory frame control layer.

27. The article storage management device according to claim 26, wherein the positioning driving structure comprises a positioning driving motor, the positioning driving motor drives a positioning gear to rotate, and the positioning gear drives a first positioning push rod and a second positioning push rod; the first positioning push rod is connected with a first positioning push plate, and the second positioning push rod is connected with a second positioning push plate; the first positioning push plate pushes the first supporting block and the second supporting block to protrude outwards through the first linear push rod and the second linear push rod; the positioning push plate II pushes the support block III and the support block IV to protrude outwards through the linear push rod III and the linear push rod IV; the first support block, the second support block, the third support block and the fourth support block form the support block assembly.

28. The article storage management device according to claim 14, wherein the integrated control module based on the single chip microcomputer further comprises a stepping motor driving board and a servo motor control board, and the main control board is connected with the stepping motor driving board and the servo motor control board; the stepping motor drive board is used for controlling the rotating direction and the rotating speed of the stepping motor, and the servo motor control board is used for controlling the rotating direction and the rotating speed of the servo motor.

29. The article storage management device according to claim 28, wherein a power interface, a communication interface, a sensor signal interface and a motor power signal interface are provided on the main control board; the power interface is a connection working power supply of the main control board, the communication interface is that the main control board provides a communication interface with the control system, the sensor signal interface is that the main control board provides an interface for connection with each sensor, and the motor power signal interface provides an interface for connection of the main control board and each motor.

30. The article storage management apparatus according to any one of claims 1 to 6, wherein an article access window door is installed to the article access window, and an RFID antenna and an LED indicator lamp are further installed to the robot.

31. An article management method adopting an integrated control module based on a single chip microcomputer is characterized by comprising an S1 article storage process, wherein the S1 article storage process specifically comprises the following processes:

s1-2: the control system sends an instruction for storing the article to the integrated control module based on the single chip microcomputer;

s1-3: after the integrated control module based on the single chip microcomputer receives the instruction, the manipulator is controlled to take out an article frame for storing the article from the article storage rack and move the article frame to an article access window, an LED indicating lamp corresponding to the position to be stored is lightened, and meanwhile, the cache rack is controlled to move into the first storage rack or the second storage rack;

s1-5: putting the article to the position where an article frame LED indicator lamp on the manipulator is turned on, and then pressing a confirmation button;

s1-6: the integrated control module based on the single chip microcomputer detects RFID electronic tags on all articles in the article frame and feeds detection data back to the control system, and the control system checks whether the storage is correct or not;

s1-7: the integrated control module based on the single chip microcomputer closes the article access window door and extinguishes the LED indicating lamp;

s1-8: the integrated control module based on the single chip microcomputer sends out an instruction to control the mechanical arm to send the object frame back to the object storage rack;

32. The method for managing goods by using an integrated control module based on a single chip microcomputer according to claim 31, further comprising an S2 goods retrieving process, wherein the S2 goods retrieving process specifically comprises the following processes:

s2-2: sending an article taking instruction to the integrated control module based on the single chip microcomputer by the control system;

s2-3: after receiving the instruction, the integrated control module based on the single chip microcomputer controls the mechanical arm to take out the article frame stored with the article from the article storage rack and move to the article access window, and simultaneously controls the cache rack to move to the article access window;

s2-4: the cache manipulator pushes an article to be taken out to the cache frame from a specified position in the article frame on the manipulator;

s2-8: taking an article from the cache frame at the position of the article access window, and pressing a confirmation button;

s2-9: the integrated control module based on the single chip microcomputer detects whether the articles in the cache rack are taken out or not;

33. The method for managing objects using an integrated control module based on a single chip microcomputer according to claim 31, further comprising an S3 emergency processing procedure, wherein when the device for managing object storage fails or is powered off, the first storage rack or the second storage rack can be opened for manual storage/retrieval of objects, specifically comprising the following procedures:

s3-2: opening the locking mechanism;

s3-3: pulling the first storage rack or the second storage rack forward;

s3-4: pulling out the article frame of the article to be stored and taken;

s3-5: storing or taking out articles;

s3-6: returning the item frames to the item storage shelves;

s3-7: pushing the first or second storage rack backwards into the item storage rack;

s3-8: closing the locking mechanism;

s3-9: the front panel door is closed.

34. The method for managing objects by using the integrated control module based on the single chip microcomputer according to claim 31, further comprising an S4 inventory processing procedure, specifically comprising the following procedures:

s4-1: confirming a disc library operation in the control system;

s4-3: after receiving the instruction, the integrated control module based on the single chip microcomputer controls the mechanical arm to take out the article frame from the article storage rack to the mechanical arm;

s4-4: the integrated control module based on the single chip microcomputer detects and reads the RFID of all the articles in the article frame;

s4-5: the integrated control module based on the single chip microcomputer feeds the read RFID information and the corresponding article position information back to the control system;

s4-7: the integrated control module based on the single chip microcomputer controls the mechanical arm to send the object frame back to the object storage rack;

s4-8: repeating the steps S4-3 to S4-7 until all the object frames are checked;