CN209777381U

CN209777381U - Automatic packing apparatus that goes out of warehouse of aluminium template and automatic packing device thereof

Info

Publication number: CN209777381U
Application number: CN201822115508.2U
Authority: CN
Inventors: 张昌平
Original assignee: Upper Sea God's Machine Softcom Ltd
Current assignee: Guangxi Luban Aluminum Alloy Formwork Co ltd
Priority date: 2018-12-17
Filing date: 2018-12-17
Publication date: 2019-12-13
Anticipated expiration: 2028-12-17

Abstract

The utility model discloses an automatic aluminum template delivery and packaging device and an automatic packaging device thereof, wherein the automatic delivery and packaging device comprises a master control device, an aluminum template storage device, a mobile conveying device and an automatic packaging device; the main control device is respectively connected with the aluminum template storage device, the mobile conveying device and the automatic packing device; the aluminum template storage device is used for storing aluminum templates of different types; the moving and conveying device is used for moving the aluminum template from one position to another position; the automatic packing device is used for automatically packing the grouped aluminum templates. The utility model provides an automatic packing apparatus that goes out of warehouse of aluminium template and automatic packing apparatus thereof can be intelligent, the automatic letter sorting aluminium template that goes out of warehouse, improves work efficiency, uses manpower sparingly resource.

Description

Automatic packing apparatus that goes out of warehouse of aluminium template and automatic packing device thereof

Technical Field

The utility model belongs to the technical field of it is automatic, a packing apparatus of leaving warehouse especially relates to an automatic packing apparatus of leaving warehouse of aluminium template and automatic packing device thereof is related to.

Background

With the continuous progress of construction and management technologies of construction projects, in order to improve efficiency and quality level, a plurality of work types are developed from 'temporary operation on construction sites' to 'standard operation on factory scale'. The combined template for construction engineering adopts novel materials and standard operation of factories, and is one of the technical fields.

The construction of the combined template in the construction project comprises the steps of firstly arranging templates of all components, drawing a template matching diagram, and then carrying out factory production and processing and field assembly. The template arrangement of the combined template of the construction project is carried out according to the size of the template surface of the component and by combining the standard size of the building template and the standard size of the components thereof. The device is completely arranged manually, the labor intensity is high, the working efficiency is low, and the adjustment and the modification are extremely difficult.

The applicant develops software capable of automatically generating a combined template according to an engineering drawing, and can obtain a corresponding combined template through cutting, punching and welding according to a template design drawing. However, the existing detection method is to manually measure the length of each edge of the combined template and then manually record the length; since the composite templates are usually long and one project may need thousands of composite templates, the measurement usually needs 2-3 persons, and the efficiency and the precision are low.

in view of the above, there is a need to design a new aluminum template ex-warehouse method to overcome the above-mentioned defects of the existing in-warehouse method.

SUMMERY OF THE UTILITY MODEL

the utility model discloses the technical problem that will solve is: the utility model provides an automatic baling equipment and automatic packing apparatus that goes out of warehouse of aluminum mould board, can intelligent, the automatic letter sorting aluminum mould board that goes out of warehouse, improve work efficiency, resources of using manpower sparingly.

In order to solve the technical problem, the utility model adopts the following technical scheme:

An automatic aluminum template warehouse-out packing device comprises a master control device, a plurality of aluminum template storage devices, a movable conveying device and an automatic packing device; the main control device is respectively connected with the aluminum template storage device, the mobile conveying device and the automatic packing device;

each aluminum template storage device is provided with a workbench and can store aluminum templates of different types; the movable conveying device is provided with a sucking disc or a clamping component and can move the aluminum template from one position to another position; the automatic packaging device automatically packages the grouped aluminum templates;

The automatic packing device comprises a packing control circuit and two clamping mechanisms, wherein the two clamping mechanisms are positioned on two sides of the aluminum template to be packed;

each clamping mechanism comprises a base, upright rods positioned at two sides, a clamping rod positioned at one end of each upright rod, and an electric rotating mechanism arranged between the clamping rods and the upright rods; the upper part of the upright stanchion is provided with a distance sensor used for sensing distance data of a corresponding position; the packing control circuit is connected with the electric rotating mechanism and the position sensor;

The clamping rods and the vertical rods are provided with rotating pins, the electric rotating mechanism is a rotating motor, and an output shaft of the rotating motor is connected with the clamping rods and can drive the clamping rods to rotate; in the first state, the axes of the clamping rods are parallel to or on the same straight line with the axes of the vertical rods, and in the second state, the axes of the clamping rods are perpendicular to the axes of the vertical rods.

An automatic packing device comprises a packing control circuit and two clamping mechanisms, wherein the two clamping mechanisms are positioned on two sides of an aluminum template to be packed;

the beneficial effects of the utility model reside in that: the utility model provides an automatic packing apparatus that goes out of warehouse of aluminium template and automatic packing apparatus thereof can be intelligent, the automatic letter sorting aluminium template that goes out of warehouse, improves work efficiency, uses manpower sparingly resource.

Drawings

Fig. 1 is a schematic diagram of the automatic aluminum template warehouse-out and packaging equipment in an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of an aluminum template storage device according to an embodiment of the present invention.

fig. 3 is a schematic structural diagram of a workbench according to an embodiment of the present invention.

fig. 4 is a schematic structural diagram of a mobile conveying device according to an embodiment of the present invention.

fig. 5 is a schematic structural view illustrating the cooperation of the mobile conveying device and the aluminum mold plate storage device according to an embodiment of the present invention.

Fig. 6 is a schematic view of a part of the automatic packing device in the automatic aluminum template warehouse-out packing apparatus according to an embodiment of the present invention.

fig. 7 is the structural schematic diagram of the automatic packing device before packing in the automatic aluminum template warehouse-out packing equipment of the embodiment of the present invention.

Fig. 8 is the structural schematic diagram of the automatic packing device after packing in the automatic packing apparatus that goes out of storehouse of aluminum mould in an embodiment of the utility model.

fig. 9 is a schematic view of the automatic aluminum template delivery and packing apparatus in an embodiment of the present invention sucking the aluminum template from the conveying device.

Fig. 10 is a schematic view of the aluminum template automatic warehouse-out packaging equipment of the present invention absorbing the stretching force arm after the aluminum template is taken.

Fig. 11 is a schematic view of the automatic aluminum template warehouse-out packaging equipment moving the aluminum template to the corresponding workbench in an embodiment of the present invention.

Fig. 12 is a schematic view of the aluminum mold plate automatic warehouse-out packaging device in an embodiment of the present invention placing the aluminum mold plate into the corresponding workbench.

Fig. 13 is the schematic diagram of the automatic warehouse-out packaging equipment in an embodiment of the present invention after placing the aluminum template into the corresponding workbench.

Fig. 14 is a schematic circuit diagram of a power circuit in the automatic aluminum template warehouse-out packaging device according to an embodiment of the present invention.

Fig. 15 is a schematic circuit diagram of a main control device in the automatic aluminum template warehouse-out packaging device according to an embodiment of the present invention.

Fig. 16 is a schematic circuit diagram of a control circuit of a conveying device in an automatic aluminum template warehouse-out packaging device according to an embodiment of the present invention.

Fig. 17 is a schematic circuit diagram of a control circuit of a conveying motor in the automatic aluminum template warehouse-out packaging device according to an embodiment of the present invention.

Fig. 18 is a circuit diagram of a memory control circuit in an aluminum template memory device according to an embodiment of the present invention.

Fig. 19 is a circuit diagram of a first motor control circuit in an aluminum template storage device according to an embodiment of the present invention.

fig. 20 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.

Fig. 21 is a schematic circuit diagram of a pressure sensing circuit in an aluminum template storage device according to an embodiment of the present invention.

Fig. 22 is a schematic circuit diagram of the charge/discharge control circuit according to an embodiment of the present invention.

Fig. 23 is a schematic circuit diagram of an inflator control circuit and a getter pump control circuit according to an embodiment of the present invention.

Fig. 24 is a circuit diagram of a second arm motor driving circuit according to an embodiment of the present invention.

fig. 25 is a schematic circuit diagram of an automatic packing control circuit in the automatic aluminum template warehouse-out packing apparatus of an embodiment of the present invention.

Fig. 26 is a schematic circuit diagram of a motor control circuit of the automatic packing apparatus according to an embodiment of the present invention.

fig. 27 is a circuit diagram of another motor control circuit of the automatic packing apparatus according to an embodiment of the present invention.

Detailed Description

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

For further understanding of the present invention, preferred embodiments of the present invention will be described below with reference to examples, but it should be understood that these descriptions are only for the purpose of further illustrating the features and advantages of the present invention, and are not intended to limit the claims of the present invention.

the description in this section is for exemplary embodiments only, and the present invention is not limited to the scope of the embodiments described. The same or similar prior art means and some technical features of the embodiments are mutually replaced and are also within the scope of the description and the protection of the invention.

the utility model discloses an automatic aluminum template warehouse-out packaging device, and FIG. 1 is a schematic diagram of the automatic aluminum template warehouse-out packaging device in an embodiment of the utility model; as shown in fig. 1, in an embodiment of the present invention, the aluminum mold plate automatic warehouse-out packing device includes a main control device 1, an aluminum mold plate storage device 6, a movable conveying device 5, a conveying device 7, and an automatic packing device 8, wherein the main control device 1 connects the aluminum mold plate storage device 6, the movable conveying device 5, the conveying device 7, and the automatic packing device 8, respectively.

in another embodiment of the present invention, the aluminum mold plate automatic warehouse-out packing device includes the main control device 1, the aluminum mold plate storage device 6, the moving conveyor 5, and the automatic packing device 8, but does not include the above-mentioned conveyor 7, the main control device 1 connects the aluminum mold plate storage device 6, the moving conveyor 5, and the automatic packing device 8 respectively (i.e. the conveyor 7 in fig. 1 is not needed).

In an embodiment of the present invention, the main control device 1 includes a first motor control circuit, a first wireless communication module, and a first memory, and the first motor control circuit is connected to the first wireless communication module and the first memory, respectively.

The utility model discloses an embodiment, conveyor 7 includes third controller, third wireless communication module, conveying platform, conveying motor, and third wireless communication module, conveying motor are connected respectively to the third controller, and conveying motor connects conveying platform, drives conveying platform's action. In an embodiment of the present invention, a fourth controller, a positioning module, and a fourth wireless communication module may be further disposed on the aluminum template, and the fourth controller is connected to the positioning module and the fourth wireless communication module, respectively; the fourth controller is connected with the main control device through wireless communication. The aluminum template can send the position information of the aluminum template to the main control device through the positioning module.

In one embodiment of the utility model, the conveying device 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 conveying belt control circuit is connected with the conveying motor and used for controlling the action of the conveying motor. An output shaft of the conveying motor is connected with a conveying driving wheel (the output shaft of the conveying motor can be directly connected with the conveying driving wheel or connected with the conveying driving wheel through a coupler), and can drive the conveying driving wheel 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. A first roller is embedded outside the conveying driving wheel, and a second roller is embedded outside the conveying driven wheel; the conveying belt is arranged through the first roller and the second roller and is circularly conveyed under the rolling of the first roller and the second roller. Since the delivery device is prior art in the field and is well established, it is not described herein in detail. Of course, the conveying device can also adopt other structure modes in the prior art.

The conveyer belt can be equipped with two-dimensional code scanning device (two-dimensional code scanning device is prior art, does not do here and gives unnecessary details), acquires the model of template through discernment two-dimensional code to acquire its storehouse position that needs to place, then drive the conveyer belt and walk to corresponding storehouse position gate.

Fig. 2 is a schematic structural diagram of an aluminum template storage device according to an embodiment of the present invention; as shown in fig. 2, in an embodiment of the present invention, the aluminum template storage device 6 includes a frame 61, a plurality of storage compartments 62, 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 × n storage cells, where m and n are natural numbers.

Each storage lattice 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 lattice; each work table 62 is provided with a pressure sensor 63 for sensing the weight of the aluminum die plate carried by the work table 62. The pressure sensor 63 transmits the sensed data to the main control device through an electric connecting line or a wireless communication mode (at this time, a microprocessor, a wireless communication chip, a memory and the like are required to be matched to realize wireless transmission); the main control device can calculate whether the aluminum template is taken out or not according to the pressure difference sensed by the pressure sensor 63 in real time.

fig. 3 is a schematic structural diagram of a workbench according to an embodiment of the present invention; as shown in fig. 3, in an embodiment of the present invention, the two sides of each storage lattice are respectively provided with a first slide, and the two sides of the workbench are provided with a pulley 64 engaged with the first slide, so that the workbench can slide in a certain area under the engagement of the first slide and the pulley 64.

In an embodiment of the present invention, the structure of the working table 62 is similar to a drawer, and the storage compartment and the working table 62 are provided with a corresponding limiting mechanism to avoid the working table to be separated from the storage compartment.

As shown in fig. 3, the first electric slide rail includes 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.

Two first transmission racks 68 are arranged at two sides below the workbench 62, the first motor 65 is a dual-output shaft motor, the first motor 65 is respectively connected with two first driving gears 66 through two output shafts, and each first driving gear 66 is connected with a corresponding first transmission gear 67 through a respective first transmission chain 69, so that 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 subsequent equipment.

Fig. 4 is a schematic structural view of a mobile conveying device according to an embodiment of the present invention; as shown in fig. 4, in an embodiment of the present invention, the mobile conveying device 5 includes a conveying control circuit, a first track assembly 51, a first mobile driving mechanism 52, a robot chuck, and an inflation/deflation mechanism; the conveying control circuit is respectively connected with the first moving driving mechanism 52, the manipulator sucker 53 and the air inflation and deflation mechanism. In an embodiment of the present invention, the one end of the robot sucking disc is disposed on the first track assembly 51, and the first moving driving mechanism 52 is connected to the robot sucking disc 53, and can drive the robot sucking disc 53 to slide in the first track assembly 51.

In an embodiment of the present invention, a slide 511 for sliding the pulley is provided in the first rail assembly 51; the first movement driving mechanism 52 comprises a second motor 521 and a second pulley 522 connected with 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 chuck 53 in the X-axis direction in the figure.

In another embodiment of the present invention, a first rack (corresponding to the position marked with 511 in the figure) is disposed inside the first rail assembly 51, the first moving driving mechanism 52 includes a second motor 521 and a first gear (corresponding to the position marked with 522 in the figure) connected to the second motor 521, the first gear is engaged with the first rack, the second motor 521 can drive the first gear to move left and right along the first rack, and the position adjustment of the mechanical arm sucker 53 in the X-axis direction in the figure is realized.

In an embodiment of the present invention, the manipulator suction cup 53 includes a mechanical arm and a suction cup mechanism 531, and the suction cup 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 inflation and deflation mechanism is connected with the ventilation pipeline 530 and can inflate and deflate air into the sucking disc mechanism 531; the inflation and deflation mechanism comprises an inflation pump 54, an air pump 55, an inflation control circuit and a deflation control circuit. A pressure sensor 539 is arranged in the sucker mechanism 531, and the pressure sensor 539 is electrically connected with the main control device.

in an embodiment of the present invention, as shown in fig. 4, the mechanical arm includes a first arm 533, a second arm 534, and a second arm driving mechanism 532, 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 rail assembly 51; a third slideway 535 (which may also be a second electric slide rail, and the structure of the second electric slide rail can be referred to the description of the first electric slide rail, and the main components and functions are the same), is arranged inside the first arm 533, one end of the second arm 534 is arranged inside the third slideway 535, and the second arm driving mechanism 532 is connected to the second arm 534 to drive the second arm 534 to move inside the third slideway 535; one end of the second arm 534 fixes 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 slideway 535 to adjust the position of the robot chuck 53 in the Y-axis direction in the figure.

In another embodiment of the present invention, a second rack (corresponding to the position marked with 535 in the drawing) is disposed inside the first arm 533, the second arm driving mechanism 532 includes a third motor 5321 and a second gear (corresponding to the position marked with 5322 in the drawing) connected to the third motor 5321, the gear is engaged 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 adjust the position of the robot chuck 53 in the Y-axis direction in the drawing.

Fig. 5 is a schematic structural view illustrating the cooperation of the mobile conveying device and the aluminum mold plate storage device according to an embodiment of the present invention. The specific control circuit of the mobile conveyor is described in detail in the control circuit of the entire subsequent apparatus.

Fig. 6 is the utility model discloses an in the embodiment automatic packing apparatus's in the packing apparatus that goes out of storehouse of aluminum mould part of the component schematic diagram, fig. 7 is the utility model discloses an in the embodiment automatic packing apparatus before packing in the packing apparatus that goes out of storehouse of aluminum mould board, fig. 8 is the utility model discloses in an in the embodiment automatic packing apparatus after packing in the packing apparatus that goes out of storehouse of aluminum mould board. As shown in fig. 6 to 8, in an embodiment of the present invention, the automatic packing device 8 includes a packing control circuit 81 and two clamping mechanisms 82, and the two clamping mechanisms 82 are located at two sides of the aluminum mold plate to be packed.

Each clamping mechanism 82 comprises a base 821, upright rods 822 positioned at two sides, a clamping rod 823 positioned at one end of the upright rod 822, and an electric rotating mechanism 824 arranged between the clamping rod 823 and the upright rod 822; a distance sensor 825 is arranged at the upper part of the upright 822 and used for sensing distance data of a corresponding position; the packing control circuit 81 is connected to the electric rotating mechanism 824 and the position sensor 825.

A rotating pin 826 is arranged between the clamping rod 823 and the vertical rod 822, the electric rotating mechanism 824 is a rotating motor, and an output shaft of the rotating motor is connected with the clamping rod 823 and can drive the clamping rod 823 to rotate. In the first state, the axis of the clamping rod 823 is parallel to or on the same line with the axis of the upright 822; in the second state, the axis of the clamping rod 823 is perpendicular to the axis of the vertical rod 822.

the utility model discloses an in the embodiment, master control set includes aluminium template storage state database, waits to go out storehouse aluminium template position acquisition module, state database update module. The aluminum template storage state database is used for storing state data stored by the aluminum templates in the storage lattices.

The aluminum template to be delivered out of the warehouse is used for storing state data stored in the aluminum templates in the storage lattices of the aluminum templates with corresponding types according to the types of the aluminum templates to be delivered out of the warehouse and by combining the aluminum template storage state database, distributing the aluminum templates to be delivered out of the warehouse according to a set sequence, and sending position coordinates of the aluminum templates to the mobile conveying device and the aluminum template storage device; and the aluminum templates which are preferentially delivered from the warehouse and positioned at the top of each workbench.

The state database updating module is used for updating the state data stored in the corresponding storage lattice after the aluminum template is successfully delivered out of the warehouse; the mode for judging whether the aluminum template is successfully delivered out of the warehouse is as follows: and judging whether the weight data of the workbench corresponding to the position coordinates distributed by the aluminum template position acquisition module to be delivered out of the warehouse reduces the weight of the corresponding aluminum template or not, and acquiring the weight data borne above the workbench through a pressure sensor arranged on the workbench.

and the conveying controller of the mobile conveying device sets the actions to be executed by the first mobile driving mechanism and the second arm driving mechanism according to the received coordinate information. A first motor control circuit of the aluminum template storage device controls the corresponding workbench to be pushed out of a part of the corresponding storage grid under the driving of the first motor according to the received coordinate information, so that the aluminum template of the corresponding model can be placed conveniently.

In an embodiment of the present invention, the main control device can adaptively allocate a conveying coordinate to the aluminum template according to the position of the aluminum template that has been put in storage and the attribute of the aluminum template to be put in storage detected in real time, and record the conveying coordinate in the database; the transport coordinates include coordinates on the X, Y, and Z axes of the storage space.

The utility model discloses automatic packing apparatus that goes out of warehouse of aluminum mould's working process as follows:

step S1, the position obtaining module of the aluminum template to be delivered from the main control device is used for storing the state data stored by the aluminum template in the storage lattice of the aluminum template with the corresponding type in the aluminum template storage state database according to the type of the aluminum template to be delivered from the main control device, distributing the aluminum template to be delivered from the main control device according to the set sequence, and sending the position coordinates of the aluminum template to the mobile conveying device and the aluminum template storage device; preferentially delivering the aluminum templates positioned at the top of each workbench;

Step S2, controlling the action of a corresponding first motor by a first motor control circuit of a corresponding workbench in a corresponding storage cell in the aluminum template storage device, and driving the corresponding workbench to move out of a set position from the corresponding storage cell so as to move the conveying device to take out the aluminum template from the workbench; as shown in fig. 9.

step S3, the mobile conveying device obtains the position coordinates of the aluminum template to be delivered out of the warehouse, and the mechanical arm is driven by the first mobile driving mechanism to move to the position close to the corresponding workbench; then, according to the position of the corresponding aluminum template in the corresponding workbench after the workbench is moved out, the position of the second arm body is driven by the second arm body driving mechanism, the aluminum template is sucked by the sucker mechanism (the suction force of the sucker is further improved by exhausting air from the sucker), and then the aluminum template is moved to a set packaging area; as shown in fig. 10, 11 and 12.

when the corresponding workbench detects that the aluminum template moves out (detected by a pressure sensor at the bottom) and senses that the mechanical arm and the aluminum template are moved out (namely no foreign matter is sensed to be left in the storage lattice) by a position sensor arranged above the storage lattice, the moved workbench is reset under the drive of a first motor control circuit and a first motor, namely the moved workbench enters the storage lattice under the drive of the first motor; as shown in fig. 12.

Step S4, the packing area is provided with two automatic packing devices (the two automatic packing devices can be vertically arranged); after the batch of aluminum templates are placed, the main control device sends a placing end signal to each automatic packing device;

Step S5, the packing control circuit of each automatic packing device controls the electric rotating mechanisms of the two clamping mechanisms to rotate, so that the axes of the clamping rods are perpendicular to the axes of the vertical rods, and the aluminum formwork can be packed, as shown in fig. 7 and 8.

The automatic aluminum template warehouse-out packaging equipment further comprises a power circuit. The main control device of the automatic aluminum template delivery and packaging equipment is respectively connected with the conveyor belt control circuit, the first motor control circuit, the conveying control circuit, the inflation control circuit and the deflation control circuit; the power supply circuit respectively provides the electric energy required by the work for the power utilization part.

Fig. 14 is a schematic circuit diagram of a power circuit in the automatic warehouse-out packaging device according to an embodiment of the present invention; as shown in fig. 14, in an 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 R1, 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.

A first pin of the first chip U1 is connected with a first end of the rectifier bridge D2 and a first end of the first capacitor C1, and a 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; a first terminal of the first transformer T1 is connected to a first terminal of the first port P1, and a fourth terminal of the first transformer T1 is connected to a second terminal of the first port P1. A second end of the first capacitor C1 is grounded, and a third pin of the first chip U1, a fifth pin of the first chip U1 and a sixth pin of the first chip U1 are grounded, respectively; the fourth pin of the first chip U1 is connected to a first power voltage (+5V), the second pin of the first chip U1 is connected to 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. A first power supply voltage (+5V) is respectively connected to 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 anode of the first diode D1, and the cathode of the first diode D1 is connected to the first end of the first resistor R1; the second terminal of the third capacitor C3, the second terminal of the fourth capacitor C4, and the second terminal of the first resistor R1 are respectively grounded. A first power voltage (+5V) is respectively connected to 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 terminal of the fifth capacitor C5 and the second terminal of the sixth capacitor C6 are respectively grounded. A first pin of the second chip U2 is connected to a first end of the seventh capacitor C7, a first end of the eighth capacitor C8, and an anode of the fourth diode D4, respectively; 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 terminal of the seventh capacitor C7, the second terminal of the eighth capacitor C8, and the second terminal of the second resistor R2 are grounded, respectively. In this embodiment, the model of the first chip U1 may be LM 2596S-5.0; the second chip U2 may be model AMS 117-3.3.

Fig. 15 is a schematic circuit diagram of a main control device in the automatic aluminum template warehouse-out packaging device in an embodiment of the present invention; as shown in fig. 15, in an embodiment of the present invention, the main control device mainly includes a first second 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 model of the first two chips U12 can be MSP430F149, the sixth chip U6 can be a liquid crystal screen chip with the model of LCD12864, and the model of the tenth chip can be nRF24L 01. The pins of the first two-chip U12 are connected to the pins of the sixth chip U6, respectively, and the pins of the first two-chip U12 are connected to the pins of the tenth chip U10, respectively. A ninth pin of the first two-chip U12 is connected with a first end of the seventh crystal oscillator Y7, and a tenth pin of the first two-chip U12 is connected with a second end of the seventh crystal oscillator Y7; the fifth pin of the first two-chip U12 is connected to the first terminal of the fourth crystal oscillator Y4, and the fifth pin of the first two-chip U12 is connected to the second terminal of the fourth crystal oscillator Y4. The ninth pin of the tenth chip U10 is connected to the first terminal of the sixth crystal Y6, and the tenth pin of the tenth chip U10 is connected to the second terminal of the sixth crystal Y6. The fifth pin of the first two-chip U12 is grounded through a third sixth capacitor C36, and the fifth pin of the first two-chip U12 is grounded through a fourth third capacitor C43; a second power voltage (+3.3V) is respectively connected to the first end of the third ninth resistor R39 and the cathode 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 diode U12, the anode of the eighth diode D8, the first end of the fifth fourth capacitor C54, and the second end of the fifth fourth capacitor C54 is grounded.

The second power 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 connected to the third pin of the sixth chip U6 and the second end of the first diode R12, respectively, and the first end of the first diode R12 is grounded. An 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; a twelfth pin of the tenth chip U10 is connected to the first end of the seventh inductor L7 and the second end of the sixth inductor L6, respectively; a 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, respectively, 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 first ends of the second antenna E2 and the third eight capacitor C38, respectively, and the second end of the third eight capacitor C38 is grounded.

Fig. 16 is a schematic circuit diagram of a control circuit of a conveying device in an automatic aluminum template warehouse-out packaging device according to an embodiment of the present invention; as shown in fig. 16, in an embodiment of the present invention, the feeding 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 model of the nineteenth chip U19 can be MSP430F149, and the model of the seventeenth chip U17 can be nRF24L 01. The pins of the nineteenth chip U19 are connected to the pins of the seventeenth chip U17, respectively, and the specific connection relationship may be a specific circuit diagram.

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

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

an eleventh pin of the seventeenth chip U17 is respectively 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 respectively grounded; a 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; a 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, respectively, 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 first ends of the third antenna E3 and the sixth fourth capacitor C64, respectively, and the second end of the sixth fourth capacitor C64 is grounded.

Fig. 17 is a schematic circuit diagram of a control circuit of a conveying motor in an automatic aluminum template warehouse-out packaging device according to an embodiment of the present invention; as shown in fig. 17, in an embodiment of the present invention, the conveying motor control circuit includes a second chip U21, an eighteenth chip U18, a second chip U22, a second chip U24, a second chip U25, a twelfth transistor Q12, a thirteenth transistor Q13, a fourteenth transistor Q14, a fifteenth transistor Q15, and a plurality of resistors.

Eighteenth chip U18, second chip U22, second four chip U24, second five chip U25 are HCNR200 optoelectronic isolation couplers, play the signal isolation role, second direct current motor B2, third direct current motor B3, fourth direct current motor B4, fifth direct current motor B5 are direct current motors, make the transmission band move forward, through setting up multiunit motor, the workstation that drives respectively in the corresponding matter storage lattice shifts out or gets into. The direct current motor can generate interference to a power supply in the running process, and in order to enable a system to work stably, a control part of the motor needs to be isolated from a motor driving part, so that an HCNR200 photoelectric isolation coupler is used.

The twentieth pin of the second first chip U21 is connected to the first power voltage (+5V), the eighteenth pin of the second first chip U21 is connected to 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 to the first power voltage (+5V), the fourth end of the eighteenth chip U18 is connected to the second end of the fifth eighth resistor R58, the base of the twelfth triode Q12, the second end of the fifth seventh resistor R57, the first end of the fifth eighth resistor R58, the first end of the fifth seventh resistor R57, and the emitter of the twelfth triode Q12 are grounded, respectively. The collector of the twelfth triode Q12 is connected to the negative terminal of the second dc motor B2 and the positive terminal of the seventeenth diode D17, respectively, and the VCC supply voltage is connected to the positive terminal of the second dc motor B2 and the negative terminal of the seventeenth diode D17, respectively.

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 triode Q13, the second end of the sixteenth resistor R60, the first end of the sixth resistor R61, the first end of the sixteenth resistor R60, and the emitter of the thirteenth triode Q13 are grounded, respectively. The collector of the thirteenth triode Q13 is connected to the negative terminal of the third dc motor B3 and the positive terminal of the eighteenth diode D18, respectively, and the VCC supply voltage is connected to the positive terminal of the third dc motor B3 and the negative terminal of the eighteenth diode D18, respectively.

A sixteenth pin of the second first chip U21 is connected to the first end of the second fourth chip U24 through a 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 triode Q14, the second end of the sixth fourth resistor R64, the first end of the sixth fifth resistor R65, the first end of the sixth fourth resistor R64, and the emitter of the fourteenth triode Q14 are grounded, respectively. A collector of the fourteenth triode Q14 is connected to the negative terminal of the fourth dc motor B4 and the positive terminal of the nineteenth diode D19, respectively, and the VCC supply voltage is connected to the positive terminal of the fourth dc motor B4 and the negative terminal of the nineteenth diode D19, respectively.

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

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 inflation pump and the air pump to be switched on and off through a main control chip so as to achieve the purpose of inflation and deflation; the second arm motor driving circuit can flexibly control the actions of starting, stopping, front and back and the like of the mechanical arm.

Fig. 22 is a schematic circuit diagram of an embodiment of the charge/discharge control circuit of the present invention; as shown in fig. 22, in an embodiment of the present invention, the charge and discharge control circuit includes a second third 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, a plurality of capacitors, and a plurality of resistors. The model of the second third chip U23 can be MSP430F149, and the model of the twentieth chip U20 can be nRF24L 01. The pins of the second third chip U23 are connected to the pins of the twentieth chip U20, respectively, and the specific connection relationship may be a specific circuit diagram.

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

A fifth second pin of the second third chip U23 is grounded through a sixth ninth capacitor C69, and a fifth third pin of the second third chip U23 is grounded through a seventh fourth capacitor C74; a second power voltage (+3.3V) is respectively connected to the first end of the sixth seventh resistor R67 and the cathode of the second diode D22, the second end of the sixth seventh resistor R67 is respectively connected to the fifth eight pin of the second third chip U23, the anode of the second diode D22, the first end of the eighth fifth capacitor C85, and the second end of the eighth fifth capacitor C85 is grounded.

An eleventh pin of the twentieth chip U20 is respectively 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 respectively grounded; a 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; a 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, respectively, 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, respectively, and the second end of the seventy capacitor C70 is grounded.

FIG. 23 is a schematic circuit diagram of an inflator control circuit and a getter pump control circuit in accordance with an embodiment of the present invention; as shown in fig. 23, in an embodiment of the present invention, the inflator control circuit includes a second hexachip U26, a second triode Q23, a second fifth diode D25, a second eighth diode D28, and a plurality of resistors.

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

Referring to fig. 23, in an embodiment of the present invention, the getter pump control circuit includes a third chip U31, a second nine-transistor Q29, a third diode D31, a third five-diode D35, and a plurality of resistors.

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

Fig. 24 is a schematic circuit diagram of a second arm motor driving circuit according to an embodiment of the present invention; as shown in fig. 24, in an embodiment of the present invention, the second arm motor driving circuit includes a thirtieth chip U30, a first nine triode Q19, a second triode Q21, a second triode Q22, a second six triode Q26, a second seven triode Q27, a second eight triode Q28, a second six diode D26, a second seven diode D27, a third two diode D32, a third three diode D33, a ninth seven capacitor C97, and a plurality of resistors.

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

Fig. 18 is a schematic circuit diagram of a memory control circuit in an aluminum template memory device according to an embodiment of the present invention; as shown in fig. 18, in an embodiment of the present invention, the memory controller includes a fourth chip U4, a third chip U3, a first crystal Y1, a second crystal Y2, a fifth crystal 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 can be MSP430F149, and the model of the third chip U3 can be nRF24L 01. The pins of the fourth chip U4 are connected to the pins of the third chip U3, and the specific connection relationship can be seen in a specific circuit diagram.

A ninth pin of the fourth chip U4 is connected to the first end of the fifth crystal oscillator Y5, and a tenth pin of the fourth chip U4 is connected to the second end of the fifth crystal oscillator Y5; the fifth second pin of the fourth chip U4 is connected to the first terminal of the first crystal oscillator Y1, and the fifth third pin of the fourth chip U4 is connected to the second terminal of the first crystal oscillator Y1. The ninth pin of the third chip U3 is connected to the first end of the second crystal oscillator Y2, and the tenth pin of the third chip U3 is connected to the second end of the second crystal oscillator Y2.

A fifth pin of the fourth chip U4 is grounded through a tenth capacitor C10, and a fifth pin of the fourth chip U4 is grounded through a fourteenth capacitor C14; a second power voltage (+3.3V) is respectively connected to the first end of the thirteenth resistor R13 and the cathode of the seventh diode D7, the second end of the thirteenth resistor R13 is respectively connected to the fifth eighth pin of the fourth chip U4, the anode of the seventh diode D7, the first end of the fifth capacitor C25, and the second end of the fifth capacitor C25 is grounded.

an eleventh pin of the third chip U3 is connected to 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, respectively, and the second end of the nineteenth capacitor C19 and the second end of the eighteenth capacitor C18 are grounded, respectively; a twelfth pin of the third chip U3 is connected to the first end of the fourth inductor L4 and the second end of the third inductor L3, respectively; a 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, respectively, 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, respectively, and the second end of the eleventh capacitor C11 is grounded.

Fig. 19 is a schematic circuit diagram of a first motor control circuit in an aluminum template storage device according to an embodiment of the present invention; as shown in fig. 19, in an 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 thirteenth transistor Q10, and an eleventh transistor Q11.

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

The VCC power supply voltage is respectively connected with an emitting electrode of the ninth triode Q9 and an emitting electrode 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. A collector of the ninth triode Q9 is connected to the fourth port of the first dc motor B1 and an emitter of the eleventh triode Q11, respectively, and a collector of the eighth triode Q8 is connected to the sixth port of the first dc motor B1 and an emitter of the thirteenth diode Q10, respectively. A sixteen pin of the fourteenth chip U14 is connected with a base electrode of a thirteenth triode Q10, and a fifteen pin of the fourteenth chip U14 is connected with a base electrode of an eleventh triode Q11; the collector of the eleventh triode Q11 and the collector of the thirteenth diode Q10 are grounded, respectively. The second port and the fifth port of the first dc motor B1 are grounded, respectively.

Fig. 20 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. 20, in an embodiment of the present invention, the infrared distance sensor includes a ninth chip U9, a fifth chip U5, a first triode 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 of the model LM741 CN.

the first power voltage (+5V) is connected to a first end of a fourth resistor R4 (which may be a sliding varistor), 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 transistor Q1; the emitter of the first transistor Q1 is grounded, and the base of the first transistor Q1 is connected to the first end of the nineteenth resistor R19.

A first power voltage (+5V) is connected to a first end of the fifth resistor R5, and a second end of the fifth resistor R5 is connected to a first end of the fifteenth capacitor C15 and a first end of the sixth resistor R6, respectively; a second terminal of the fifteenth capacitor C15 is connected to ground. A second end of the sixth resistor R6 is connected to the first end of the seventh resistor R7 and the anode of the sixth diode D6, respectively, and the cathode of the sixth diode D6 is grounded.

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

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

Fig. 21 is a schematic circuit diagram of a pressure sensing circuit in an aluminum template storage device according to an embodiment of the present invention; as shown in fig. 21, in an 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, and a plurality of resistors.

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

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

Fig. 25 is a schematic circuit diagram of an automatic packing control circuit in the automatic aluminum template warehouse-out packing apparatus according to an embodiment of the present invention; as shown in fig. 25, in an embodiment of the present invention, the automatic packing control circuit includes a second nine-chip U29, a second eight-chip U28, a fourteenth crystal oscillator Y14, a fifteenth crystal oscillator Y15, a sixteenth crystal oscillator Y16, a fourteenth inductor L14, a fifteenth inductor L15, a sixteenth inductor L16, a third four-diode D34, a plurality of capacitors, and a plurality of resistors. The model of the second nine-chip U29 can be MSP430F149, and the model of the second eight-chip U28 can be nRF24L 01. The pins of the second ninth chip U29 are connected to the pins of the second eighth chip U28, respectively, and the specific connection relationship may be a specific circuit diagram.

in fig. 25, the right side is the packing apparatus main control circuit, and the packing control circuit performs wireless communication with the main control circuit in a wireless transceiving manner; the left side is a control circuit of two motors, and the motor control circuit can control the positive rotation, the negative rotation and the stop state of the motors.

A ninth pin of the second ninth chip U29 is connected to a first end of the sixteenth crystal oscillator Y16, and a tenth pin of the second ninth chip U29 is connected to a second end of the sixteenth crystal oscillator Y16; the fifth second pin of the second ninth chip U29 is connected to the first end of the fourteenth crystal oscillator Y14, and the fifth third pin of the second ninth chip U29 is connected to the second end of the fourteenth crystal oscillator Y14. The ninth pin of the second eight chip U28 is connected to the first end of the fifteenth crystal oscillator Y15, and the tenth pin of the second eight chip U28 is connected to the second end of the fifteenth crystal oscillator Y15. A fifth pin of the second ninth chip U29 is grounded through a ninth capacitor C91, and a fifth third pin of the second ninth chip U29 is grounded through a ninth sixth capacitor C96; a second power voltage (+3.3V) is respectively connected to the first end of the first zero-three resistor R103 and the cathode of the third four diode D34, the second end of the first zero-three resistor R103 is respectively connected to the fifth eight pin of the second nine-chip U29, the anode of the third four diode D34 and the first end of the first zero-two capacitor C102, and the second end of the first zero-two capacitor C102 is grounded.

An eleventh pin of the second eighth chip U28 is connected to the first end of the ninth capacitor C99, the first end of the ninth eighth capacitor C98, and the second end of the sixteenth inductor L16, respectively, and the second end of the ninth capacitor C99 and the second end of the ninth eighth capacitor C98 are grounded, respectively; a twelfth pin of the second eighth chip U28 is connected to the first end of the sixteenth inductor L16 and the second end of the fifteenth inductor L15, respectively; a thirteenth pin of the second eighth chip U28 is connected to the first end of the fifteenth inductor L15 and the second end of the fourteenth inductor L14, respectively, the first end of the fourteenth inductor L14 is connected to the first end of the eighth ninth capacitor C89, the second end of the eighth ninth capacitor C89 is connected to the first ends of the fifth antenna E5 and the ninth capacitor C92, respectively, and the second end of the ninth capacitor C92 is grounded.

Fig. 26 is a schematic circuit diagram of a motor control circuit of the automatic packing apparatus according to an embodiment of the present invention; as shown in fig. 26, in an embodiment of the present invention, the automatic packing motor control circuit includes a seventh chip U27, a sixteenth transistor Q16, a seventeenth transistor Q17, an eighteenth transistor Q18, a twentieth transistor Q20, a second fourth transistor Q24, a second fifth transistor Q25, a ninth capacitor C93, a second third diode D23, a second fourth diode D24, a second ninth diode D29, a thirty diode D30, and a plurality of resistors.

A first pin of the second seventh chip U27 is connected to a sixth pin of the second seventh chip U27, an eighth pin of the second seventh chip U27, a thirteenth pin of the second seventh chip U27, a second end of the seventy resistor R70, and a collector of the sixteenth triode Q16; the first end of the seventeenth resistor R70 is connected to VCC power supply voltage, the emitter of the sixteenth transistor Q16 is grounded, the base of the sixteenth transistor Q16 is connected to the second end of the seventeenth resistor R71, and the first end of the seventeenth resistor R71 is connected to the first power supply voltage (+ 5V). A second pin of the second seventh chip U27 is connected to a fifth pin of the second seventh chip U27, a second end of the seventh resistor R77, and a collector of the twentieth triode Q20, respectively; the emitter of the twentieth transistor Q20 is grounded, and the base of the twentieth transistor Q20 is connected to the second terminal of the ninth resistor R92. The third pin of the second seventh chip U27 is connected to the ninth pin of the second seventh chip U27, the first end of the seventh fourth resistor R74, and the first end of the eighth fourth resistor R84, respectively; a second end of the seventh fourth resistor R74 is connected to the anode of the second fourth diode D24 and the base of the eighteenth transistor Q18, respectively. The fourth pin of the second seventh chip U27 is connected to the twelfth pin of the second seventh chip U27, the second end of the eighth fourth resistor R84, and the first end of the eighth ninth resistor R89, respectively; a second end of the eighth ninth resistor R89 is connected to a cathode of the second ninth diode D29 and a base of the second fifth triode Q25, respectively. A tenth pin of the second seventh chip U27 is connected to the second terminal of the eighth third resistor R83 and the second terminal of the ninety resistor R90, respectively; a first end of the ninety resistor R90 is connected to a cathode of the thirty-second diode D30 and a base of the second four-transistor Q24, respectively. An eleventh pin of the second seventh chip U27 is connected to the second terminal of the seventh fifth resistor R75 and the first terminal of the eighth third resistor R83, respectively. A first end of the seventh resistor R75 is connected to the anode of the second fourth diode D24 and the base of the seventeenth transistor Q17, respectively.

The VCC power supply voltage is connected to the negative electrode of the second third diode D23, the emitter of the eighteenth transistor Q18, the emitter of the seventeenth transistor Q17, and the negative electrode of the second fourth diode D24, respectively. A collector of the eighteenth triode Q18 is connected to the first end of the ninth third capacitor C93, the first end of the third motor M3, and the collector of the second fifth triode Q25, respectively; a collector of the seventeenth triode Q17 is connected to the second terminal of the ninth capacitor C93, the second terminal of the third motor M3, and the collector of the second triode Q24, respectively; the anode of the second ninth diode D29, the emitter of the second fifth triode Q25, the emitter of the second fourth triode Q24, and the anode of the thirtieth diode D30 are grounded, respectively.

In an embodiment of the present invention, the automatic packing motor includes two motors, and both motors can use the same motor control circuit, as shown in fig. 26 and 27.

The utility model discloses an automatic warehouse entry is used, and new template, perhaps the template after wasing, correcting need put in storage. After the model of the template is identified, printing a two-dimensional code through equipment (a Bluetooth printer) and pasting the two-dimensional code on the template; the template is then moved to a conveyor. The conveyer belt is equipped with the camera, discernment two-dimensional code, and the drive conveyer belt walks to corresponding storehouse position gate. The robot feeds the template into the grid. The utility model discloses an automatic warehouse-out is used in, acquires the packing manifest. The manipulator finds out the templates from corresponding library positions in sequence, transmits the templates to a conveyor belt and conveys the templates to a packing position; the automatic packing machine tightens the packing rope to realize packing.

To sum up, the utility model provides an automatic packing apparatus and automatic packing apparatus that goes out of warehouse of aluminum mould board can intelligent, automatic ground letter sorting aluminum mould board that goes out of warehouse, improves work efficiency, the resource of using manpower sparingly.

The description and applications of the present invention 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 alternative and equivalent various components of the embodiments will be apparent to those skilled 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 components, materials, and parts, 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 present invention.

Claims

1. The automatic aluminum template warehouse-out and packaging equipment is characterized by comprising a master control device, a plurality of aluminum template storage devices, a movable conveying device and an automatic packaging device; the main control device is respectively connected with the aluminum template storage device, the mobile conveying device and the automatic packing device;

2. The automatic aluminum template warehouse-out packing equipment of claim 1, characterized in that:

The mobile conveying device comprises a conveying controller, a first track assembly, a first mobile driving mechanism, a manipulator sucker and an inflation and deflation mechanism; the conveying controller is respectively connected with the moving 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 moving 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 vent pipeline, and the inflation and deflation mechanism is connected with the vent pipeline and can inflate and deflate air into the sucking disc mechanism; the inflation and deflation mechanism comprises an inflation pump and an air pump;

The mechanical arm comprises a first arm body, a second arm body and a second arm body driving mechanism, 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; a second electric slide rail is arranged in the first arm body, one end of the second arm body is arranged in the second electric slide 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 slide rail; and one end of the second arm body is used for fixing the sucker mechanism.

3. The automatic aluminum template warehouse-out packing equipment of claim 1, characterized in that:

The aluminum template storage device comprises a frame and a plurality of storage lattices, wherein each storage lattice is arranged through the frame, and each storage lattice stores an aluminum template with a corresponding model; one frame can be provided with m × n storage grids, wherein m and n are natural numbers;

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

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

the first electric slide 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 motor with double output shafts, 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; two first drive gears, two first drive gears mesh with corresponding first drive rack respectively, drive the workstation and shift out the settlement position from corresponding matter storage lattice under the drive of first motor.

4. The automatic aluminum template warehouse-out packing equipment of claim 1, characterized in that:

The packaging control circuit comprises a second nine-chip U29, a second eight-chip U28, a fourteenth crystal oscillator Y14, a fifteenth crystal oscillator Y15, a sixteenth crystal oscillator Y16, a fourteenth inductor L14, a fifteenth inductor L15, a sixteenth inductor L16, a third four-diode D34, a plurality of capacitors and a plurality of resistors; a plurality of pins of the second ninth chip U29 are connected with a plurality of pins of the second eighth chip U28, respectively;

A ninth pin of the second ninth chip U29 is connected to a first end of the sixteenth crystal oscillator Y16, and a tenth pin of the second ninth chip U29 is connected to a second end of the sixteenth crystal oscillator Y16; a fifth second pin of the second ninth chip U29 is connected to a first end of the fourteenth crystal oscillator Y14, and a fifth third pin of the second ninth chip U29 is connected to a second end of the fourteenth crystal oscillator Y14; a ninth pin of the second eight chip U28 is connected to a first end of the fifteenth crystal oscillator Y15, and a tenth pin of the second eight chip U28 is connected to a second end of the fifteenth crystal oscillator Y15; a fifth pin of the second ninth chip U29 is grounded through a ninth capacitor C91, and a fifth third pin of the second ninth chip U29 is grounded through a ninth sixth capacitor C96; the second power voltage is respectively connected with the first end of the first zero three resistor R103 and the cathode of the third four diode D34, the second end of the first zero three resistor R103 is respectively connected with the fifth eight pin of the second nine chip U29, the anode of the third four diode D34 and the first end of the first zero two capacitor C102, and the second end of the first zero two capacitor C102 is grounded;

5. The automatic aluminum template warehouse-out packing equipment of claim 1, characterized in that:

the electric rotating mechanism is provided with a motor control circuit, and the motor control circuit comprises a second seventh chip U27, a sixteenth triode Q16, a seventeenth triode Q17, an eighteenth triode Q18, a twentieth triode Q20, a second fourth triode Q24, a second fifth triode Q25, a ninth third capacitor C93, a second third diode D23, a second fourth diode D24, a second ninth diode D29, a thirtieth diode D30 and a plurality of resistors;

A first pin of the second seventh chip U27 is connected to a sixth pin of the second seventh chip U27, an eighth pin of the second seventh chip U27, a thirteenth pin of the second seventh chip U27, a second end of the seventy resistor R70, and a collector of the sixteenth triode Q16; a first end of the seventeenth resistor R70 is connected with VCC power supply voltage, an emitter of the sixteenth triode Q16 is grounded, a base of the sixteenth triode Q16 is connected with a second end of the seventeenth resistor R71, and a first end of the seventeenth resistor R71 is connected with the first power supply voltage; a second pin of the second seventh chip U27 is connected to a fifth pin of the second seventh chip U27, a second end of the seventh resistor R77, and a collector of the twentieth triode Q20, respectively; the emitter of the twentieth triode Q20 is grounded, and the base of the twentieth triode Q20 is connected with the second end of the ninth resistor R92; the third pin of the second seventh chip U27 is connected to the ninth pin of the second seventh chip U27, the first end of the seventh fourth resistor R74, and the first end of the eighth fourth resistor R84, respectively; a second end of the seventh fourth resistor R74 is respectively connected to the anode of the second fourth diode D24 and the base of the eighteenth triode Q18; the fourth pin of the second seventh chip U27 is connected to the twelfth pin of the second seventh chip U27, the second end of the eighth fourth resistor R84, and the first end of the eighth ninth resistor R89, respectively; a second end of the eighth ninth resistor R89 is respectively connected to a cathode of the second ninth diode D29 and a base of the second fifth triode Q25; a tenth pin of the second seventh chip U27 is connected to the second terminal of the eighth third resistor R83 and the second terminal of the ninety resistor R90, respectively; a first end of the ninety resistor R90 is connected to a cathode of the thirty-second diode D30 and a base of the second four-transistor Q24, respectively; an eleventh pin of the second seventh chip U27 is connected to the second end of the seventh fifth resistor R75 and the first end of the eighth third resistor R83, respectively; a first end of the seventh resistor R75 is connected to the anode of the second fourth diode D24 and the base of the seventeenth triode Q17, respectively;

The VCC power supply voltage is respectively connected with the cathode of the second third diode D23, the emitter of the eighteenth triode Q18, the emitter of the seventeenth triode Q17 and the cathode of the second fourth diode D24; a collector of the eighteenth triode Q18 is connected to the first end of the ninth third capacitor C93, the first end of the third motor M3, and the collector of the second fifth triode Q25, respectively; a collector of the seventeenth triode Q17 is connected to the second terminal of the ninth capacitor C93, the second terminal of the third motor M3, and the collector of the second triode Q24, respectively; the anode of the second ninth diode D29, the emitter of the second fifth triode Q25, the emitter of the second fourth triode Q24, and the anode of the thirtieth diode D30 are grounded, respectively.

6. An automatic packing apparatus, its characterized in that: the automatic packing device comprises a packing control circuit and two clamping mechanisms, wherein the two clamping mechanisms are positioned on two sides of the aluminum template to be packed;

7. The automatic packaging device according to claim 6, characterized in that:

8. the automatic packaging device according to claim 6, characterized in that: