Modular pyrotechnic material system and method based on planar fast storage

Abstract

The application provides a modular pyrotechnic material system and method based on a plane fast storage, wherein a main channel transmission module of the system is composed of a plurality of transmission sub-modules, a storage site module is composed of a plurality of storage site sub-modules, a lateral movement module can be lifted and realize lateral movement of a material tray, a material entry module can adjust a height to dock different AGVs, and an automatic grounding module can establish an electrical connection between the pyrotechnic material and a plant grounding system after the material tray is in place. The application adopts a modular design, adjusts the number, position and combination mode of each module, adapts to different site and storage site arrangement requirements, is compatible with storage of cabin section level pyrotechnic materials with different numbers and different sizes, realizes zero hoisting of material flow through roller track transmission, and completes the whole unmanned operation from AGV docking, warehousing, storage to grounding. The application has the advantages of high storage site flexibility, high warehousing efficiency and high safety of material flow, and is suitable for a space product assembly production line using integrated shipping trays.

Description

Technical Field

[0001] This invention relates to the field of automated assembly line technology, particularly to the field of aerospace product assembly line technology, and specifically to a modular pyrotechnic material system and method based on planar rapid storage. Background Technology

[0003] With the advancement of national defense equipment modernization, the demand for automated and intelligent material storage in aerospace product assembly lines is becoming increasingly urgent. Existing research largely focuses on three-dimensional storage systems, with limited technological accumulation in planar automated storage, particularly lacking planar storage solutions suitable for pyrotechnic materials. This makes it difficult to meet the safety, compatibility, and automation requirements of pyrotechnic materials. This invention addresses these shortcomings by providing a modular pyrotechnic material system and method based on rapid planar storage. Through modular layout, roller conveyor, and automatic grounding, it solves problems such as chaotic storage management, low turnover efficiency, easy material damage, and insufficient electrostatic protection in traditional storage models.

[0004] A search of patent documents revealed that the invention patent with publication number CN101947547A discloses a configuration method for integrating intelligent flat warehouses and high-bay warehouses into aluminum sheet and strip production equipment. The intelligent flat warehouse uses an intelligent overhead crane to lift the hot-rolled coils from the hot rolling mill's discharge mechanism to the corresponding storage positions on the intelligent flat warehouse. In contrast, this patent uses a roller rail rotation method to achieve material movement, i.e., "zero lifting".

[0005] The invention patent with publication number CN111038903B discloses an automated warehouse control strategy method. This patent solves the problem of improving the efficiency of automated warehousing through three aspects: inbound strategy method, in-warehouse strategy method, and outbound strategy method. This patent focuses on realizing the unmanned operation of the entire process of pyrotechnic materials from AGV docking to inbound to storage to grounding through the modular design of the planar warehouse.

[0006] The invention patent with publication number CN106419442A discloses a planar warehouse location management system based on RFID floor mats. This patent uses RFID floor mat technology to verify RFID cargo change information, ensuring the accuracy of cargo retrieval, avoiding resource consumption, and improving work efficiency. This patent, however, uses sensor technology to achieve intelligent control of cargo locations.

[0007] In summary, given the problems of the existing technologies, researching a modular pyrotechnic material system and method based on rapid planar storage has become a critical task that urgently needs to be addressed. Summary of the Invention

[0008] In view of the deficiencies in the prior art, the purpose of this invention is to provide a modular pyrotechnic material system and method based on planar rapid storage.

[0009] A modular pyrotechnic material system based on planar rapid storage, according to the present invention, comprises: The main channel transmission module consists of several transmission sub-modules connected end to end. Each transmission sub-module has a roller rail mechanism on its upper surface for horizontally transmitting material pallets along the first direction. Multiple storage location modules are respectively set on at least one side of the main channel transmission module. Each storage location module consists of several storage location sub-modules. Each storage location sub-module has a roller rail mechanism on its upper surface for storing material pallets. A lateral movement module is positioned in front of the entrance of the storage location submodule and below the roller rail surface of the main channel transmission module. The lateral movement module includes a lifting component and a toothed chain transmission component. The lifting component is used to drive the lateral movement module to switch between an upward position and a downward position. When in the upward position, the upper surface of the toothed chain transmission component is flush with the roller rail surface of the storage location module, and is used to transfer the material pallet between the storage location module and the storage location module in a second direction perpendicular to the first direction. When in the downward position, the lateral movement module is entirely located below the roller rail surface of the main channel transmission module, so that the material pallet can pass along the first direction. The material inlet module is located at one end of the main channel transmission module and is used to dock with the automated guided vehicle (AGV). The upper surface of the material inlet module is equipped with a roller rail mechanism and a four-axis linkage lifting mechanism to adjust the height of its roller rail working surface to match the docking height of different AGVs. An automatic grounding module is installed on each storage location sub-module to automatically establish an electrical connection between pyrotechnic materials and the plant grounding system after the material pallet is placed in the storage location. The control system, which communicates with the material inlet module, main channel transmission module, lateral movement module, storage location module, and AGV, is configured to execute the following control logic: In response to an inbound command, determine the target storage location submodule and the corresponding empty material pallet; The control module coordinates the lateral movement module and the main channel transmission module corresponding to the target storage location sub-module to transfer the empty material pallet from the target storage location sub-module to the material inlet module via the lateral movement module and the main channel transmission module. The control material inlet module adjusts the height of its roller rail working surface to dock with the AGV platform and transfers empty material pallets to the AGV; In response to the AGV returning to the material inlet module with a material tray carrying pyrotechnic materials, the material inlet module is controlled to receive the material tray carrying pyrotechnic materials. The control main channel transmission module and the corresponding lateral movement module of the target storage location sub-module work together to transport the material pallet carrying pyrotechnic materials to the front of the target storage location sub-module along the first direction, and then move it into the target storage location sub-module along the second direction. In addition, in response to the material pallet arrival signal, the automatic grounding module is triggered to establish an electrical connection.

[0010] Preferably, through-beam sensors are installed on both sides of the roller track mechanism to detect the position of the material tray and trigger the roller track to stop rotating, so that the material stops at a specified position on the roller track plane.

[0011] Preferably, the material inlet module is equipped with an optical communication module at its front end for docking and signal interaction with the AGV.

[0012] Preferably, the toothed chain transmission component of the lateral movement module is configured to rotate in both the forward and reverse directions, thereby enabling material conveying and receiving to the storage sub-modules on its left and right sides.

[0013] Preferably, the automatic grounding module includes: A fixed bracket is attached to the storage location module. The conductive block is mounted on a fixed bracket via a spring telescopic mechanism, and the conductive block can extend and retract under the action of the spring. The grounding wire is connected to a conductive block at one end and to the factory grounding system at the other end.

[0014] Preferably, the spring telescopic mechanism, the conductive block, and the fixed bracket are insulated from each other.

[0015] Preferably, the grounding wire of the automatic grounding module and the grounding wire of the planar library are designed to be independently grounded and connected to the factory process ground and equipment ground respectively, so as to avoid mutual interference between the electrostatic discharge paths.

[0016] Preferably, the length of the transmission channel can be expanded or reduced by increasing or decreasing the number of transmission sub-modules to accommodate different numbers of storage location modules; and compatible storage of pyrotechnic materials of different quantities and sizes can be achieved by changing the number of storage location sub-modules, the spacing between two storage location sub-modules, or their placement relative to the main channel transmission module.

[0017] Preferably, it also includes a material pallet guiding module, which is divided into an entrance guiding mechanism and a transfer guiding mechanism; the entrance guiding mechanism is located at the entrance of the flat warehouse and consists of a guide roller mechanism; the transfer guiding mechanism is located on both sides of the roller rail and consists of guide discs.

[0018] This invention also provides a method for modular pyrotechnic materials based on planar rapid storage, employing the aforementioned modular pyrotechnic material system based on planar rapid storage, comprising the following steps: Step S1: The control system receives the warehousing instruction and determines the target storage location submodule and the corresponding empty material pallet; Step S2: Control the lateral movement module in front of the target storage sub-module to rise to the rising position, so that the upper surface of the toothed chain transmission component of the lateral movement module is flush with the roller rail surface of the target storage sub-module. Step S3: Control the roller rail of the target storage location submodule and the toothed chain transmission component of the lateral movement module to rotate synchronously, and transfer the empty material pallet from the target storage location submodule to the lateral movement module; Step S4: Control the lateral movement module to descend to the lowering position, so that the empty material pallet falls onto the roller rail of the main channel transmission module; Step S5: Control the roller rails of each transmission sub-module of the main channel transmission module to rotate synchronously, and convey the empty material pallet to the material inlet module along the first direction; Step S6: The control system identifies the status information of the material inlet module and the AGV, and controls the lifting and lowering of the roller rail working surface of the material inlet module to match the height of the roller rail surface of the AGV. Step S7: Interact with the AGV via the optical communication module to control the material inlet module and the roller rail of the AGV to rotate synchronously, and transfer the empty material pallet onto the AGV; Step S8: The AGV moves the empty material pallet to the unloading area, where the operator places the pyrotechnic material on the empty material pallet and connects the pyrotechnic material to the ground of the material pallet. Step S9: The AGV returns carrying a pallet containing pyrotechnic materials and docks with the material inlet module; the rollers of the material inlet module and the AGV rotate synchronously to receive the pallet containing pyrotechnic materials onto the material inlet module. Step S10: Control the roller rails of the material inlet module and the main channel transmission module to rotate synchronously, and transfer the pallet containing the pyrotechnic materials along the first direction to the predetermined position in front of the target storage sub-module and stop. Step S11: Control the lateral movement module corresponding to the target storage location sub-module to rise to the raised position; Step S12: Control the toothed chain transmission component of the lateral movement module to rotate synchronously with the roller rail of the target storage sub-module, and move the pallet containing pyrotechnic materials into the target storage sub-module along the second direction. Step S13: After the material pallet is in place, the pre-set conductive part on the pallet contacts the conductive block of the automatic grounding module, and the compression spring extension mechanism makes the contact tight, thereby establishing an electrical connection between the pyrotechnic material and the plant grounding system, and the warehousing is completed.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention adopts a modular design, which can achieve various arrangement methods such as longitudinal and transverse by increasing or decreasing the number of material inlet modules, main channel transmission modules, lateral movement modules, and storage location modules, or by adjusting the relative positions between modules, to adapt to different shapes of factory sites and storage location requirements.

[0020] 2. The storage location module of the present invention is composed of several storage location sub-modules. By adjusting the number, spacing and arrangement of the storage location sub-modules, it can realize storage in a single storage location or joint storage across storage locations, and is compatible with the storage needs of pyrotechnic materials of different lengths and quantities.

[0021] 3. This invention adopts a roller rail material conveying method, which eliminates the need for hoisting operations throughout the process, avoiding the risk of material collision and damage that may occur during hoisting, and improving the safety of the pyrotechnic material flow process.

[0022] 4. This invention can complete the entire process of AGV docking, material warehousing, storage, and automatic grounding without human intervention, reducing labor costs and human error.

[0023] 5. The storage location sub-modules of this invention are independent of each other, and can perform individual outbound or re-outbound operations on materials in any storage location without affecting the storage status of materials in other storage locations, thereby improving material scheduling efficiency.

[0024] 6. The automatic grounding module of the present invention adopts a spring telescopic conductive structure and an independent grounding design, which can automatically establish a stable electrostatic discharge path after the material pallet is in place, and connect to the factory process ground and equipment ground respectively, avoiding interference between grounding paths and ensuring the safety of storing fire-related materials. Attached Figure Description

[0025] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of a modular pyrotechnic material system based on planar rapid storage in an embodiment of the present invention; Figure 2 This is a schematic diagram of the material inlet module in an embodiment of the present invention; Figure 3 This is a schematic diagram of the lateral movement module in an embodiment of the present invention; Figure 4 This is a schematic diagram of the variable storage location layout of the present invention in an embodiment of the present invention; Figure 5 This is an automatic grounding module and grounding schematic diagram in an embodiment of the present invention; Figure 6 This is a flowchart of a modular pyrotechnic material method based on planar fast storage in an embodiment of the present invention. Detailed Implementation

[0026] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0027] This invention provides a modular pyrotechnic material system and method based on planar rapid storage. The system includes a material inlet module, a main channel transmission module, a lateral movement module, a storage location module, an automatic grounding module, and a material pallet guiding module. The main channel transmission module consists of several transmission sub-modules, the storage location module consists of several storage location sub-modules, the lateral movement module can be raised and lowered to achieve lateral movement of the material pallet, the material inlet module can be height-adjustable to connect with different AGVs, and the automatic grounding module can establish an electrical connection between the pyrotechnic material and the plant grounding system after the material pallet is in place. This invention adopts a modular design concept, and by adjusting the number, position, and combination of each module, it can adapt to different site and storage location layout requirements, and can be compatible with the storage of different quantities and sizes of compartment-level pyrotechnic materials. It achieves "zero lifting" material flow through roller rail transmission and completes the entire process of unmanned operation from AGV docking, warehousing, storage to grounding. It has the advantages of high storage location flexibility, high warehousing efficiency, and high material flow safety, and is particularly suitable for aerospace product assembly lines using integrated loading and unloading pallets.

[0028] Example 1: like Figure 1 As shown, this embodiment provides a modular pyrotechnic material system based on planar rapid storage, including a material inlet module 1, a main channel transmission module 2, a lateral movement module 3, multiple storage storage location modules 4, an automatic grounding module 12, material pallet guiding modules 5-1 and 5-2, and a control system.

[0029] like Figure 1 and Figure 4 As shown, the main channel transmission module 2 consists of several transmission sub-modules 2-1, 2-2, and 2-3 connected end to end. Each transmission sub-module has a roller rail mechanism on its upper surface for horizontally transmitting material pallets along the first direction. By changing the number of transmission sub-modules, the transmission channel can be lengthened or shortened to increase the number of storage location modules 4.

[0030] Multiple storage location modules 4 are respectively disposed on at least one side of the main channel transmission module 2. Each storage location module 4 consists of several storage location sub-modules 4-1, 4-2, 4-3, and 4-4. In this embodiment, the storage location sub-modules are located on both sides of the main channel transmission module 2. Each storage location sub-module has a roller rail mechanism on its upper surface for storing material pallets. By changing the number of storage location sub-modules, adjusting the spacing between two storage location sub-modules, and changing the arrangement position of the storage location sub-modules relative to the main channel, compatible storage of pyrotechnic materials of different quantities and lengths can be achieved.

[0031] The lateral movement module 3 is positioned in front of the entrance of the storage submodule and below the roller track surface of the main channel transmission module 2; for example... Figure 3 As shown, the lateral movement module 3 includes a lifting assembly 8 and a toothed chain conveyor assembly 9. The lifting assembly 8 drives the lateral movement module 3 to switch between an upward and downward position. When in the upward position, the upper surface of the toothed chain conveyor assembly 9 is flush with the roller rail surface of the storage location module 4, used to transfer the material pallet between the storage location module 4 and the storage location module 4 in a second direction perpendicular to the first direction. When in the downward position, the lateral movement module 3 is entirely located below the roller rail surface of the main channel conveyor module 2, allowing the material pallet to pass along the first direction. Specifically, the lifting assembly 8 enables the lateral movement module 3 to switch between an upward position (flush with the upper surface of the storage location module 4) and a downward position (below the roller rail surface of the main channel). The toothed chain conveyor assembly 9 enables the material pallet to move laterally in and out of the storage location module 4 along the second direction (perpendicular to the first direction). The toothed chain conveyor assembly 9 can rotate both forward and backward, thereby realizing the material conveying and receiving to the storage location sub-modules on its left and right sides.

[0032] Material inlet module 1, located at one end of main channel transmission module 2, is used to interface with the automated guided vehicle (AGV); for example Figure 2 As shown in Figure 2, the upper surface of the material inlet module 1 is equipped with a roller rail mechanism and a four-axis linkage lifting mechanism 6, which is used to adjust the height of its roller rail working surface 7 to match the docking height of different AGVs. Specifically, driven by the four-axis linkage lifting mechanism 6, the roller rail working surface 7 moves up and down, thereby enabling it to dock with AGV platforms of different heights. As shown in Figure 2, the front end of the material inlet module 1 is equipped with an optical communication module 11 for docking and signal interaction with the AGV.

[0033] Furthermore, the material tray flows between the above modules along the first direction (i.e., the main channel direction) by rotating the roller rail mechanism on the upper surface of the material inlet module 1, the main channel transmission module 2, and the storage location module 4 driven by the motor. As shown in Figures 1 and 4, through-beam sensors 10 are installed on both sides of the roller rail mechanism. When the material tray blocks the through-beam light, a trigger signal is sent to stop the roller rail from rotating, thereby stopping the material at a specified position on the roller rail plane.

[0034] Automatic grounding module 12, located on storage location module 4, is configured with each storage location submodule. Specifically, it is installed on each storage location submodule to automatically establish an electrical connection between pyrotechnic materials and the plant grounding system after the material pallet is placed in the storage location.

[0035] like Figure 5 As shown, the automatic grounding module 12 includes: The fixed bracket 13 is fixed to the storage location module 4; The conductive block 15 is mounted on the fixed bracket 13 via a spring telescopic mechanism 14, and the conductive block 15 can extend and retract under the action of the spring. Grounding wire 16, one end is connected to conductive block 15, and the other end is connected to the factory grounding system; Specifically, the grounding wire of the automatic grounding module 12 and the grounding wire of the planar warehouse are both grounded separately and connected to the factory's process ground and equipment ground, respectively.

[0036] The material pallet guiding module is divided into an entrance guiding mechanism 5-1 and a transfer guiding mechanism 5-2. The entrance guiding mechanism 5-1 is located at the entrance of the flat warehouse and consists of a guide roller mechanism, which is used to guide the pallets on the AGV to smoothly enter the entrance module. The transfer guiding mechanism 5-2 is located on both sides of the roller rail and consists of guide wheels, which is used to correct the pallet orientation during the transfer process and prevent deviation.

[0037] The control system, which communicates with the material inlet module 1, main channel transmission module 2, lateral movement module 3, storage location module 4, and AGV, is configured to execute the following control logic: In response to an inbound command, determine the target storage location submodule and the corresponding empty material pallet; The lateral movement module 3 and the main channel transmission module 2 corresponding to the target storage location sub-module work together to transfer the empty material pallet from the target storage location sub-module to the material inlet module 1 via the lateral movement module 3 and the main channel transmission module 2. The material inlet module 1 adjusts the height of its roller rail working surface 7 to dock with the AGV platform and transfers the empty material pallet to the AGV. In response to the AGV returning to the material inlet module 1 with a material tray carrying pyrotechnic materials, the material inlet module 1 is controlled to receive the material tray carrying pyrotechnic materials. The control main channel transmission module 2 and the corresponding lateral movement module 3 of the target storage location sub-module work together to transport the material pallet carrying pyrotechnic materials along the first direction to the front of the target storage location sub-module, and then move it into the target storage location sub-module along the second direction. In addition, in response to the material pallet arrival signal, the automatic grounding module 12 is triggered to establish an electrical connection.

[0038] Example 2: This embodiment provides a modular pyrotechnic material method based on planar rapid storage, which is implemented on the modular pyrotechnic material system based on planar rapid storage in the above embodiment. That is, those skilled in the art can understand the modular pyrotechnic material method based on planar rapid storage as the operation mode of the modular pyrotechnic material system based on planar rapid storage.

[0039] like Figure 6 As shown, this modular pyrotechnic material method based on planar rapid storage includes the following steps: Step S1: The control system receives the warehousing instruction and determines the target storage location submodule and the corresponding empty material pallet.

[0040] Step S2: The control system controls the lifting component 8 of the lateral movement module 3 corresponding to the target storage sub-module to move, so that the lateral movement module 3 is raised to the rising position, and the rising position makes the upper surface of the toothed chain transmission component 9 of the lateral movement module 3 flush with the roller rail surface of the target storage sub-module.

[0041] Step S3: The control system controls the roller rail of the target storage sub-module and the toothed chain transmission component 9 of the lateral movement module 3 to rotate synchronously, transferring the empty material pallet from the target storage sub-module to the lateral movement module 3.

[0042] Step S4: The control system controls the lateral movement module 3 to descend to the lowering position, so that the empty material pallet falls onto the roller rail of the main channel transmission module 2.

[0043] Step S5: The control system controls the roller rails on each of the main channel transmission modules 2-1, 2-2, and 2-3 to rotate synchronously, conveying the empty material pallet to the material inlet module 1 along the first direction.

[0044] Step S6: The control system identifies the status information of the material inlet module 1 and the AGV, and controls the four-axis linkage lifting mechanism 6 of the material inlet module 1 to adjust the height of the roller rail surface so that it matches the height of the AGV roller rail surface.

[0045] Step S7: The AGV interacts with the planar warehouse through the optical communication module 11. After confirming the docking is completed, the control system controls the material inlet module 1 and the roller rail of the AGV to rotate synchronously, transferring the empty material pallet onto the AGV.

[0046] Step S8: The AGV moves the empty material pallet to the unloading area of ​​the plant. The operator places the pyrotechnic material on the empty material pallet and temporarily connects the pyrotechnic material to the material pallet with grounding wire 16.

[0047] Step S9: The AGV returns carrying a pallet containing pyrotechnic materials and docks with the material inlet module 1; after confirmation via optical communication, the control system controls the material inlet module 1 and the AGV's roller rail to rotate synchronously, receiving the pallet containing pyrotechnic materials onto the material inlet module 1.

[0048] Step S10: The control system controls the roller rails of the material inlet module 1 and the main channel transmission module 2 to rotate synchronously, and transports the pallet carrying the pyrotechnic material along the first direction to the predetermined position in front of the target storage location. The photoelectric sensor 10 is triggered, and the roller rail stops.

[0049] Step S11: The control system controls the lateral movement module 3 corresponding to the target storage location sub-module to rise to the rising position, so that it is at the same level as the storage location module.

[0050] Step S12: The control system controls the toothed chain transmission component 9 of the lateral movement module 3 to rotate synchronously with the roller rail of the target storage sub-module, moving the pallet carrying the pyrotechnic materials into the target storage sub-module along the second direction.

[0051] Step S13: After the material pallet is in place, the pre-set conductive part on the pallet contacts the conductive block 15 of the automatic grounding module 12 in the storage location, and compresses the spring extension mechanism 14. Under the spring's reaction force, the conductive part on the pallet makes tight contact with the conductive block 15, thereby connecting the pyrotechnic material to the plant's process ground through the pallet, conductive block 15, and grounding wire 16, establishing a permanent electrostatic discharge path. After receiving the arrival signal, the control system confirms that the warehousing is complete.

[0052] The process of pyrotechnic materials leaving the warehouse is similar in principle to that of leaving the warehouse. The control system controls the lateral movement module 3 to rise, pick up the materials from the storage location, lower them to the main channel, transfer them to the entrance module, and then transfer them to the AGV for transportation. This will not be described in detail here.

[0053] Through the above system and method, the present invention realizes the safe transfer of pyrotechnic materials with "zero hoisting" and unmanned operation of the entire process. The modular design gives the system strong flexibility and scalability, which significantly improves the safety and efficiency of material storage in the aerospace product assembly line.

[0054] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, enabling the system and its various devices, modules, and units to function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered both software modules implementing the method and structures within the hardware component.

[0055] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A modular pyrotechnic material system based on planar rapid storage, characterized in that, include: The main channel transmission module consists of several transmission sub-modules connected end to end. Each transmission sub-module has a roller rail mechanism on its upper surface for horizontally transmitting material pallets along the first direction. Multiple storage storage location modules are respectively set on at least one side of the main channel transmission module. Each storage storage location module consists of several storage location sub-modules. Each storage location sub-module has a roller rail mechanism on its upper surface for storing material pallets. A lateral movement module is positioned in front of the entrance of the storage location submodule and below the roller rail surface of the main channel transmission module. The lateral movement module includes a lifting assembly and a toothed chain transmission assembly. The lifting assembly drives the lateral movement module to switch between an upward and downward position. When in the upward position, the upper surface of the toothed chain transmission assembly is flush with the roller rail surface of the storage location module, used to transfer material pallets between the storage location module and the storage location module along a second direction perpendicular to the first direction. When in the downward position, the entire lateral movement module is positioned below the roller rail surface of the main channel transmission module, allowing the material pallet to pass along the first direction. The material inlet module is located at one end of the main channel transmission module and is used to dock with the automated guided vehicle (AGV). The upper surface of the material inlet module is provided with a roller rail mechanism and a four-axis linkage lifting mechanism, which is used to adjust the height of its roller rail working surface to match the docking height of different AGVs. An automatic grounding module is installed on each storage location sub-module to automatically establish an electrical connection between pyrotechnic materials and the plant grounding system after the material pallet is placed in the storage location. The control system, which is communicatively connected to the material inlet module, the main channel transmission module, the lateral movement module, the storage location module, and the AGV, is configured to execute the following control logic: In response to an inbound command, determine the target storage location submodule and the corresponding empty material pallet; The lateral movement module corresponding to the target storage location submodule and the main channel transmission module are controlled to work together to transfer the empty material pallet from the target storage location submodule to the material inlet module via the lateral movement module and the main channel transmission module; The material inlet module is controlled to adjust the height of its roller rail working surface to dock with the AGV platform, and the empty material pallet is transferred to the AGV. In response to the AGV returning to the material inlet module with a material tray carrying pyrotechnic materials, the material inlet module is controlled to receive the material tray carrying pyrotechnic materials. The main channel transmission module and the lateral movement module corresponding to the target storage sub-module are controlled to work together to transport the material pallet carrying pyrotechnic materials to the front of the target storage sub-module along the first direction, and then move it into the target storage sub-module along the second direction. In addition, in response to a material pallet arrival signal, the automatic grounding module is triggered to establish an electrical connection.

2. The modular pyrotechnic material system based on planar rapid storage according to claim 1, characterized in that, The roller track mechanism is equipped with through-beam sensors on both sides to detect the position of the material tray and trigger the roller track to stop rotating, so that the material stops at a specified position on the roller track plane.

3. The modular pyrotechnic material system based on planar rapid storage according to claim 1, characterized in that, The material inlet module is equipped with an optical communication module at its front end, which is used to interface with the AGV and exchange signals.

4. The modular pyrotechnic material system based on planar rapid storage according to claim 1, characterized in that, The toothed chain transmission component of the lateral movement module is configured to rotate in both the forward and reverse directions, thereby enabling material conveying and receiving to the storage sub-modules on its left and right sides.

5. The modular pyrotechnic material system based on planar rapid storage according to claim 1, characterized in that, The automatic grounding module includes: A mounting bracket is fixed to the storage location module; The conductive block is mounted on the fixed bracket via a spring telescopic mechanism, and the conductive block can extend and retract under the action of the spring. The grounding wire is connected at one end to the conductive block and at the other end to the factory grounding system.

6. The modular pyrotechnic material system based on planar rapid storage according to claim 5, characterized in that, The spring telescopic mechanism, the conductive block, and the fixed bracket are in an insulated state.

7. The modular pyrotechnic material system based on planar rapid storage according to claim 5, characterized in that, The grounding wire of the automatic grounding module and the grounding wire of the planar library are designed to be independently grounded, and are respectively connected to the factory process ground and equipment ground to avoid mutual interference between electrostatic discharge paths.

8. The modular pyrotechnic material system based on planar rapid storage according to claim 1, characterized in that, By increasing or decreasing the number of transmission submodules, the length of the transmission channel can be expanded or reduced to accommodate different numbers of storage location modules; by changing the number of storage location submodules, the spacing between two storage location submodules, or their placement relative to the main channel transmission module, compatible storage of pyrotechnic materials of different quantities and sizes can be achieved.

9. The modular pyrotechnic material system based on planar rapid storage according to claim 1, characterized in that, It also includes a material pallet guiding module, which is divided into an entrance guiding mechanism and a transfer guiding mechanism; the entrance guiding mechanism is located at the entrance of the flat warehouse and consists of a guide roller mechanism; the transfer guiding mechanism is located on both sides of the roller rail and consists of guide discs.

10. A method for modular pyrotechnic materials based on planar rapid storage, employing the modular pyrotechnic material system based on planar rapid storage as described in any one of claims 1-9, characterized in that, Includes the following steps: Step S1: The control system receives the warehousing instruction and determines the target storage location submodule and the corresponding empty material pallet; Step S2: Control the lateral moving module in front of the target storage sub-module to rise to the rising position, the rising position making the upper surface of the toothed chain transmission component of the lateral moving module flush with the roller rail surface of the target storage sub-module; Step S3: Control the roller rail of the target storage sub-module and the toothed chain conveyor of the lateral movement module to rotate synchronously, so as to transfer the empty material pallet from the target storage sub-module to the lateral movement module; Step S4: Control the lateral movement module to descend to the lowering position, so that the empty material pallet falls onto the roller rail of the main channel transmission module; Step S5: Control the roller rails of each transmission sub-module of the main channel transmission module to rotate synchronously, and convey the empty material pallet to the material inlet module along the first direction; Step S6: The control system identifies the status information of the material inlet module and the AGV, and controls the lifting and lowering of the roller rail working surface of the material inlet module to match the height of the roller rail surface of the AGV. Step S7: Interact with the AGV via the optical communication module to control the material inlet module and the roller rail of the AGV to rotate synchronously, and transfer the empty material pallet onto the AGV; Step S8: The AGV moves the empty material pallet to the unloading area, where the operator places the pyrotechnic material on the empty material pallet and connects the pyrotechnic material to the ground of the material pallet. Step S9: The AGV returns carrying a pallet containing pyrotechnic materials and docks with the material inlet module; the rollers of the material inlet module and the AGV rotate synchronously to receive the pallet containing pyrotechnic materials onto the material inlet module. Step S10: Control the roller rails of the material inlet module and the main channel transmission module to rotate synchronously, and transfer the pallet containing the pyrotechnic materials along the first direction to the predetermined position in front of the target storage sub-module and stop. Step S11: Control the lateral movement module corresponding to the target storage location sub-module to rise to the raised position; Step S12: Control the toothed chain transmission component of the lateral movement module to rotate synchronously with the roller rail of the target storage sub-module, and move the pallet containing pyrotechnic materials into the target storage sub-module along the second direction; Step S13: After the material pallet is in place, the pre-set conductive part on the pallet contacts the conductive block of the automatic grounding module, and the compression spring extension mechanism makes the contact tight, thereby establishing an electrical connection between the pyrotechnic material and the plant grounding system, and the warehousing is completed.

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