CN112158505A

CN112158505A - Horizontal material-selecting device for automatic storage system

Info

Publication number: CN112158505A
Application number: CN202011087455.3A
Authority: CN
Inventors: 张志陆
Original assignee: Suzhou Dafengdie Intelligent Technology Co ltd
Current assignee: Suzhou Dafengdie Intelligent Technology Co ltd
Priority date: 2020-04-10
Filing date: 2020-10-12
Publication date: 2021-01-01
Also published as: TW202138260A; TWI754914B

Abstract

The invention provides a horizontal material-sorting device for an automatic storage system, which relates to the technical field of storage equipment and solves the technical problem of low material-sorting efficiency of the existing material-sorting device, and comprises a first conveying module, a second conveying module, a first material box, a second material box, a clamping module and a control unit, wherein the control unit controls the clamping module to move into the first material box and clamp a horizontal object, and then controls the clamping module to move the horizontal object and place the horizontal object in the second material box. The sorting efficiency is high.

Description

Horizontal material-selecting device for automatic storage system

Technical Field

The invention relates to the technical field of warehousing equipment, in particular to a horizontal sorting device for an automatic warehousing system.

Background

Warehouse management is of considerable importance to many industries. Especially for enterprises with various material types and huge material storage amount, if the materials can be classified properly and placed at proper positions, the storage space can be brought into full play to the maximum benefit, and the search time is reduced.

Taking Surface Mount Technology (SMT) as an example, SMT is a fundamental industry in the field of electronic manufacturing, and warehouse management is an important part of the process of SMT, and mainly includes the steps of material feeding, material discharging, material returning, material supplementing, and the like.

However, most of the existing storage and distribution systems adopt a paper bill and a manual identification and search method, which has low working efficiency, high error rate, poor real-time updating, and a lot of requirements for the operation skills of the operators, and requires long-time training of skilled personnel to effectively perform the processes of feeding, discharging and the like.

Further, in order to be able to effectively, accurately classify and deposit the material, the material storage position of different grade type is mostly fixed setting, in order to carry out flow operations such as pan feeding, ejection of compact proficiently accurately, has further improved the technical requirement to operating personnel again.

Moreover, due to the characteristics of mass production, various varieties and the like in the electronic product production industry, more materials are used; if the materials are managed and transferred manually, the problems of difficult searching and time consumption exist. Therefore, the automation of material storage and transfer transportation needs to be considered, so that the time for searching and obtaining materials is shortened, the logistics speed is increased, and the production efficiency is improved.

At present, there is a storage and transportation device for automatic warehousing in the market to solve the above problems, which comprises a warehouse cabinet, a guide rail, an access device, a first transportation module, a second transportation module and a clamping module. The storing and taking device takes the material box out of the material box placing area of the storage cabinet, and then the material box is conveyed to the conveying module through the guide rail to finish the action of taking the material. The storing and taking device can also take out the material box from the first conveying module, and then the material box is conveyed to the material box placing area of the storage cabinet through the guide rail so as to finish the action of material storage. The clamping module clamps a plurality of objects in a certain material box on the first conveying module and places the objects in a certain material box on the second conveying module so as to complete the material sorting action.

Generally, the articles may be placed vertically or horizontally in the bin. However, the conventional picking device cannot clamp the object, so that the following two problems are caused:

first, when picking, if a user wants to horizontally place a horizontally placed object in a material box on a first conveying module in a material box on a second conveying module, the user must rely on manual work to achieve the purpose, and the efficiency is low.

And secondly, some material box placing areas are vertical material storing areas, and some material box placing areas are horizontal material storing areas. The articles placed in the material container in the vertical material storage area must be placed vertically and the articles placed in the material container in the horizontal material storage area must be placed horizontally. In case the objects of a certain material box on the second conveyor module are horizontally placed but distributed in the vertical material storage area, it is necessary to rely on the manual work to take out the horizontally placed objects of a certain material box on the second conveyor module, manually turn them to be vertical, and then manually place them in a certain material box in the vertical material area, which is inefficient.

Disclosure of Invention

The invention aims to provide a horizontal sorting device for an automatic warehousing system, which aims to solve the technical problem that the existing sorting device in the prior art has lower sorting efficiency on horizontally placed objects; the invention provides a plurality of technical effects which can be generated by the optimized technical scheme in the technical schemes; see below for details.

In order to achieve the purpose, the invention provides the following technical scheme:

the invention provides a horizontal sorting device for an automatic warehousing system, which comprises: a first conveying module having a first picking area; a second conveying module with a second material-picking area; the first material box is arranged in the first material sorting area and is used for horizontally placing at least one object in a horizontal state; the second material box is arranged in the first material sorting area or the second material sorting area; a gripping module proximate to the first picking area and the second picking area; the control unit is electrically connected with the first conveying module, the second conveying module and the clamping module; the control unit controls the clamping module to move into the first material box, then controls the clamping module to clamp the at least one object in the first material box in a horizontal state, controls the clamping module to move the at least one object from the first material box into the second material box, and controls the clamping module to separate from the at least one object so that the at least one object is placed in the second material box.

Preferably, the gripping module includes a base, a robot arm, and a plurality of first grippers, the base is close to the first picking area and the second picking area, a first end of the robot arm is disposed on the base, the control unit is electrically connected to the robot arm, the first grippers are disposed at a second end of the robot arm and close to the axis of the second end of the robot arm, the control unit is electrically connected to the first grippers and controls the first grippers to move between a first position and a second position; the first clamp is located at a first position before the clamping module clamps the at least one object in the first material box in a horizontal state; when the clamping module clamps the at least one object in the first material box in the horizontal state, the control unit controls the mechanical arm to move to the position above the first material box, then the control unit controls the mechanical arm to move downwards, so that the first clamp penetrates through a central hole of the at least one object in the first material box in the horizontal state and keeps a certain distance with an inner side wall of the central hole of the at least one object in the first material box in the horizontal state respectively, and then the control unit controls the first clamp to move horizontally to a second position, so that the first clamp clamps the inner side wall of the central hole of the at least one object in the first material box in the horizontal state; after the clamping module clamps the at least one object in the first material box, which is in a horizontal state, the control unit controls the mechanical arm to move upwards to enable the at least one object in the horizontal state to leave the first material box, then the control unit controls the mechanical arm to move to the position above the second material box to enable the at least one object in the horizontal state to be located above the second material box, then the control unit controls the mechanical arm to move downwards to move the at least one object in the horizontal state into the second material box, then the control unit controls the first clamp to move horizontally to a first position to enable the first clamp to leave the inner side wall of the central hole of the at least one object in the horizontal state, and finally the control unit controls the mechanical arm to move upwards, and enabling the first clamp to penetrate through the central hole of the at least one object in the horizontal state so as to horizontally place the at least one object in the horizontal state in the second material box.

Preferably, the gripping module further includes a plurality of second grippers disposed at the second end of the robot arm and close to the outer side of the robot arm, and the control unit is electrically connected to the second grippers and controls the second grippers to move between a first position and a second position; before the clamping module clamps the at least one object in a horizontal state, the second clamp is located at a first position; when the clamping module clamps the at least one object in the first material box in a horizontal state, the control unit controls the mechanical arm to move to the upper part of the first material box, then the control unit controls the mechanical arm to move downwards, so that the second clamp passes through the outer side of one outer side wall of the at least one object in the first material box in the horizontal state and keeps a certain distance with the outer side wall of the at least one object in the first material box in the horizontal state respectively, and then the control unit controls the second clamp to move horizontally to a second position, so that the second clamp clamps the outer side wall of the at least one object in the first material box in the horizontal state; after the clamping module clamps the at least one object in the first material box, which is in a horizontal state, the control unit controls the mechanical arm to move upwards to enable the at least one object in the horizontal state to be located above the second material box, then the control unit controls the mechanical arm to move to the position above the second material box, then the control unit controls the mechanical arm to move downwards to enable the at least one object in the horizontal state to move into the second material box, then the control unit controls the second clamp to move horizontally to the first position to enable the second clamp to be separated from the outer side wall of the at least one object in the horizontal state, and finally the control unit controls the mechanical arm to move upwards to enable the second clamp to pass through the outer side wall of the at least one object in the horizontal state, so as to place the at least one object in a horizontal state horizontally in the second bin.

Preferably, the second clamp includes a second movable clamping bar and a second hook, the second movable clamping bar is disposed at the second end of the robot arm and is close to the outer side of the robot arm, the second hook is protruded from an inner side wall of the second movable clamping bar, and the control unit is electrically connected to the second movable clamping bar and controls the second movable clamping bar to move between a first position and a second position; when the clamping module clamps the at least one object in the first material box in the horizontal state, the second movable clamping rod of the second clamp clamps the outer side wall of the at least one object in the first material box in the horizontal state, and meanwhile, the second hook part of the second clamp abuts against the bottom surface of the at least one object in the first material box in the horizontal state.

Preferably, the extending directions of the second hook portions of all the second clamps are different.

Preferably, the second hook of the second clamp is located at the bottom end of the second movable clamping bar corresponding to the second clamp.

Preferably, the clamping device further comprises a turning module which is close to the clamping module and is electrically connected with the control unit; the control unit controls the clamping module to move into the first material box, then controls the clamping module to clamp the at least one object in the horizontal state in the first material box, and then controls the clamping module to move the at least one object in the horizontal state into the overturning module; the control unit controls the overturning module to overturn the at least one object in the horizontal state from the horizontal state to the vertical state; the control unit controls the clamping module to move to the overturning module, then the control unit controls the clamping module to clamp the at least one object in the overturning module, which is in the vertical state, then the control unit controls the clamping module to move the at least one object in the vertical state from the overturning module to the second material box, and finally the control unit controls the clamping module to be separated from the at least one object in the vertical state, so that the at least one object in the vertical state is vertically placed in the second material box.

Preferably, the gripping module includes a base, a robot arm, and a plurality of first grippers, the base is close to the first picking area and the second picking area, the flipping module is close to the base, a first end of the robot arm is disposed on the base, the control unit is electrically connected to the robot arm, the first grippers are disposed at a second end of the robot arm and close to the axis of the second end of the robot arm, the control unit is electrically connected to the first grippers and controls the first grippers to move between a first position and a second position; the first clamp is located at a first position before the clamping module clamps the at least one object in the first material box in a horizontal state; when the clamping module clamps the at least one object in the first material box in the horizontal state, the control unit controls the mechanical arm to move to the position above the first material box, then the control unit controls the mechanical arm to move downwards, so that the first clamp penetrates through a central hole of the at least one object in the first material box in the horizontal state and keeps a certain distance with an inner side wall of the central hole of the at least one object in the first material box in the horizontal state respectively, and then the control unit controls the first clamp to move horizontally to a second position, so that the first clamp clamps the inner side wall of the central hole of the at least one object in the first material box in the horizontal state; after the clamping module clamps the at least one object in the first material box in the horizontal state, the control unit controls the mechanical arm to move upwards, then controls the mechanical arm to move to the overturning module, moves the at least one object in the horizontal state to the overturning module, then controls the first clamp to move horizontally to a first position, so that the first clamp is separated from the inner side wall of the central hole of the at least one object in the horizontal state, and finally controls the mechanical arm to move upwards, so that the first clamp penetrates through the central hole of the at least one object in the horizontal state, and the at least one object in the horizontal state is horizontally placed in the overturning module; the control unit controls the overturning module to overturn the at least one object in the horizontal state from the horizontal state to the vertical state; the first clamp is located at a second position before the clamping module clamps the at least one object in the turning module in the vertical state; when the clamping module clamps the at least one object in the turning module in the vertical state, the control unit controls the mechanical arm to move to the upper side of the turning module firstly, then the control unit controls the mechanical arm to move downwards, so that the first clamp passes through the outer side of two surfaces of the at least one object in the turning module in the vertical state and keeps a certain distance with the two surfaces of the at least one object in the turning module in the vertical state respectively, and then the control unit controls the first clamp to move horizontally to a first position, so that the first clamp clamps the two surfaces of the at least one object in the turning module in the vertical state; after the clamping module clamps the at least one object in the turning module, which is in a vertical state, the control unit controls the mechanical arm to move upwards to enable the at least one object in the vertical state to leave the turning module, then the control unit controls the mechanical arm to move to the position above the second material box, so that the at least one object in the vertical state is located above the second material box, then the control unit controls the mechanical arm to move downwards to move the at least one object in the vertical state into the second material box, then the control unit controls the first clamp to move horizontally to a second position to enable the first clamp to be separated from two surfaces of the at least one object in the vertical state, and finally the control unit controls the mechanical arm to move upwards, so as to vertically place the at least one object in the vertical state in the second material box.

Preferably, the turnover module comprises a fixing part, a turnover part and a driving mechanism, the fixing part is close to the base, the turnover part is arranged on the fixing part and is provided with a containing groove, the driving mechanism is arranged on the fixing part, is connected with the turnover part and drives the turnover part to rotate between a horizontal position and a vertical position relative to the fixing part, and the control unit is electrically connected with the driving mechanism; the control unit controls the clamping module to move the at least one object in the horizontal state into the accommodating groove of the turnover part positioned in the horizontal position, and the control unit controls the driving mechanism to drive the turnover part to move to the vertical position, so that the at least one object in the horizontal state is turned from the horizontal state to the vertical state.

Preferably, the optical reader is disposed on the clamping module and electrically connected to the control unit; when the control unit controls the mechanical arm to move to the position above the first material box, the optical reader optically reads the central hole of the at least one object in the first material box in the horizontal state to obtain an optical positioning signal and an object stack height signal and transmits the optical positioning signal and the object stack height signal to the control unit, the control unit calculates the correct orientation of the central hole of the at least one object in the first material box in the horizontal state according to the optical positioning signal, and then the control unit controls the mechanical arm to adjust the horizontal position of the second end of the mechanical arm according to the calculated correct orientation, so that the first clamp is aligned with the central hole of the at least one object in the first material box in the horizontal state; when the control unit controls the mechanical arm to move to the position above the second material box, the optical reader optically reads the second material box to obtain a depth signal and transmits the depth signal to the control unit, the control unit compares the difference between the object stack height signal and the depth signal to calculate an object moving number, the control unit continuously controls the mechanical arm to move a plurality of objects in a horizontal state from the first material box into the second material box according to the object moving number, and when the heights of the objects in the horizontal state in the second material box are consistent with the object stack height signal, the control unit controls the mechanical arm to stop operating.

The horizontal sorting device for the automatic warehousing system provided by the invention at least has the following technical effects:

the invention can automatically and horizontally place single-piece articles or a plurality of articles or a whole string of articles in the first material box in the second material box without depending on manual operation, thereby having high efficiency.

Moreover, the invention can automatically take out the single piece object in the horizontal state in the first material box or the second material box, automatically turn the single piece object in the horizontal state into the vertical state through the turning module, and then automatically place the single piece object in the other second material box without depending on manual operation, thereby having high efficiency.

In addition, the outer side wall and the bottom surface of the single-piece object or the plurality of pieces of objects or the whole string of objects in the horizontal state in the first material box can be clamped by the second clamp, so that the single-piece object or the plurality of pieces of objects or the whole string of objects in the horizontal state can be moved stably without shaking.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram illustrating the overall operation of an automated warehousing system according to embodiment 1 of the present invention;

FIG. 2 is a perspective view of embodiment 1 of the present invention;

FIG. 3 is a schematic structural view of embodiment 1 of the present invention;

FIG. 4A is a schematic structural view of a first material box and a second material box for horizontally placing articles in a horizontal state according to an embodiment of the present invention;

FIG. 4B is a schematic structural view of another embodiment of the present invention, wherein the first material box and the second material box are used for horizontally placing objects in a horizontal state;

FIGS. 5A-5E are schematic diagrams of the single piece article sorting according to embodiment 1 of the present invention;

FIG. 6 is a schematic illustration of the sorting of pieces of material according to example 1 of the present invention;

FIG. 7 is a schematic view of a second magazine for vertical placement of articles in a vertical position according to the present invention;

FIGS. 8A-8C are schematic views illustrating flipping and picking of a single piece article according to embodiment 1 of the present invention;

FIG. 9 is a schematic view of embodiment 2 of the present invention;

FIG. 10 is a schematic view of the picking of a whole string of articles according to embodiment 2 of the present invention;

FIG. 11 is a schematic diagram illustrating the overall operation of the automated warehousing system according to embodiment 3 of the present invention;

FIG. 12 is a perspective view of embodiment 4 of the present invention;

fig. 13 is a schematic view of embodiment 5 of the present invention.

Reference numerals

1. A horizontal picker for an automated storage system; 10. a first conveying module; 11. a first frame body; 12. a first conveying section; 121. a first positioning and conveying unit; 13. a first picking area; 14. a first material-picking part; 20. a second transport module; 21. a second frame body; 22. a second conveying section; 221. a second positioning and conveying unit; 23. a second picking area; 24. a second picking part; 31. a first material tank; 331. a box body; 3311. a side wall; 3312. an end wall; 332. a partition plate; 333. a positioning column; 334. a horizontal positioning region; 41/42/43, a second bin; 421. a vertical positioning region; 50/50A, a clamping module; 51. a base; 52/52A, a mechanical arm; 521. a screw; 53/53A, a first clamp; 54A, a second clamp; 541A, a second movable clamping rod; 542A and a second hook; 60. an optical reader; 61. a light emitting section; 62. a light receiving section; 70. a control unit; 80. a turning module; 81. a fixed part; 82. a turning part; 821. a containing groove; 83. a drive mechanism; 100. an automatic warehousing system; 101/101A, a storage cabinet; 1011. a material tank placement area; 1012. a movement space; 102. a guide rail; 103. an access device; 1031. a slide base; 1032. erecting a rod; 1033. a handling assembly; 10331. a vertical moving section; 10332. a load-bearing platform; 10333. a horizontal moving section; 104. a material box; 105. an object; 1051. a central bore.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

Example 1:

as shown in fig. 1, fig. 1 is a schematic overall operation diagram of an automated warehousing system according to embodiment 1 of the present invention. The invention provides a horizontal material-selecting device 1 for an automatic warehousing system, which is a part of the automatic warehousing system 100, and the automatic warehousing system 100 further comprises a plurality of warehousing cabinets 101. Specifically, the automated warehouse system 100 includes a plurality of warehouse cabinets 101, a plurality of guide rails 102, a plurality of access devices 103, and a plurality of horizontal picking devices 1 for the automated warehouse system.

The storage cabinet 101 is disposed in a storage space at intervals and includes a plurality of material box placing areas 1011. The plurality of material box placing areas 1011 are used for placing a plurality of material boxes 104, and each material box placing area 1011 can be used for arranging a plurality of material boxes 104 in a row. A moving space 1012 is formed between two adjacent storage cabinets 101. In other words, the storage cabinet 101 is a vertical cabinet. The material box placing area 1011 includes a horizontal material storing area and a vertical material storing area.

The guide rails 102 are respectively installed on the floor of the moving space 1012, surround the outer circumference of the storage cabinet 101, and are connected to each other to form a guide system.

The access device 103 comprises a slide 1031, an upright 1032 and a carrying assembly 1033, the slide 1031 is slidably disposed on one of the rails 102, and the upright 1032 is disposed on the top of the slide 1031. The carrying assembly 1033 comprises a power unit (not shown), two vertical moving units 10331, a carrying platform 10332 and a horizontal moving unit 10333, the power unit is disposed on the slide 1031, the two vertical moving units 10331 are disposed on one side of the upright 1032 and electrically connected to the power unit, the carrying platform 10332 is disposed on the vertical moving unit 10331, and the horizontal moving unit 10333 is disposed on the carrying platform 10332 and electrically connected to the power unit.

The material pick-up sequence of the automated warehousing system 100 will be briefly described below. First, the slide 1031 with the upright 1032 and the carrier assembly 1033 moves along one of the rails 102 and stays in a specific position. Next, the power unit drives the two vertical moving units 10331 to drive the supporting platform 10332 to ascend along the upright 1032 to a material box placing area 1011 of one of the storage cabinets 101. Then, the power unit drives the horizontal moving unit 10333 to move horizontally from the supporting platform 10332 to the bottom of a material box 104 in the direction of a material box placing area 1011 on a certain floor. Then, the power unit drives the horizontal moving unit 10333 to move horizontally in the direction of the supporting platform 10332 to the initial position. Again, the power section drives the vertically moving section 10331 to bring the load bearing platform 10332 down along the upright 1032. The sledge 1031 with the upright 1032 and the handling assembly 1033 is moved along one of the rails 102 to the side of the picker 1 for automated storage systems. Finally, the power unit drives the horizontal moving unit 10333 to move horizontally from the supporting platform 10332 to the picking device 1 for the automated warehouse system, so as to transport the material box 104 to one of the horizontal picking devices 1 for the automated warehouse system.

The material taking process of the automated warehousing system 100 in turn operates as the material stocking process of the automated warehousing system 100.

Fig. 1 to 3 are a schematic view of the overall operation of the automated warehousing system according to embodiment 1 of the present invention, a perspective view and a schematic structural view according to embodiment 1 of the present invention. The horizontal picking device 1 for the automated storage system of the present invention comprises a first conveying module 10, a second conveying module 20, a first material box 31, a second material box 41, a clamping module 50, an optical reader 60 and a control unit 70.

The first conveying module 10 includes a first frame 11 and a first conveying portion 12, the first frame 11 is disposed at one side of one of the storage cabinets 101 and is separated by a distance, the first conveying portion 12 is disposed on the first frame 11 and is electrically connected to the control unit 70, and a first material-picking area 13 is defined at a certain position of the first conveying portion 12. A plurality of first conveying modules 10 of a horizontal picking device 1 for a plurality of automatic warehousing systems are connected end to form a first conveying system.

In the embodiment, the first conveying portion 12 includes a plurality of first positioning conveying units 121, the first positioning conveying units 121 are disposed on the first frame 11 and electrically connected to the control unit 70, and a portion of the first positioning conveying units 121 define the first picking area 13.

In other embodiments, the first conveying portion 12 is a first conveyor belt (not shown) movably disposed on the first frame 11 and electrically connected to the control unit 70, and a certain portion of the first conveyor belt is defined as the first picking area 13.

The second conveying module 20 includes a second frame 21 and a second conveying portion 22, the second frame 21 is disposed on a side of the first conveying module 10 away from one of the storage cabinets 101, the second conveying portion 22 is disposed on the second frame 21 and electrically connected to the control unit 70, and a certain portion of the second conveying portion 22 is defined as a second picking area 23. The second conveying modules 20 of the horizontal picking device 1 for the automatic warehousing system are connected end to form a second conveying system.

In the present embodiment, the second conveying portion 22 includes a plurality of second positioning conveying units 221, the second positioning conveying units 221 are disposed on the second frame 21 and electrically connected to the control unit 70, and a portion of the second positioning conveying units 221 define the second picking area 23.

In other embodiments, the second conveying portion 22 is a second conveyor belt (not shown) movably disposed on the second frame 21 and electrically connected to the control unit 70, and a certain portion of the second conveyor belt is defined as the second picking area 23.

The storage device 103 takes out a material box from the horizontal material storage area of the material box placement area 1011 of the storage cabinet 101 and conveys the taken-out material box onto the first conveying portion 12. The control unit 70 controls the first conveying part 12 to operate, and the first conveying part 12 horizontally moves the taken out material box to the first sorting area 13. Therefore, the material box to be taken out is defined as a first material box 31, which is disposed in the first sorting area 13 and is used for placing a plurality of articles 105 in a horizontal state therein.

Referring to fig. 4, fig. 4 is a schematic view of a first material tank 31 and a second material tank 41 for horizontally placing articles in a horizontal state according to the present invention. In the present embodiment, the first material tank 31 includes a tank 331 and a plurality of partitions 332. The case 331 includes two sidewalls 3311, two sidewalls 3312 and a bottom wall, the two sidewalls 3311 are parallel to each other and located at two opposite sides of the case 331, the two sidewalls 3312 are parallel to each other and located at two opposite ends of the case 331, the bottom wall is located at the bottom end of the case 331, and the two sidewalls 3311, the two sidewalls 3312 and the bottom wall are connected to each other and together enclose a receiving slot. The partition plates 332 are disposed in the accommodating groove at intervals and are parallel to the end walls 3312. The inner side surfaces of all the end walls 3312 are provided with a plurality of positioning posts 333, and the outer side surfaces and the inner side surfaces of all the partition plates 332 are provided with a plurality of positioning posts 333. The space between two positioning columns 333 on the inner side surfaces of all the end walls 3312 and two positioning columns 333 on the outer side surfaces of all the partition plates 332 is defined as a horizontal positioning area 334, and the space between four positioning columns 333 on the inner side surfaces of two adjacent partition plates 332 is defined as a horizontal positioning area 334. The horizontal objects 105 are horizontally disposed in the horizontal positioning region 334, and the positioning posts 333 abut against the outer sidewalls of the horizontal objects 105. The object 105 is a tray dedicated to SMT, but not limited thereto.

Fig. 4B is a schematic diagram of a second aspect of the present invention for horizontally positioning articles in a first material tank 31 and a second material tank 41, as shown in fig. 4B. In other embodiments, the first material tank 31 may only include the tank 331, but not the partition 332, and the container can only contain a stack of objects 105.

The storage device 103 takes out a material box from the horizontal material storage area of the material box placement area 1011 of the storage cabinet 101, and conveys the taken-out material box to the first conveying part 12 or the second conveying part 22, wherein the material box is an empty box and does not place any object 105. The control unit 70 controls the first conveying part 12 or the second conveying part 22 to operate, and the first conveying part 12 or the second conveying part 22 horizontally moves the taken-out material box to the first picking area 13 or the second picking area 23. Therefore, the removed material box is defined as the second material box 41, which is disposed in the first picking area 13 or the second picking area 23 and has the same structure as the first material box 31. The second bin 41 shown in fig. 1 and 2 is disposed in the second picking zone 23.

The clamping module 50 includes a base 51, a robot 52 and two first clamps 53. The base 51 is disposed between the first and

second racks

11 and 21 and adjacent to the first and

second picking zones

13 and 23. The robot arm 52 is a multi-axis robot arm, a first end of which is disposed on the base 51, and a screw 521 is rotatably disposed at a second end of the multi-axis robot arm 52, penetrates through the top and the bottom thereof, and is electrically connected to the control unit 70. The first clamp 53 is disposed at the bottom end of the screw 521B, is close to the axis of the second end of the robot arm 52, and is electrically connected to the control unit 70. The control unit 70 controls the first clamp 53 to move between a first position and a second position.

The optical reader 60 is disposed on the second end of the robot arm 52 of the gripping module 50 and is electrically connected to the control unit 70. Preferably, the optical reader 60 includes a light emitting portion 61 and a light receiving portion 62, and the light emitting portion 61 and the light receiving portion 62 are electrically connected to the control unit 70 respectively.

As shown in fig. 5A to 5E, fig. 5A to 5E are schematic views illustrating the sorting of the single piece object 105 according to embodiment 1 of the present invention. The following describes the picking of the single piece objects 105 according to embodiment 1 of the present invention with reference to fig. 5A to 5E.

As shown in fig. 5A, the first gripper 53 is in the first position before the gripping module 50 grips the single piece of the object 105 in the horizontal state. When the clamping module 50 clamps the horizontal single-piece object 105 in the first material box 31, the control unit 70 first controls the robot arm 52 to move to the upper side of the first material box 31, and then the light emitting portion 61 of the optical reader 60 emits light, which irradiates the periphery of a center hole 1051 of the horizontal single-piece object 105 in the first material box 31 and is reflected back to the light receiving portion 62 to obtain an optical positioning signal and an object stack height signal and transmit the optical positioning signal and the object stack height signal to the control unit 70. The control unit 70 calculates the correct position of the center hole 1051 of the horizontal single-piece object 105 in the first material box 31 according to the optical positioning signal, and then the control unit 70 controls the robot arm 52 to fine-tune the horizontal position of the second end thereof according to the calculated correct position, so that the first clamp 53 is precisely aligned with the center hole 1051 of the horizontal single-piece object 105 in the first material box 31.

As shown in fig. 5B, the control unit 70 controls the screw 521 to move downward, so that the first clamps 53 pass through a central hole 1051 of the horizontal single-piece object 105 in the first material tank 31 and are respectively kept at a distance from the inner side wall of the central hole 1051 of the horizontal single-piece object 105 in the first material tank 31.

As shown in fig. 5C, the control unit 70 controls the first clamp 53 to move horizontally to the second position, so that the first clamp 53 clamps the inner side wall of the center hole 1051 of the single piece object 105 in the horizontal state in the first material tank 31. After the clamping module 50 clamps the horizontal single piece object 105 in the first material box 31, as shown in fig. 5C, the control unit 70 controls the screw 521 to move upward first, so that the horizontal single piece object 105 leaves the first material box 31, and then as shown in fig. 5D, the control unit 70 controls the robot arm 52 to move above the second material box 41, so that the horizontal single piece object 105 is located above the second material box 41. When the control unit 70 controls the robot arm 52 to move above the second material box 41, the light emitting portion 61 of the optical reader 60 emits light, which irradiates the bottom of the second material box 41 or the top of the uppermost one of the horizontal objects 105 already stored in the second material box 41 and reflects back to the light receiving portion 62 to obtain a depth signal and transmit the depth signal to the control unit 70. The control unit 70 compares the difference between the object stack height signal and the depth signal to calculate an object movement amount. The depth signal is the distance from the top to the bottom of the second bin 41 or the top of the uppermost horizontal object 105 already in the second bin 41.

As shown in FIG. 5E, the control unit 70 controls the screw 521 to move downward, so as to move the single-piece articles 105 in a horizontal state into the second magazine 41.

The control unit 70 controls the first clamps 53 to move horizontally to the first position, so that the first clamps 53 are separated from the inner side wall of the central hole 1051 of the single piece object 105 in the horizontal state. Finally, the control unit 70 controls the screw 521 to move upward so that the first clamps 53 pass through the central holes 1051 of the single-piece articles 105 in the horizontal state to horizontally place the single-piece articles 105 in the horizontal positioning section 334 of the second material box 41.

The control unit 70 continuously controls the robot 52 to move a plurality of single objects 105 in a horizontal state from the first material box 31 to the second material box 41 according to the object moving amount. Specifically, each time the number of the objects 105 in the second bin 41 in the horizontal state increases by one, the optical reader 60 updates the depth signal, and the control unit 70 deducts the number of the objects moved according to the updated depth signal until the number of the objects moved deducts to zero. When the control unit 70 deducts the amount of the objects moved to zero, the height of the plurality of objects 105 in the horizontal state in the second object box 41 corresponds to the object stack height signal, and the control unit 70 controls the robot 52 to stop operating. Referring to fig. 6, fig. 6 is a schematic diagram illustrating the sorting of a plurality of objects 105 according to embodiment 1 of the present invention. The first embodiment may also be used to sort pieces of articles 105. The plurality of articles 105 refers to two to five articles 105 in the same stack of articles 105. Example 1 the process of picking up several objects 105 differs from the process of picking up a single object 105 in that: first, when the clamping module 50 clamps the pieces of objects 105 in the horizontal state, the first clamp 53 penetrates through the central hole 1051 of the pieces of objects 105 in the horizontal state in the first material tank 31; secondly, the control unit 70 controls the first clamp 53A to move horizontally to the second position, so that the first clamp 53A clamps the inner side wall of the central hole 1051 of the plurality of objects 105 in the horizontal state in the first material tank 31. Except for the above two differences, the process of picking up the plurality of objects 105 in example 1 is the same as the process of picking up the single object 105 in example 1.

The invention can automatically and horizontally place the single object 105 or a plurality of objects 105 in the first material box 31 in the horizontal state in the second material box 41 without depending on manual operation, thereby having high efficiency.

As shown in fig. 1 to 3, the horizontal order picking device 1 for the automated warehouse system further includes a turning module 80, and the turning module 80 includes a fixing portion 81, a turning portion 82 and a driving mechanism 83. The fixing portion 81 is disposed between the first and second conveying

modules

10 and 20 and is close to the base 51 of the gripping module 50. The turning part 82 is disposed on the fixing part 81 and has a receiving groove 821, the driving mechanism 83 is disposed on the fixing part 81 and connected to the turning part 82, the turning part 82 is driven to rotate between a horizontal position and a vertical position relative to the fixing part 81, and the control unit 70 is electrically connected to the driving mechanism 83.

As shown in fig. 1 and 2, the access device 103 takes out a material box from the vertical material storage area of the material box placement area 1011 of the storage cabinet 101, and conveys the taken-out material box to the first conveying part 12 or the second conveying part 22, wherein the material box is an empty box and does not place any object 105. The control unit 70 controls the first conveying part 12 or the second conveying part 22 to operate, and the first conveying part 12 or the second conveying part 22 horizontally moves the taken-out material box to the first picking area 13 or the second picking area 23. Therefore, the removed material box is defined as a second material box 42, which is disposed in the first picking area 13 or the second picking area 23, and has a structure completely different from that of the first material box 31 and the second material box 41. The second bin 42 of fig. 1 and 2 is disposed in the second picking zone 23.

Referring to FIG. 7, FIG. 7 is a schematic view of a second bin 42 for vertically placing articles in a vertical position according to the present invention. The structure of the second material box 42 and the structure of the first material box 31 and the second material box 41 are different in that: the partition 332 divides the accommodating groove into two vertical positioning areas 421; it is worth mentioning that this embodiment is also applicable to material tanks without partitions.

As shown in fig. 8A-8C, fig. 8A-8C are schematic views illustrating flipping and picking of the monolithic object 105 according to embodiment 1 of the present invention. Turning and picking the single piece object 105 according to embodiment 1 of the present invention will be described with reference to fig. 8A to 8C.

As shown in fig. 8A, the control unit 70 controls the clamping module 50 to move into the first material tank 31, then the control unit 70 controls the clamping module 50 to clamp the single piece 105 in the horizontal state in the first material tank 31, and then the control unit 70 controls the clamping module 50 to move the single piece 105 in the horizontal state into the accommodating groove 821 of the turning part 82 in the horizontal position. The details of the operation of the gripping module 50 to grip, move and place the individual pieces 105 in the horizontal state are as described above, except that the individual pieces 105 in the horizontal state are changed to be placed horizontally in the accommodation groove 821 of the turning section 82 instead of the second magazine 41.

As shown in fig. 8B, the control unit 70 controls the driving mechanism 83 to drive the inverting section 82 to move to the vertical position, so that the individual articles 105 in the horizontal state are inverted from the horizontal state to the vertical state.

As shown in fig. 8C, before the gripping module 50 grips the single piece of the object 105 in the vertical state, the first gripper 53 is waited to be located at the second position. When the gripping module 50 grips the single piece 105 in the turning part 82 in the vertical state, the control unit 70 controls the robot arm 52 to move to above the turning part 82, then the control unit controls the screw 521 to move downward, so that the first gripper 53 passes through the outer sides of the two surfaces of the single piece 105 in the turning part 82 in the vertical state and keeps a distance from the two surfaces of the single piece 105 in the turning part 82 in the vertical state, and then the control unit 70 controls the first gripper 53 to move horizontally to the first position, so that the first gripper 53 grips the two surfaces of the single piece 105 in the turning part 82 in the vertical state. After the clamping module 50 clamps the single piece object 105 in the vertical state in the turnover part 82, the control unit 70 controls the screw 521 to move upward first, so that the single piece object 105 in the vertical state leaves the turnover part 82, then the control unit 70 controls the robot arm 52 to move to the upper side of the second material box 42, so that the single piece object 105 in the vertical state is located above the second material box 42, and then the control unit 70 controls the screw 521 to move downward, so that the single piece object 105 in the vertical state is moved into the second material box 42. Then, the control unit 70 controls the first clamp 53 to move horizontally to the second position, so that the first clamp 53 is separated from the two surfaces of the single piece object 105 in the vertical state. Finally, the control unit 70 controls the screw 521 to move upward to vertically place the single-piece articles 105 in a vertical state in the vertical positioning section 421 of the second magazine 42.

The present invention can also take out the single piece objects 105 in the horizontal state from the second material box 41 through the above operation mode, then turn over and sort the single piece objects 105 in the vertical state, and then vertically place the single piece objects 105 in the vertical positioning area 421 of the second material box 42.

The invention can automatically take out the single piece objects 105 in the horizontal state in the first material box 31 or the second material box 41, automatically turn the single piece objects 105 in the horizontal state into the vertical state through the turning module 80, and then automatically place the single piece objects in the second material box 42 without depending on manual operation, thereby having high efficiency.

It should be noted that the accessing device 103 may also take out another material box from the vertical material storage area of the material box placement area 1011 of the storage cabinet 101, and transport the taken out another material box to the first conveying portion 12 or the second conveying portion 22, where the material box is filled with the plurality of objects 105 in the vertical state. The control unit 70 controls the first conveying part 12 or the second conveying part 22 to operate, and the first conveying part 12 or the second conveying part 22 horizontally moves the taken-out material box to the first picking area 13 or the second picking area 23. Therefore, the removed material box is defined as the second material box 43, which is disposed in the first picking area 13 or the second picking area 23, and has the same structure as the second material box 42. The second bin 43 of fig. 1 and 2 is disposed in the first picking zone 13.

The first gripper 53 is located at the second position before the gripping module 50 grips the single piece of the object 105 in the vertical state. When the gripping module 50 grips the single piece object 105 in the vertical state in the second material box 43, the control unit 70 controls the robot arm 52 to move to the upper side of the second material box 43, then the control unit controls the screw 521 to move downward, so that the first gripper 53 passes through the outer sides of the two surfaces of the single piece object 105 in the vertical state in the second material box 43 and keeps a distance from the two surfaces of the single piece object 105 in the vertical state in the second material box 43, and then the control unit 70 controls the first gripper 53 to move horizontally to the first position, so that the first gripper 53 grips the two surfaces of the single piece object 105 in the vertical state in the second material box 43. After the clamping module 50 clamps the single piece object 105 in the vertical state in the second material box 43, the control unit 70 first controls the screw 521 to move upward so that the single piece object 105 in the vertical state leaves the second material box 43, then the control unit 70 controls the robot arm 52 to move above the second material box 42 so that the single piece object 105 in the vertical state is located above the second material box 42, and then the control unit 70 controls the screw 521 to move downward so that the single piece object 105 in the vertical state is moved into the second material box 42. Then, the control unit 70 controls the first clamp 53 to move horizontally to the second position, so that the first clamp 53 is separated from the two surfaces of the single piece object 105 in the vertical state. Finally, the control unit 70 controls the screw 521 to move upward to vertically place the single-piece articles 105 in a vertical state in the vertical positioning section 421 of the second magazine 42.

The invention can automatically take out the single objects 105 in the vertical state in the second material box 43 and then automatically place the single objects in the second material box 42 without depending on manual operation, thereby having high efficiency.

Example 2:

as shown in fig. 9, fig. 9 is a schematic view of embodiment 2 of the present invention. The gripping module 50A of embodiment 2 is different in structure from the gripping module 50 of embodiment 1. Otherwise, the other technical features of embodiment 2 of the present invention are the same as those of embodiment 1.

Further, the gripping module 50A of embodiment 2 further includes four second clamps 54A, each of the second clamps 54A includes a second movable clamping bar 541A and a second hook 542A, the second movable clamping bar 541A is disposed at the second end of the robot arm 52A and is close to the outer side of the robot arm 52A, the second hook 542A is protruded on an inner sidewall of the second movable clamping bar 541A, and the control unit 70 is electrically connected to the second movable clamping bar 541A and controls the second movable clamping bar 541A to move between a first position and a second position. Preferably, the extending directions of the second hook portions 542A of all the second clips 54A are different. Preferably, the second hook 542A of the second clamp 54A is located at the bottom end of the second moving clamp rod 541A corresponding to the second clamp 54A.

The process of picking individual pieces 105 of example 2 differs from the process of picking individual pieces 105 of example 1 in that: first, before the clamping module 50A clamps the single piece object 105 in the first material box 31 in the horizontal state, the second moving clamping rod 541A of the second clamp 54A is located at the first position; secondly, when the clamping module 50A clamps the single piece object 105 in the horizontal state in the first material box 31, the second clamp 54A passes through the outer side of the outer side wall of the single piece object 105 in the horizontal state in the first material box 31; third, the control unit 70 controls the second moving clamping rod 541A of the second clamp 54A to horizontally move to the second position, so that the second moving clamping rod 541A of the second clamp 54A clamps the outer side wall of the horizontal single-piece object 105 in the first material box 31, and the second hook 542A of the second clamp 54A abuts against the bottom surface of the horizontal single-piece object 105 in the first material box 31. The process of picking the single piece object 105 in example 2 is exactly the same as the process of picking the single piece object 105 in example 1 except for the above three differences.

Fig. 10 is a schematic view of picking up the entire string of objects 105 according to embodiment 2 of the present invention, as shown in fig. 10. How the entire string of objects 105 is sorted in the embodiment 2 of the present invention will be described with reference to fig. 10.

Example 2 the process of picking a whole string of objects 105 differs from the process of picking a single piece of objects 105 of example 2 in that: first, when the clamping module 50A clamps the whole string of objects 105 in the first material box 31, the first clamp 53A passes through the center hole 1051 of the whole string of objects 105 in the first material box 31, and the second clamp 54A passes through the outer side wall of the whole string of objects 105 in the first material box 31; secondly, the control unit 70 controls the first clamp 53A to move horizontally to the second position, so that the first clamp 53A clamps the inner side wall of the central hole 1051 of the whole string of objects 105 in the horizontal state in the first material tank 31; third, the control unit 70 controls the second moving clamping rod 541A of the second clamp 54A to horizontally move to the second position, so that the second moving clamping rod 541A of the second clamp 54A clamps the outer side wall of the whole string 105 in the horizontal state in the first material box 31, and simultaneously the second hook 542A of the second clamp 54A abuts against the bottom surface of the lowermost object 105 of the whole string 105 in the horizontal state in the first material box 31. Except for the three differences, the process of example 2 for picking a whole string of objects 105 is identical to the process of example 2 for picking a single object 105.

The clamping module 50A according to embodiment 2 of the present invention can clamp the plurality of objects 105 in the horizontal state or the entire string of objects 105 in the first material box 31 through the second clamp 54A, so that the plurality of objects 105 in the horizontal state or the entire string of objects 105 are moved relatively stably without shaking. The gripping module 50 of embodiment 1 of the present invention has no second gripper 54A, so that when moving several objects 105 or the entire string of objects 105 in a horizontal state, the gripping module is easy to shake and is not stable. Except for the difference in the above effects, other basic effects of example 1 and example 2 of the present invention are identical.

Example 3

As shown in fig. 11, fig. 11 is a schematic view illustrating the overall operation of the automated warehousing system including embodiment 3 of the present invention. The structural difference between the embodiment 3 of the invention and the embodiment 1 is as follows: first, the first conveyor module 10 and the second conveyor module 20 are arranged adjacent to each other side by side; secondly, the clamping module 50 is arranged between the first conveying module 10 and one of the storage cabinets 101A; thirdly, the storage cabinet 101A is a box-shaped cabinet body.

Example 4

As shown in fig. 12, fig. 12 is a perspective view of embodiment 4 of the present invention. The structural difference between the embodiment 4 and the embodiment 1 is as follows: first, the first conveying module 10A further includes two first sorting portions 14, the first sorting portions 14 are disposed at intervals on one side of the first conveying portion 12 away from one of the storage cabinets 101 and electrically connected to the control unit 70, the first sorting portions 14 together define a first sorting area 13, and the first sorting portion 14 is substantially a table body; second, the second conveying module 20A includes two second picking portions 24, the second picking portions 24 are disposed at intervals on one side of the second conveying portion 22 close to the first conveying module 10 and electrically connected to the control unit 70, the second picking portions 24 together define a second picking area 23, and the second picking portions 24 are substantially a table. Except for the above differences, the structure of embodiment 4 is the same as that of embodiment 1.

Example 5

As shown in fig. 13, fig. 13 is a schematic view of embodiment 5 of the present invention. The storing and taking device 103 of the invention is a storage and transportation robot which has the functions of autonomous navigation, real-time positioning, read path planning, intelligent obstacle avoidance and the like; more specifically, the present embodiment also achieves the storage operation as in embodiment 1, and has better transportation maneuvering efficiency, and is not limited to the track-related limitation, as shown in fig. 1; in addition, the storage and transportation robot of the embodiment can correspondingly transport the material box 104 to the sorting device 1 of one of the automatic storage systems for performing the related horizontal sorting procedure; furthermore, the present embodiment may also perform a material storage procedure after the sorting procedure.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A horizontal picker for an automated storage system, comprising:

a first conveying module having a first picking area;

a second conveying module with a second material-picking area;

the first material box is arranged in the first material sorting area and is used for horizontally placing at least one object in a horizontal state;

the second material box is arranged in the first material sorting area or the second material sorting area;

a gripping module proximate to the first picking area and the second picking area;

the control unit is electrically connected with the first conveying module, the second conveying module and the clamping module;

the control unit controls the clamping module to move into the first material box, then controls the clamping module to clamp the at least one object in the first material box in a horizontal state, controls the clamping module to move the at least one object from the first material box into the second material box, and controls the clamping module to separate from the at least one object so that the at least one object is placed in the second material box.

2. The horizontal picking device of claim 1, wherein the pick-up module comprises a base, a robot arm, and a plurality of first grippers, the base is adjacent to the first picking area and the second picking area, a first end of the robot arm is disposed on the base, the control unit is electrically connected to the robot arm, the first grippers are disposed at a second end of the robot arm and are adjacent to a center of the second end of the robot arm, the control unit is electrically connected to the first grippers and controls the first grippers to move between a first position and a second position;

the first clamp is located at a first position before the clamping module clamps the at least one object in the first material box in a horizontal state;

when the clamping module clamps the at least one object in the first material box in the horizontal state, the control unit controls the mechanical arm to move to the position above the first material box, then the control unit controls the mechanical arm to move downwards, so that the first clamp penetrates through a central hole of the at least one object in the first material box in the horizontal state and keeps a certain distance with an inner side wall of the central hole of the at least one object in the first material box in the horizontal state respectively, and then the control unit controls the first clamp to move horizontally to a second position, so that the first clamp clamps the inner side wall of the central hole of the at least one object in the first material box in the horizontal state;

after the clamping module clamps the at least one object in the first material box, which is in a horizontal state, the control unit controls the mechanical arm to move upwards to enable the at least one object in the horizontal state to leave the first material box, then the control unit controls the mechanical arm to move to the position above the second material box to enable the at least one object in the horizontal state to be located above the second material box, then the control unit controls the mechanical arm to move downwards to move the at least one object in the horizontal state into the second material box, then the control unit controls the first clamp to move horizontally to a first position to enable the first clamp to leave the inner side wall of the central hole of the at least one object in the horizontal state, and finally the control unit controls the mechanical arm to move upwards, and enabling the first clamp to penetrate through the central hole of the at least one object in the horizontal state so as to horizontally place the at least one object in the horizontal state in the second material box.

3. The horizontal picker device of claim 1 or 2, wherein the picking module further comprises a plurality of second grippers disposed at a second end of the robot arm and near an outer side of the robot arm, the control unit is electrically connected to the second grippers and controls the second grippers to move between a first position and a second position;

before the clamping module clamps the at least one object in a horizontal state, the second clamp is located at a first position;

when the clamping module clamps the at least one object in the first material box in a horizontal state, the control unit controls the mechanical arm to move to the upper part of the first material box, then the control unit controls the mechanical arm to move downwards, so that the second clamp passes through the outer side of one outer side wall of the at least one object in the first material box in the horizontal state and keeps a certain distance with the outer side wall of the at least one object in the first material box in the horizontal state respectively, and then the control unit controls the second clamp to move horizontally to a second position, so that the second clamp clamps the outer side wall of the at least one object in the first material box in the horizontal state;

after the clamping module clamps the at least one object in the first material box, which is in a horizontal state, the control unit controls the mechanical arm to move upwards to enable the at least one object in the horizontal state to be located above the second material box, then the control unit controls the mechanical arm to move to the position above the second material box, then the control unit controls the mechanical arm to move downwards to enable the at least one object in the horizontal state to move into the second material box, then the control unit controls the second clamp to move horizontally to the first position to enable the second clamp to be separated from the outer side wall of the at least one object in the horizontal state, and finally the control unit controls the mechanical arm to move upwards to enable the second clamp to pass through the outer side wall of the at least one object in the horizontal state, so as to place the at least one object in a horizontal state horizontally in the second bin.

4. The horizontal picking device of claim 3, wherein the second gripper comprises a second movable clamping bar and a second hook, the second movable clamping bar is disposed at the second end of the robot arm and close to the outer side of the robot arm, the second hook protrudes from an inner sidewall of the second movable clamping bar, the control unit is electrically connected to the second movable clamping bar and controls the second movable clamping bar to move between a first position and a second position;

when the clamping module clamps the at least one object in the first material box in the horizontal state, the second movable clamping rod of the second clamp clamps the outer side wall of the at least one object in the first material box in the horizontal state, and meanwhile, the second hook part of the second clamp abuts against the bottom surface of the at least one object in the first material box in the horizontal state.

5. The horizontal picker device of claim 4, wherein the second hooks of all the second jigs extend in different directions.

6. The horizontal picker assembly of claim 4, wherein the second hook of the second gripper is located at a bottom end of the second movable clamping bar corresponding to the second gripper.

7. The horizontal picker assembly of claim 1, further comprising a flipping module adjacent to the pick module and electrically connected to the control unit;

the control unit controls the clamping module to move into the first material box, then controls the clamping module to clamp the at least one object in the horizontal state in the first material box, and then controls the clamping module to move the at least one object in the horizontal state into the overturning module;

the control unit controls the overturning module to overturn the at least one object in the horizontal state from the horizontal state to the vertical state;

the control unit controls the clamping module to move to the overturning module, then the control unit controls the clamping module to clamp the at least one object in the overturning module, which is in the vertical state, then the control unit controls the clamping module to move the at least one object in the vertical state from the overturning module to the second material box, and finally the control unit controls the clamping module to be separated from the at least one object in the vertical state, so that the at least one object in the vertical state is vertically placed in the second material box.

8. The horizontal picking device of claim 7, wherein the picking module comprises a base, a robot arm, and a plurality of first grippers, the base is adjacent to the first picking area and the second picking area, the flipping module is adjacent to the base, a first end of the robot arm is disposed on the base, the control unit is electrically connected to the robot arm, the first grippers are disposed at a second end of the robot arm and are adjacent to a center of the second end of the robot arm, the control unit is electrically connected to the first grippers and controls the first grippers to move between a first position and a second position;

after the clamping module clamps the at least one object in the first material box in the horizontal state, the control unit controls the mechanical arm to move upwards, then controls the mechanical arm to move to the overturning module, moves the at least one object in the horizontal state to the overturning module, then controls the first clamp to move horizontally to a first position, so that the first clamp is separated from the inner side wall of the central hole of the at least one object in the horizontal state, and finally controls the mechanical arm to move upwards, so that the first clamp penetrates through the central hole of the at least one object in the horizontal state, and the at least one object in the horizontal state is horizontally placed in the overturning module;

the first clamp is located at a second position before the clamping module clamps the at least one object in the turning module in the vertical state;

when the clamping module clamps the at least one object in the turning module in the vertical state, the control unit controls the mechanical arm to move to the upper side of the turning module firstly, then the control unit controls the mechanical arm to move downwards, so that the first clamp passes through the outer side of two surfaces of the at least one object in the turning module in the vertical state and keeps a certain distance with the two surfaces of the at least one object in the turning module in the vertical state respectively, and then the control unit controls the first clamp to move horizontally to a first position, so that the first clamp clamps the two surfaces of the at least one object in the turning module in the vertical state;

after the clamping module clamps the at least one object in the turning module, which is in a vertical state, the control unit controls the mechanical arm to move upwards to enable the at least one object in the vertical state to leave the turning module, then the control unit controls the mechanical arm to move to the position above the second material box, so that the at least one object in the vertical state is located above the second material box, then the control unit controls the mechanical arm to move downwards to move the at least one object in the vertical state into the second material box, then the control unit controls the first clamp to move horizontally to a second position to enable the first clamp to be separated from two surfaces of the at least one object in the vertical state, and finally the control unit controls the mechanical arm to move upwards, so as to vertically place the at least one object in the vertical state in the second material box.

9. The horizontal picking device of claim 7 or 8, wherein the tilting module comprises a fixing portion adjacent to the base, a tilting portion disposed on the fixing portion and having a receiving slot, and a driving mechanism disposed on the fixing portion, connected to the tilting portion, and driving the tilting portion to rotate between a horizontal position and a vertical position relative to the fixing portion, the control unit being electrically connected to the driving mechanism;

the control unit controls the clamping module to move the at least one object in the horizontal state into the accommodating groove of the turnover part positioned in the horizontal position, and the control unit controls the driving mechanism to drive the turnover part to move to the vertical position, so that the at least one object in the horizontal state is turned from the horizontal state to the vertical state.

10. The horizontal picker device of claim 2 or 8, further comprising an optical reader disposed on the pick-up module and electrically connected to the control unit;

when the control unit controls the mechanical arm to move to the position above the first material box, the optical reader optically reads the central hole of the at least one object in the first material box in the horizontal state to obtain an optical positioning signal and an object stack height signal and transmits the optical positioning signal and the object stack height signal to the control unit, the control unit calculates the correct orientation of the central hole of the at least one object in the first material box in the horizontal state according to the optical positioning signal, and then the control unit controls the mechanical arm to adjust the horizontal position of the second end of the mechanical arm according to the calculated correct orientation, so that the first clamp is aligned with the central hole of the at least one object in the first material box in the horizontal state;

when the control unit controls the mechanical arm to move to the position above the second material box, the optical reader optically reads the second material box to obtain a depth signal and transmits the depth signal to the control unit, the control unit compares the difference between the object stack height signal and the depth signal to calculate an object moving number, the control unit continuously controls the mechanical arm to move a plurality of objects in a horizontal state from the first material box into the second material box according to the object moving number, and when the heights of the objects in the horizontal state in the second material box are consistent with the object stack height signal, the control unit controls the mechanical arm to stop operating.