TW202008241A - Storing and conveying system for automatic storage and location control method thereof including a conveying step, a mechanical positioning step, an inductive reading step, an optical positioning step, an operational processing step, a transmission step, and an operation step - Google Patents

Abstract

This invention discloses a storing and conveying system for automatic storage and a location control method thereof. The system includes a plurality of three-dimensional storage cabinets, a plurality of guide rail components, at least one vertical lifting storing and fetching apparatus, a plurality of automatic conveying modules, at least one automatic positioning module, at least one reading module, at least one automatic clamping module, and a central control processing module. The positioning control method includes a conveying step, a mechanical positioning step, an inductive reading step, an optical positioning step, an operational processing step, a transmission step, and an operation step, wherein due to the coordinative operation of the modules in combination with the process steps, optical positioning and mechanical positioning may be performed in the operating processes of storage and fetching, so that the material box information read in a conveying process can be correspondingly realized. Meanwhile, synchronous monitoring and automatic storage and fetching are realized, so that the effects of high storage-and-fetching efficiencies and identification accuracy are achieved.

Description

Storage and delivery system for automatic storage and positioning control method thereof

The invention relates to an automatic storage system, in particular to a storage and transportation system for automatic storage and its positioning control method.

According to different, in different industries and enterprises, because the production products are different, the use frequency of the material warehouse is not the same; but for enterprises with a large variety of materials and a large amount of material storage, material storage management is directly related to the company’s production. Management has a pivotal role.

However, taking SMT (Surface Mount Technology for Electronic Circuits) as an example, SMT is a basic industry in the field of electronics manufacturing, so it can be known that warehousing and dispatching is one of the processes of SMT (Surface Mount Technology) The important components mainly include the steps of feeding, discharging, returning and replenishing.

However, most of the existing storage and distribution systems use paper bills of materials and manual identification and search methods. This storage and distribution system has low working efficiency, high error rate, poor real-time updateability, and requires a lot of work skills for operators, requiring training Only a long time skilled personnel can effectively carry out the process of feeding and discharging. Further, in order to be able to classify and store materials efficiently and accurately, the storage locations of different types of materials are mostly fixed settings, in order to skillfully and accurately perform the process operations of feeding and discharging, and further improve the skill requirements of the operator .

In addition, due to the characteristics of large quantities and many varieties in the electronic product production industry, more materials are used; if manual material management and transmission are used, there will be problems of finding difficulties and time consuming. Therefore, it is necessary to consider the automation of material storage and delivery transportation to shorten the time for material search and acquisition, improve logistics speed, and improve production efficiency.

Therefore, the inventor of the present case has produced the present invention after observing the above-mentioned deficiency.

The main purpose of the present invention is to provide a storage and transportation system for automatic storage, which can perform optical positioning and mechanical positioning during the operation of accessing materials, so as to correspondingly realize the reading of materials in the transportation process Box information, at the same time, realize the access flow of multi-stations without interference with each other, and realize the synchronous monitoring and automatic access to the material tray of the material box in the system of the present invention in a high-precision way to achieve high efficiency and accurate recognition Purpose.

In order to achieve the above purpose, the storage and transportation system for automatic storage provided by the present invention includes: a plurality of three-dimensional storage cabinets, which are arranged at intervals, and have a plurality of storage spaces, and the storage spaces are A plurality of material boxes are provided, and at least one moving space is provided between at least two three-dimensional storage cabinets; a plurality of guide rail assemblies are provided on the ground of the moving space and adjacent to the peripheral side of the three-dimensional storage cabinet , The guide rail components are connected to each other; at least one vertical lifting material access device, which is slidably arranged on the guide rail components; a plurality of automatic conveying modules, which are adjacent to these One side of the three-dimensional storage cabinet is separated by at least one space. The automatic conveying module is used to transport at least one material box. At least one sensing label and at least one sensing position structure are provided outside the material boxes; at least one An automatic positioning module, which is set on the automatic conveying module, and has at least two mechanical positioning elements and a sensing processing unit, the sensing processing unit is coupled to the mechanical positioning elements, and the automatic positioning module When the automatic conveying module transports the material box, the mechanical positioning elements enable the material box to be temporarily positioned on the automatic conveying module, and the sensing processing unit transmits at least a certain point signal; at least one reading The module, which has a plurality of optical readers and a plurality of information readers, is selected from the three-dimensional storage cabinets, the vertical lifting material storage device, the guide rail components, and the automatic transport modules At least one of the groups, and at least one of the optical reader and the at least one information reader are respectively adjacent to the automatic positioning module, and are used to position the material box by optical reading and scan the material Box information, and transmit at least one optical positioning signal and at least one material information; at least one automatic gripping module, which is located on one side of at least one automatic conveying module, and two sides of the automatic gripping module are respectively Two automatic conveying modules; and a central control processing module, which is coupled to the vertical lifting material access device, the automatic conveying modules, the automatic gripping module, the reading module and the automatic positioning Module, and receive the fixed-point signal, the optical positioning signal and the material information, and perform arithmetic processing, and then control the vertical lifting material access device, the automatic conveying module, the automatic clamping module, the reading Take the action of the module and the automatic positioning module.

Based on the above-mentioned storage and transportation system for automatic storage, the present invention further proposes a positioning control method for the storage and transportation system of automatic storage. The positioning control method includes: a transportation step. The group conveys a plurality of material boxes; a mechanical positioning step, when conveying the material box, the sensing processing unit causes one of the mechanical positioning members to push one side of the material box, and the other mechanical positioning member pushes the On the other side of the material box, the material box is located in the optical positioning space, and then the sensing processing unit transmits at least a certain point signal; an inductive reading step, the information readers read the inductive tag, and Generates at least one material information, and the sensing processing unit transmits the material information to the central control processing module; an optical positioning step, the optical readers read the first identification reflection part and the Wait for the second identification reflection part to obtain at least one optical positioning signal, and the sensing processing unit transmits the optical positioning signal to the central control processing module; an arithmetic processing step, the central control processing module receives the The fixed-point signal, the optical positioning signal and the material information are calculated and processed to obtain plural picking information and plural feeding information, and then convert the receiving information and the feeding information into plural execution process information; a transmission step , The central control processing module transmits the execution process information to the vertical lifting and lowering device, the automatic conveying module, the automatic gripping module and the reading module to control the vertical type Actions of the lifting and lowering material storage device, the automatic conveying modules, the automatic clamping module and the reading module; an operation step, the vertical lifting and lowering material access device, the automatic conveying modules and the automatic The gripping module performs at least one feeding operation and at least one storing operation according to the execution process information.

The storage and delivery system for automatic warehousing and the positioning control method provided by the present invention utilize the automatic positioning module to position the material box in a mechanical positioning manner, together with the inductive label of the material box and the position of the sensor The structure is set for the reading module to position the material box by optical reading and to scan and read the information of the material box. More specifically, the present invention can perform optical operation during the operation of accessing materials Positioning and mechanical positioning, combined with the vertical lifting material access device, the automatic conveying modules, the automatic clamping module, the reading module, the automatic positioning module and the central control processing module Coordinated operation and the use of the above-mentioned positioning control method can correspondingly realize the reading of the material box information in the conveying process, and at the same time, realize the access process of multiple stations without interference with each other, and realize the control of the book with high precision. The material tray of the material box in the invention system is synchronously monitored and automatically accessed to achieve the effect of high efficiency and accurate identification.

Please refer to FIG. 1 and FIG. 2, together with FIG. 3, FIG. 4 and FIG. 5, which is a block diagram of the system, a schematic diagram of the system architecture, a perspective view of the material box 13, a perspective view of the material box 13 An exploded perspective view and a perspective view of the positioning plate 133, which discloses a storage and delivery system 100 for automatic storage, which includes:

The plurality of three-dimensional storage cabinets 10 are arranged at intervals, and have a plurality of layers of storage spaces 11, the plurality of storage spaces 11 are provided with a plurality of material bins 13, and at least one between at least two three-dimensional storage cabinets 10 Moving space 12.

A plurality of guide rail assemblies 20 are provided on the ground of the moving space 12 and adjacent to the peripheral side of the three-dimensional storage cabinet 10. The guide rail assemblies 20 are connected to each other; in this embodiment, these The guide rail assembly 20 has a plurality of guide rails 21.

At least one vertical lifting material access device 30, which is slidably disposed on the guide rail assemblies 20; in this embodiment, the vertical lifting material access device 30 includes a sliding base A base 31, a power component 32, at least one upright 33, a moving component 34, a carrying platform 35 and a material moving component 36, the sliding base 31 is slidably disposed on at least one guide rail component 20, and the The sliding base 31 is provided with the upright rod 33 on the top side, the outer side of the upright rod 33 is provided with the moving assembly 34, the moving assembly 34 is connected to the bearing platform 35, and the bearing platform 35 is provided with the moving assembly Material assembly 36, and the carrying platform 35 is vertically displaced relative to the upright rod 33 by the moving assembly 34, and the power assembly 32 is disposed on the sliding base 31 and is coupled to the moving assembly 34 and The shifting assembly 36.

A plurality of automatic conveying modules 40, which are adjacent to one side of the three-dimensional storage cabinets 10, and are separated by at least one space, the automatic conveying module 40 is used to transport at least one material box 13, the material boxes 13 At least one sensing tag 134 and at least one sensing position structure 131 are provided on the outer side; in this embodiment, the automatic conveying modules 40 are selected from one of an automatic conveying belt structure and an automatic roller conveying structure Or a combination thereof. In addition, the automatic conveying modules 40 of the present invention are an automatic conveying belt structure and an automatic roller conveying structure, respectively.

At least one automatic positioning module 50, which is set on the automatic conveying module 40, and has at least two mechanical positioning elements 51 and a sensing processing unit 52, the sensing processing unit 52 is coupled to the mechanical positioning elements 51 In addition, the automatic positioning module 50 is used when the automatic conveying module 40 transports the material box 13, the mechanical positioning members 51 enable the material box 13 to temporarily position the automatic conveying module 40, and the sense The measuring and processing unit 52 transmits at least a certain point signal; in this embodiment, there is an optical positioning space 511 between the mechanical positioning members 51, and the mechanical positioning members 51 are used for the automatic transport module 40 When the material box 13 is transported, the material box 13 is provided for positioning the optical positioning space 511, and the sensing processing unit 52 transmits at least a certain point signal.

At least one reading module 60, which has a plurality of optical readers 61 and a plurality of information readers 62, and is selected from the three-dimensional storage cabinet 10, the vertical lifting material storage device 30, the guides At least one of the guide rail assembly 20 and the automatic transport modules 40, and at least one optical reader 61 and at least one information reader 62 are adjacent to the automatic positioning module 50, respectively, and used for optical The reading method locates the sensing position structures 131 on the material box 13, and scans and reads the information in the induction tag 134 of the material box 13, and then transmits at least one optical positioning signal and at least one material information.

At least one automatic gripping module 70 is located on one side of at least one automatic conveying module 40, and two automatic conveying modules 40 are provided on both sides of the automatic gripping module 70, respectively. In this embodiment, the automatic gripping module 70 is an automated robotic arm, and the central control processing module 80 can be selected according to one of the optical positioning signal, the material information, and the read feedback information Or a combination thereof, to control the operation of the automatic gripping module 70; in addition, at least one optical reader 61 is installed on the automatic gripping module 70, and the information readers 62 are disposed on the automatic Delivery module 40.

A central control processing module 80, which is coupled to the vertical lifting access device 30, the automatic conveying modules 40, the automatic gripping module 70, the reading module 60 and the automatic positioning module 50, and receive the fixed-point signal, the optical positioning signal and the material information, and perform arithmetic processing, and then control the vertical lifting material access device 30, the automatic conveying module 40, the automatic gripping module 70, The operation of the reading module 60 and the automatic positioning module 50.

In this embodiment, please refer to FIG. 3 to FIG. 5, the induction tags 134 are selected from one or a combination of wireless radio frequency tags and barcodes, and the information readers 62 read the induction The label 134 generates at least one piece of material information. In addition, the outer sides of the material boxes 13 are provided with a plurality of sensing position structures 131 respectively. The sensing position structures 131 are selected from one of convex columns and grooves or Combination, and the convex column or the groove are respectively provided with a first identification reflection part 132, and the optical reader 61 optically reads the first identification reflection parts 132, so as to obtain at least one optical positioning signal; As shown in FIGS. 4 and 5, a plurality of positioning plates 133 are arranged at intervals in the material box 13, and at least one object 300 is accommodated between the positioning plates 133. The object 300 takes the material tray 301 as an example, and The top edges of the positioning plates 133 are respectively provided with at least one second identification reflection part 1332, and the optical reader 61 optically reads the first identification reflection part 132 and the second identification reflection part 1332, In order to obtain at least one optical positioning signal; the first identification reflection part 132 and the second identification reflection part 1332 are white coatings as an example.

It is worth mentioning that the three-dimensional storage cabinet 10 can be provided with a plurality of identification positioning points 14, as shown in FIG. 10, for the optical reader 61 to scan the identification positioning points 14 by optical reading The location of the pre-clamping or depositing is clearly positioned for the external clamping device 70 (ie, automated robotic arm) to perform the procedure of clamping or depositing the material tray 301.

Please continue to refer to FIG. Contains:

In a conveying step S1, the automatic conveying modules 40 convey multiple material boxes 13.

In a mechanical positioning step S2, when the material box 13 is transported, the sensing processing unit 52 causes one of the mechanical positioning members 51 to push against one side of the material box 13 in an elastic or telescopic manner, while the other mechanical positioning member 51 pushes the other side of the material box 13 in an elastic or telescopic manner so that the material box 13 is located in the optical positioning space 511, and then the sensing processing unit 52 transmits at least a certain point signal.

In an induction reading step S3A, the information readers 62 read the induction tag 134 and generate at least one material information, and the sensing processing unit 52 transmits the material information to the central control processing module 80.

In an optical positioning step S3B, the optical readers 61 read the first identification reflection part 132 and the second identification reflection part 1332 to obtain at least one optical positioning signal, and the sensing processing unit 52 The optical positioning signal is transmitted to the central control processing module 80.

In an arithmetic processing step S4, the central control processing module 80 receives the fixed-point signal, the optical positioning signal and the material information, and performs arithmetic processing to obtain a plurality of retrieving information and a plurality of feeding information, and then the retrieving information And the feed information is converted into plural execution process information.

In a transmission step S5, the central control processing module 80 transmits the execution procedure information to the vertical lifting and lowering material feeding device 30, the automatic conveying modules 40, the automatic gripping module 70 and the reading The module 60 is used to control the operation of the vertical lifting and lowering device 30, the automatic conveying modules 40, the automatic gripping module 70 and the reading module 60.

In an operation step S6, the vertical lifting material access device 30, the automatic conveying modules 40 and the automatic gripping module 70 perform at least one material retrieving operation and at least one material storing operation according to the execution process information.

Please refer to FIG. 12 again, which is a schematic flowchart of another preferred embodiment of the present invention. The positioning control method 200 of the present invention further includes a material storage step S6A, a material retrieval step S6B, and a clamping step S7 ,among them:

In the storage step S6A, in the operation step S6, the vertical lifting material access device 30 determines the position of the shortest path where the stored material box 13 is stored in the three-dimensional storage cabinets 10 according to the execution procedure information. The vertical lifting and lowering device 30 extends the material moving assembly 36 and places the material box 13 on the carrying platform 35, and then stores the material box in the pre-stored three-dimensional storage cabinet 10, and then the vertical lifting and lowering The material access device 30 returns the origin position or executes another execution procedure information again.

In the retrieving step S6B, in the operation step S6, the vertical lifting access device 30 determines the position of the shortest path for retrieving a material box 13 in the three-dimensional storage cabinet 10 according to the execution procedure information After that, the vertical lifting material access device 30 extends the material moving assembly 36 and places the material box 13 on the carrying platform 35. The vertical lifting material access device 30 sends the material box 13 to the One of the conveying locations of the automatic conveying module 40, the automatic conveying module 40 conveys the material box 13.

In the clamping step S7, after the material storage step S6A and/or the material extraction step S6B, the automatic clamping module 70 clamps the material box on the automatic transport module 40 according to the execution procedure information 13 at least one object 300, and then the clamped object 300 is placed in another material box 13 located in another automatic conveying module 40.

In order to further understand the structural features of the present invention, the use of technical means and the expected effect, the manner of use of the present invention is described here. It is believed that this can provide a more in-depth and specific understanding of the present invention, as follows:

Please continue to refer to FIG. 11 and FIG. 12, together with FIG. 2 and FIG. 6 to FIG. 10, which is a schematic flowchart of a method and a usage state of a preferred embodiment of the present invention. In the use state, the present invention mainly uses the automatic positioning module 50 to mechanically position the material box 13 in the optical positioning space 511, together with the sensor tag 134 of the material box 13 and the sensor positioning structure The setting of 131 is used for the reading module 60 to position the material box 13 by optical reading and scan and read the information of the material box 13. More specifically, the present invention is capable of accessing materials During the process, optical positioning and mechanical positioning are performed, and the vertical lifting and lowering material access device 30, the automatic conveying modules 40, the automatic clamping module 70, the reading module 60, and the automatic positioning module 50 are used. And the coordinated operation of the central control processing module 80, as well as the use of the positioning control method 200 described above, to correspondingly realize the reading of the material box 13 information in the conveying process, and at the same time, realize the storage of multiple stations without interference with each other Take the flow, and realize the synchronous monitoring and automatic access to the material tray 301 of the material box 13 in the system of the present invention in a high-precision manner, so as to achieve the effects of high efficiency and accurate identification.

In addition, in the present invention, the transportation step S1, the mechanical positioning step S2, the induction reading step S3A, the optical positioning step S3B, the arithmetic processing step S4, the transmission step S5, the operation step S6, the stocking step S6A, The fetching step S6B and the fetching step S7 are processes that can be set to be executed sequentially in accordance with the needs of users, as shown in FIGS. 11 and 12.

It is worth mentioning that, from the above description of the system architecture and the description of the positioning control method 200, it can be clearly known that the present invention is a system for sorting and/or storing materials, and can accurately and efficiently execute the material tray 301 and Identification and detection of the material box 13 and its position status; at the same time, the three-dimensional storage cabinets 10 are used as independent units from each other to achieve good expansion performance. Importantly, the present invention can achieve the effect of providing storage locations for issuing materials and picking materials for field operations of an automated storage system, and achieve detailed classification to provide the optimal configuration of material flow.

Hereby, the characteristics of the present invention and the achievable expected effects are stated as follows:

The storage and delivery system 100 for automatic warehousing and the positioning control method 200 of the present invention mainly use the automatic positioning module 50 to position the material box 13 in a mechanical positioning manner, and match the induction label of the material box 13 134 and the setting of the sensing position structure 131 for the reading module 60 to position the material box 13 by optical reading and scan and read the information of the material box 13; in addition, the present invention The vertical lifting access device 30, the automatic conveying modules 40, the automatic gripping module 70, the reading module 60, the automatic positioning module 50 and the central control processing module 80 coordinated operation, In addition, the above positioning control method 200 is used in combination to achieve detailed classification to provide the best configuration for material flow.

The present invention has the following implementation and technical effects:

First, the present invention can perform optical positioning and mechanical positioning during the operation of accessing materials, so as to correspondingly realize the reading of the material box 13 information in the conveying process, and at the same time, realize that the multi-stations do not interfere with each other Access process, and realize synchronous monitoring and automatic access to the material tray 301 of the material box 13 in the system of the present invention in a high-precision manner, so as to achieve the effects of high efficiency and accurate identification.

Second, the present invention is based on the overall system of sorting and/or storing materials, combined with the optical positioning and mechanical positioning reading mechanism, can more accurately and efficiently perform the material tray 301 and the material box 13 and Recognition and detection of position status; at the same time, the invention can replace manual replacement of the material tray, reduce the frequency of manual operations, and reduce the production labor cost.

Thirdly, the present invention can provide storage locations for issuing materials and spot-picking materials for on-site operations, and strictly control the utilization rate of materials and the life cycle of materials. Through optical positioning and mechanical positioning, the corresponding Read the information of the material box 13 in the conveying process, and efficiently discriminate with the detailed classification of the system to achieve the best configuration of the material flow.

Fourth, the three-dimensional storage cabinets 10 of the present invention are used as independent units to achieve good expansion performance. In addition, by using these guide rail assemblies 20, the space mechanism is reasonably used, and multiple three-dimensional storages are easily realized The storage cabinet 10 simultaneously enters and exits the bin.

In summary, the present invention has its excellent progress and practicality in similar products. At the same time, it has searched the technical information about this kind of structure at home and abroad, and the same structure has not been found in the literature. Therefore, The present invention already possesses the essentials of the invention patent, and the application is filed according to law.

However, the above mentioned are only the preferred and feasible embodiments of the present invention. Therefore, any equivalent structural changes that apply to the description of the present invention and the scope of patent application should be included in the scope of the patent of the present invention.

100‧‧‧Storage and delivery system for automatic storage 10‧‧‧Three-dimensional storage cabinet 11‧‧‧Accommodation space 12‧‧‧Moving space 13‧‧‧Material box 131‧‧‧Sensory positioning structure 132‧‧ ‧First identification reflection part 133‧‧‧Locating plate 1332‧‧‧Second identification reflection part 134‧‧‧Inductive label 14‧‧‧Identification positioning point 20‧‧‧Guide rail assembly 21‧‧‧Guide rail 30‧‧ ‧Vertical lifting material storage device 31‧‧‧Sliding base 32‧‧‧Power component 33‧‧‧Pole 34‧‧‧Moving component 35‧‧‧Bearing platform 36‧‧‧Moving component 40‧‧ ‧Automatic conveying module 50‧‧‧Automatic positioning module 51‧‧‧Mechanical positioning piece 511‧‧‧Optical positioning space 52‧‧‧Sense processing unit 60‧‧‧Reading module 61‧‧‧Optical reading 62‧‧‧Information reader 70‧‧‧Automatic gripping module 80‧‧‧Central control processing module 200‧‧‧Positioning control method S1‧‧‧Transport step S2‧‧‧Mechanical positioning step S3A‧‧ ‧Inductive reading step S3B‧‧‧Optical positioning step S4‧‧‧Calculation processing step S5‧‧‧‧Transmission step S6‧‧‧Operation step S6A‧‧‧Storage step S6B‧‧‧Retrieval step S7‧‧‧ Take step 300‧‧‧ Object 301‧‧‧ Material tray

FIG. 1 is a schematic block diagram of a system according to a preferred embodiment of the present invention. 2 is a schematic diagram of the system architecture of a preferred embodiment of the present invention. Fig. 3 is a perspective view showing a material box in a preferred embodiment of the present invention. FIG. 4 is an exploded perspective view showing a material box in a preferred embodiment of the present invention. FIG. 5 is a perspective view of a display positioning plate in a preferred embodiment of the present invention. FIG. 6 is a schematic view of a use state of a preferred embodiment of the present invention. FIG. 7 is a schematic view of a use state of a preferred embodiment of the present invention. FIG. 8 is a schematic view of a use state of a preferred embodiment of the present invention. FIG. 9 is a schematic view of a use state of a preferred embodiment of the present invention. FIG. 10 is a schematic view of a use state of a preferred embodiment of the present invention. FIG. 11 is a schematic flowchart of a method according to a preferred embodiment of the present invention. 12 is a schematic flowchart of a method according to another preferred embodiment of the present invention.

100‧‧‧Storage and delivery system for automatic warehousing

10‧‧‧Three-dimensional storage cabinet

13‧‧‧Material box

131‧‧‧sensory positioning structure

134‧‧‧induction tag

20‧‧‧Guide rail assembly

30‧‧‧Vertical lifting device

40‧‧‧Automatic conveying module

50‧‧‧Automatic positioning module

51‧‧‧Mechanical positioning parts

52‧‧‧sensor processing unit

60‧‧‧Reading module

61‧‧‧ Optical Reader

62‧‧‧Information reader

70‧‧‧Automatic clamping module

80‧‧‧Central control processing module

Claims (10)

A storage and transportation system for automatic storage includes: a plurality of three-dimensional storage cabinets, which are arranged at intervals and have a plurality of layers of storage spaces, and the storage spaces are provided with a plurality of material boxes, and, There is at least one moving space between at least two three-dimensional storage cabinets; a plurality of guide rail assemblies are provided on the ground of the moving space and adjacent to the peripheral side of the three-dimensional storage cabinets, and the guide rail assemblies are mutually connected Connection; at least one vertical lifting material storage device, which is slidably and movably arranged on the guide rail components; a plurality of automatic conveying modules, which are adjacent to one side of the three-dimensional storage cabinets and are separated There is at least one spacing, the automatic conveying module is used to transport at least one material box, the outside of the material box is provided with at least one sensor tag and at least one sensor positioning structure; at least one automatic positioning module, which is assembled The automatic conveying module has at least two mechanical positioning elements and a sensing processing unit, the sensing processing unit is coupled to the mechanical positioning elements, and the automatic positioning module is used for the automatic conveying module When the material box is transported, the mechanical positioning elements enable the material box to be temporarily positioned on the automatic conveying module, and the sensing processing unit transmits at least a certain point signal; at least one reading module, which has a plurality of optical readings A picker and a plurality of information readers, selected from at least one of the three-dimensional storage cabinets, the vertical lifting material access device, the guide rail assemblies and the automatic transport modules, and wherein At least one optical reader and at least one information reader are respectively adjacent to the automatic positioning module, and locate the material box by optical reading and scan and read the information of the material box, and transmit at least one optical Positioning signal and at least one material information; at least one automatic gripping module, which is located on one side of at least one automatic conveying module, and two automatic conveying modules on each side of the automatic gripping module; and a center A control processing module, which is coupled to the vertical lifting material access device, the automatic conveying modules, the automatic clamping module, the reading module and the automatic positioning module, and receives the fixed-point signal, The optical positioning signal and the material information are calculated and processed, and then the vertical lifting material access device, the automatic conveying modules, the automatic clamping module, the reading module and the automatic positioning module are controlled Action. The storage and transportation system for automatic warehousing according to item 1 of the patent application scope, wherein the inductive tags are selected from one or a combination of radio frequency tags and barcodes, and the information readers read Take the induction tag and generate at least one material information. In addition, the outer sides of the material boxes are respectively provided with a plurality of sensing positioning structures. The sensing positioning structures are selected from one or a combination of convex columns and grooves. And, the convex column or the groove are respectively provided with a first identification reflection part, and the optical reader optically reads the first identification reflection parts to obtain at least one optical positioning signal. According to the storage and transportation system for automatic warehousing as described in item 2 of the scope of the patent application, wherein a plurality of positioning plates are arranged at intervals in the material box, at least one object is accommodated between the positioning plates, and the The top edge of the equal positioning plate is respectively provided with at least one second identification reflection part, and the optical reader optically reads the first identification reflection part and the second identification reflection part to obtain at least one optical positioning signal . The storage and transportation system for automatic warehousing according to item 1 of the patent application scope, wherein there is an optical positioning space between the mechanical positioning members, and the mechanical positioning members are used for the automatic transport mold When the material box is transported by the group, the material box is provided for positioning the optical positioning space, and the sensing processing unit transmits at least a certain point signal. The storage and transportation system for automatic warehousing according to item 1 of the scope of the patent application, wherein the vertical lifting material storage device includes a sliding base, a power component, at least one upright, and a mobile Component, a bearing platform and a material moving component, the sliding base is slidably arranged on at least one guide rail component, and the vertical side of the sliding base is provided with the vertical pole, and the external side of the vertical pole is provided with The moving component is connected to the carrying platform, the carrying platform is provided with the material moving component, and the carrying platform is vertically displaced relative to the upright rod by the moving component, and the power component is It is arranged on the sliding base and is coupled to the moving component and the material moving component. The storage and delivery system for automatic warehousing according to item 3 of the patent application scope, wherein the automatic gripping module is an automated robotic arm, and the central control processing module can be selected based on the optical positioning One or a combination of the signal, the material information and the read feedback information to control the operation of the automatic gripping module; in addition, at least one optical reader is installed on the automatic gripping module, and the The information reader is installed on the automatic conveying module. A positioning control method for a storage and transportation system for automatic warehousing. The positioning control method is applied to a storage and transportation system for automatic warehousing according to any one of claims 1 to 5, and the positioning control method It includes: a conveying step, the automatic conveying modules convey multiple material boxes; a mechanical positioning step, when conveying the material box, the sensing processing unit causes one of the mechanical positioning members to push the material box One side, and another mechanical positioning member pushes the other side of the material box so that the material box is located in the optical positioning space, and then the sensing processing unit transmits at least a certain point signal; an inductive reading step, the The information reader reads the induction tag and generates at least one material information, and the sensing processing unit transmits the material information to the central control processing module; an optical positioning step, the optical reading The device reads the first identification reflection part and the second identification reflection part to obtain at least one optical positioning signal, and the sensing processing unit transmits the optical positioning signal to the central control processing module; An arithmetic processing step, the central control processing module receives the fixed-point signal, the optical positioning signal and the material information, and performs arithmetic processing, so as to obtain a plurality of retrieving information and a plurality of feeding information, and then the same retrieving information and the The feed information is converted into a plurality of execution process information; a transmission step, the central control processing module transmits the execution process information to the vertical lifting material access device, the automatic conveying module, and the automatic clamping module Group and the reading module, to control the operation of the vertical lifting material access device, the automatic conveying modules, the automatic gripping module and the reading module; and an operation step, the vertical lifting The material access device, the automatic conveying modules and the automatic gripping module perform at least one material taking action and at least one material storing action according to the execution process information. According to the positioning control method of the storage and transportation system for automatic warehousing as described in item 7 of the scope of the patent application, it further includes a material storage step, and the vertical lifting material access device determines the material box to be stored according to the execution procedure information After storing the position of the shortest path in the three-dimensional storage cabinets, the vertical lifting material access device extends the material moving assembly and places the material box on the carrying platform, and then stores the material box in pre-storage The three-dimensional storage cabinet, and then the vertical lifting material access device returns to the origin position or re-executes another execution procedure information. According to the positioning control method of the storage and transportation system for automatic warehousing as described in item 7 of the patent application scope, it further includes a reclaiming step. After the material box is in the position of the shortest path for taking material in the three-dimensional storage cabinets, the vertical lifting and lowering device extends the material moving assembly and places the material box on the carrying platform, the vertical lifting and lowering access The material device sends the material box to a delivery place of the automatic conveying module, and the automatic conveying modules convey the material box. According to the positioning control method of the storage and delivery system for automatic warehousing as described in item 8 of the scope of the patent application, it further includes a gripping step. The automatic gripping module is based on the execution procedure information and grips on the automatic transport At least one object in the material box on the module, and then place the clamped object in another material box located in another automatic conveying module.

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