TWI694962B - Automatic handling system - Google Patents

Abstract

An automatic handling system for moving a target object from a feeding device to a discharge device is disclosed. The feeding device includes a bearing surface for bearing a plurality of objects. The automatic handling system includes an identification device, an object-moving device and a control module. The identification device defines an identification region. The object-moving device includes a pushing part. When the feeding device transmits the objects into the identification region, the control module is configured to: control the identification device to acquire an image from the objects; analyze the image to obtain a coordinate of each of the objects; select the target object from the objects according to the coordinate of each of the objects; determine a push starting point and a push end point according to the coordinate of the target object; and control the pushing part to push the target object from the push starting point to the push end point, so as to move the target object from the feeding device to the discharge device.

Description

Automatic handling system

The present invention relates to an automatic conveying system, and in particular to an automatic conveying system for moving objects by pushing and pushing.

In order to increase productivity and reduce production costs, the use of automated equipment in the production process to replace manpower to perform raw material supply, finished product production, finished product distribution, and finished product packaging has become the current development trend. The automation equipment used in the production process is critical to the production efficiency, and has become the target of improvement for the relevant industry.

Taking Japanese Patent Application Publication No. JP 1994-305551 A as an example, it discloses a device for arranging objects. The device for arranging objects includes a robotic arm, and four vacuum suction cups are provided at the end of the robotic arm. The material conveyor belt can reduce the time it takes to pick and place objects in batches, and can improve production efficiency. However, the device for arranging objects in a row requires the use of a pneumatic system, and it has a lack of bulky equipment. When the object itself contains fine chips or powder, such as biscuits, it is easy to cause the pneumatic system to block and fail. It has high maintenance cost and is not conducive to continuous production.

Japanese Patent Application Publication No. JP 2016-22472 A discloses a long vegetable and fruit selection device, It can classify long fruits and vegetables and is not easy to damage the fruits and vegetables. The long fruits and vegetables selection device utilizes the contour toggle lever located outside the sides to further tilt the vegetable and fruit holders and place the fruits and vegetables on the discharge conveyor belt smoothly . However, if the type of vegetables and fruits changes, the organization needs to be substantially revised, which is costly and versatile.

China Patent Announcement No. CN 105689283 B discloses a finger-type fruit and vegetable sorting and unloading device and method, which uses the finger driven by the chain synchronized with the conveyor belt to carry out the material, which can adapt to the impact of the speed change of the conveyor belt. However, when the object is small or the outer contour is curved, it may cause the toggle path to be uncontrollable, and the object cannot be accurately transferred to the specified position, which also has the disadvantage of low versatility.

The purpose of the present invention is to provide an automatic handling system to solve the above problems.

According to one embodiment of the present invention, an automatic handling system is provided for moving a target object from a feeding device to a discharging device. The feeding device includes an object carrying surface, and the object carrying surface is used to carry a plurality of objects. The automatic handling system includes an identification device, a reclaiming device and a control module. The recognition device defines a recognition area, which corresponds to the surface of the object. The reclaiming device includes a pushing part. The control module is electrically connected to the identification device and the retrieving device. When the feeding device sends the object to the recognition area, the control module is configured to execute: control the recognition device to capture an image of the object; analyze the image to obtain a coordinate of each object; select the target object from the objects according to the coordinates of each object ; Determine a push start point and a push end point according to the coordinates of the target object; and control the push push part to push the target object, push the target object from the push start point to the push end point, the push part keeps in contact with the target object, And the target object moves on the surface of the object in a contact manner, so as to move the target object from the feeding device to the discharging device. borrow Therefore, the automatic conveying system of the present invention uses the push-and-pull method to move the target object from the feeding device to the discharging device. Compared with the method of gripping or sucking, it is beneficial to shorten the overall moving stroke of the target object, which can greatly Improve production efficiency. In addition, the automatic handling system of the present invention does not need to cooperate with the air pressure system, which can avoid the lack of bulky equipment, high maintenance cost, and is not conducive to continuous production. Furthermore, the retrieving device of the present invention uses the pushing portion to move the object. Therefore, when the type of the object changes, it is only necessary to replace the pushing portion accordingly, which has a high versatility.

1~12: Object

20: feeding device

W: sidewall

D1, D2: transmission direction

20a: upstream

20b: downstream

21: Loading surface

22: Separator

23: feeding channel

30: Discharging device

30a: upstream

30b: downstream

31: Discharge area

110: Identification device

111: Identify the area

120, 220: reclaiming device

121, 221: Pushing Department

121a: cylinder

121b: Curved bearing surface

130: control module

221a: Elastic pad

221b: Underside

310, 320, 330, 340, 350: steps

510, 520, 530, 540, 550: steps

A: Centerline

B: Flat

T: top surface

d1: first distance

d2: second distance

Fh: horizontal thrust

Fp: downward vertical force

G1, H1: initial position point

G2, H2: the first upper position

G3, H3: push to the starting point

G4, H5: push to the end

G5, H6: second upper position point

H4: Push to the middle point

L1, L2, L3: Group

LD: descending path

LM: Push the path

LM1: The first push path

LM2: the second push path

LI: Ascending path

LH: translation path

O1, P1: first position point

O2, P2: second position point

O3, P3: third position point

P4: fourth position

X, Y, Z: coordinate axis

FIG. 1 is a schematic diagram of an automatic handling system and a plurality of objects according to an embodiment of the present invention.

FIG. 2 is a schematic bottom view of the pushing portion in FIG. 1.

FIG. 3 is a flow chart of the steps of the control module in FIG. 1 configured to execute the movement of the target object.

FIG. 4 is a schematic diagram of the operation of the pushing part pushing the target object according to the working path in FIG. 1.

FIG. 5 is a schematic diagram of the working path of the pushing portion in FIG. 4.

Figure 6 is a schematic diagram of the moving path of the target object in Figure 4.

Fig. 7 is a schematic diagram of a reclaiming device according to another embodiment of the present invention.

FIG. 8 is a schematic diagram of the configuration of a feeding device and a discharging device according to another embodiment of the present invention.

FIG. 9 is a schematic diagram of the operation of the pushing part pushing the target object according to the working path according to another embodiment of the present invention.

FIG. 10 is a schematic diagram of the working path of the pushing portion in FIG. 9.

Figure 11 is a schematic diagram of the moving path of the target object in Figure 9.

FIG. 12 is a flowchart of steps for selecting a target object from objects according to another embodiment of the present invention.

Figure 13 is a schematic diagram of the steps in Figure 12.

FIG. 1 is a schematic diagram of an automatic transport system (not otherwise labeled) and a plurality of objects 1-12 according to an embodiment of the present invention. The present invention provides an automatic handling system, which can be used to move a target object from a feeding device 20 to a discharging device 30.

The feeding device 20 includes a loading surface 21, and the loading surface 21 is used to carry a plurality of objects 1-12. In this embodiment, each of the objects 1-12 includes a plane B (see FIG. 4), and each of the 1-12 objects is disposed on the object surface 21 with the plane B, whereby the objects 1-12 move on the object surface 21 It has high stability, but the invention is not limited to this. In other embodiments, the object can also be arranged on the surface 21 of the object in other shapes, for example, the object can be a cylinder, and the object can be arranged on the surface in a line contact manner物面21。 Object surface 21. In this embodiment, the feeding device 20 is a conveyor belt, and an upstream end 20a and a downstream end 20b are defined according to its conveying direction D1. The upstream end 20a can be connected to an upstream device (not shown) of the production line for The feeding device 20 is used to transfer the objects 1-12 provided by the upstream device of the production line from the upstream end 20a to the downstream end 20b.

The discharging device 30 includes a plurality of discharging areas 31. With the automatic conveying system, the objects 1-12 can be sequentially designated as the target objects and moved to one of the discharging areas 31, whereby the objects 1-12 can be It is assigned to different discharge areas 31. In this embodiment, the discharging device 30 is a conveyor belt, and an upstream end 30a and a downstream end 30b are defined according to its conveying direction D2. The discharging device 30 can transport the objects 1-12 to the downstream end 30b for subsequent In the production process, the conveying direction D2 of the discharging device 30 is configured to be perpendicular to the conveying direction D1 of the feeding device 20.

For example, the automatic handling system of the present invention can be applied to the food industry, for example, items 1-12 can be biscuits, and the feeding device 20 can be used to distribute the baked biscuits to the discharging area 31 of the discharging device 30 In the process, the discharging device 30 transfers the biscuits to the packaging device (not shown), and each discharging area 31 may correspond to a packaging unit (such as a packaging bag).

The automatic handling system includes an identification device 110, a reclaiming device 120, and a control module 130. The control module 130 is electrically connected to the identification device 110 and the retrieving device 120. The connection between the control module 130 and the identification device 110 and the retrieving device 120 can be a wired connection or a wireless connection, whereby the control module 130, the identification device 110 and the retrieving device 120 can transmit messages.

The recognition device 110 defines a recognition area 111 corresponding to the object surface 21. The recognition device 110 may be an imaging device, and the recognition area 111 may be an imaging range of the imaging device. The identification area 111 corresponding to the object surface 21 means that the identification area 111 covers a part of the object surface 21. In this embodiment, the identification device 110 is disposed above the object surface 21 and adjacent to the downstream end 20b. However, the present invention does not This is limited, and the identification device 110 may also be disposed in the midstream section (not otherwise labeled) of the feeding device 20 or the upstream end 20a.

The retrieving device 120 includes a pushing part 121 for pushing the target object. In this embodiment, the retrieving device 120 is a vertical multi-joint robot arm, such as a six-axis robot arm, and the pushing portion 121 is provided at the end of the retrieving device 120. Referring to FIG. 2, which is a schematic bottom view of the pushing portion 121 in FIG. 1, the end of the pushing portion 121 is a cylindrical body 121 a, the side surface of the cylindrical body 121 a is an arc-shaped bearing surface 121 b, and the pushing portion 121 is curved The shape bearing surface 121b pushes against the side wall W of the target object (see FIG. 4) to move the target object.

The control module 130 is used to control the identification device 110 and the reclaiming device 120 and has analysis and calculation capabilities. The control module 130 may be, but not limited to, a central processing unit (CPU). In this embodiment, the control module 130 is a single control unit, which controls the identification device 110 and the reclaiming device 120 at the same time, but in other embodiments, the control module 130 may include two control units, respectively The identification device 110 and the retrieving device 120 are controlled, and the two control units are connected in a wired or wireless manner to transfer messages to each other.

With reference to FIG. 1 and FIG. 3 together, FIG. 3 is a flow chart of the steps of the control module 130 in FIG. 1 configured to execute the movement of the target object. When the feeding device 20 transmits the objects 1~6 to the recognition area 111, the control module 130 is configured to perform steps 310~350. Step 310 is to control the recognition device 110 to capture an image of the objects 1~6. Step 320 is to analyze the image to obtain the coordinates of each object 1~6. Step 330 is to select the target object from the objects 1 to 6 according to the coordinates of each object 1 to 6, for example, taking FIG. 1 as an example, the object closest to the downstream end 20b of the feeding device 20 (here, object 4) can be selected ) As the target object or select the object closest to the discharge device 30 (here, the object 4) as the target object, thereby helping to avoid the target object moving from the feeding device 20 to the discharge device 30 and other objects during the process Interference occurs. However, the present invention is not limited to this. The target object can be selected according to actual needs. The object 4 will be described below as the target object.

Step 340 is to determine the push start point G3 and the push end point G4 according to the coordinates of the target object. The push start point G3 is the start point for the push part 121 to push the target object to move, and the push end point G4 is the push part 121 to push the target object to move The end point of can be determined by the way in which the pushing part 121 pushes the target object, and the starting point G3 can be determined, and the ending point G4 can be determined based on the starting point G3. Taking this embodiment as an example, the pushing portion 121 pushes the arc-shaped bearing surface 121b against the side wall W of the target object. Therefore, the coordinates of the pushing start point G3 are located on the side wall W of the target object, and the pushing start point G3 is projected to The projection point of the center line A of the discharging device 30 is used as the push-off end point G4, whereby the distance between the push-off start point G3 and the push-off end point G4 is short, which is helpful for improving the efficiency of moving the target object and for the target object After pushing, it will be moved into the discharge area 31. However, the above method of determining the pushing end point G4 is only an example, and the pushing end point G4 can be selected according to the actual needs, as long as the target object can be moved to the discharge after pushing It is sufficient within the area 31.

Step 350 is to control the pushing part 121 to push against the target object, push the target object from the pushing start point G3 to the pushing end point G4, the pushing part 121 keeps in contact with the target object, and the target object is in contact with the surface of the object 21 Move to move the target object from the feeding device 20 to the discharging device 30. In this way, the present invention moves the target object from the feeding device 20 to the discharging device 30 in a push-pull manner, which is beneficial to shorten the overall moving stroke of the target object and can greatly improve production efficiency. In addition, during the pushing process, the pushing part 121 keeps in contact with the target object, and the target object moves on the load surface 21 in a contact manner, which is beneficial to maintain the stability of the movement of the target object on the load surface 21.

The following describes how to control the pushing part 121 to push the target object with reference to FIGS. 4 to 5, wherein FIG. 4 is a schematic diagram of the pushing part 121 in FIG. 1 pushing the target object according to the working path. FIG. 5 is a schematic diagram of the working path of the pushing part 121 in FIG. 4. In detail, before proceeding to step 350, a working path may be planned according to the pushing start point G3 and the pushing end point G4. As shown in FIG. 5, the working path may include a descending path LD and a pushing path LM in sequence. And an ascending path LI, and optionally a translation path LH before the descending path LD, where the push-start point G3 and the push-end point G4 define a push-path LM. Referring to FIGS. 4 and 5 at the same time, the pushing portion 121 is horizontally displaced from the initial position point G1 to the first upper position point G2 above the target object in the translation path LH, and the pushing portion 121 is lower than the first position on the descending path LD The position G2 is moved downward to the pushing start point G3. At this time, the arc-shaped bearing surface 121b of the pushing part 121 contacts the side wall W of the target object. The pushing part 121 pushes the target object from the pushing start point G3 in the pushing path LM When reaching the pushing end point G4, the pushing part 121 provides a horizontal thrust Fh of the target object to displace the target object along the direction of the horizontal thrust Fh on the surface 21 of the object. During the pushing process, the pushing part 121 keeps in contact with the target object, and the target object moves on the object surface 21 in a contact manner. The pushing portion 121 moves upward from the pushing end point G4 on the ascending path LI to a second upper position G5 above the target object and disengages from contacting the target object. The above points (G1 to G5) can be the center point of the bottom surface of the pushing portion 121, and the coordinate relationship of each point can refer to Table 1.

In Table 1, the height of the first upper position G2 is the same as the height of the second upper position G5 (all Z coordinates are Z0), but the invention is not limited to this. The height of the first upper position G2 is the same as the second The height of the upper position G5 is based on the principle that the pushing portion 121 does not interfere with other devices in the workplace. In addition, when the initial position point G1 of the pushing portion 121 is directly above the pushing starting point G3, the working path may omit the translation path LH. In this embodiment, the pushing part 121 is a single-dimensional displacement (that is, only moves along one of the X-axis, Y-axis, and Z-axis) in each movement, which is only an example and is not limited in implementation.

With reference to FIG. 6, it is a schematic diagram of the moving path of the target object in FIG. 4. The target object is pushed by the pushing part 121 and pushed from the first position point O1 to the second position point O2. The target object is then displaced to the third position point O3 according to inertia, and the third position point O3 is located in the discharge area 31 . The above points (O1~O3) can be the center point of the bottom plane B of the target object, and the coordinate relationship of each point can refer to Table 2.

FIG. 7 is a schematic diagram of a reclaiming device 220 according to another embodiment of the present invention. The retrieving device 220 includes a pushing portion 221 for pushing the target object. In this embodiment, the reclaiming device 220 is a parallel robot arm (Delta Robot), and the pushing portion 221 is provided at the end of the retrieving device 220 and has a bottom surface 221b. The pushing portion 221 includes an elastic pad 221a, the bottom surface 221b is disposed on the elastic pad 221a, and the pushing portion 221 The bottom surface 221b is pushed against the top surface T of the target object (see FIG. 9) to move the target object. The material of the elastic pad 221a may be, but not limited to, ABS (Acrylonitrile-Butadiene-Styrene) plastic.

8 is a schematic diagram of the configuration of the feeding device 20 and the discharging device 30 according to another embodiment of the present invention. In this embodiment, the transport direction D2 of the discharge device 30 is arranged parallel to the transport direction D1 of the feed device 20. The feeding device 20 includes a plurality of separators 22. Here, three separators 22 are taken as an example. The separators 22 are arranged on the object surface 21 at intervals to define a plurality of feeding channels 23, and here four feeds The channel 23 is an example. The objects 1-8 are distributed in the four feeding channels 23 and are all located in the identification area (not shown). In FIG. 8, the object 1 closest to the downstream end 20b of the feeding device 20 is selected as the target object according to the coordinates of each object 1~8, and the pushing start point H3 and pushing end point H5 are determined according to the coordinates of the target object.

FIG. 9 is a schematic diagram of the operation of the pushing portion 221 pushing the target object according to the working path according to another embodiment of the present invention. FIG. 10 is a diagram of the working path of the pushing portion 221 in FIG. 9, FIGS. 9 and 10 The angle of view is different. The direction of the Y axis in Figure 9 is perpendicular to the paper, and the direction of the Y axis in Figure 10 is as shown in Figure 10. In FIG. 10, the working path may include a translation path LH, a descending path LD, a push-through path LM, and an ascending path LI in sequence, where the push-through start point H3 and the push-through end point H5 define the push-through path LM, and push The landing path LM includes a first landing path LM1 and a second landing path LM2. Referring to FIGS. 9 and 10 at the same time, the pushing portion 221 is horizontally displaced from the initial position point H1 to the first upper position point H2 on the translation path LH, and the pushing portion 221 is downward from the first upper position point H2 on the descending path LD When the displacement reaches the pushing point H3, the bottom surface 221b of the pushing part 221 contacts the top surface T of the target object. The pushing part 221 pushes the target object from the pushing point H3 to the middle point in the first pushing path LM1 H4 (refer to FIG. 8), at this time, the pushing portion 221 provides a horizontal thrust (not shown) of the target object and a downward vertical force Fp, wherein the direction of the horizontal thrust is perpendicular to the paper surface (that is, parallel to the Y axis), so that The target object is displaced on the object surface 21 in a direction perpendicular to the paper surface, and the pushing portion 221 pushes the target object from the middle point H4 against the second pushing path LM2 To the pushing end point H5 (refer to FIG. 8), the pushing part 221 provides the target object with a horizontal thrust Fh and a downward vertical force Fp, wherein the direction of the horizontal thrust Fh is to the right (that is, parallel to the X axis) to make the target The object is displaced on the object surface 21 along the direction parallel to the X axis. During the pushing process, the pushing portion 221 maintains contact with the target object, and the target object moves on the object surface 21 in a contact manner. The pushing portion 221 is displaced upward from the pushing end point H5 to the second upper position point H6 on the ascending path LI and is out of contact with the target object. The above points (H1 to H6) can be the center point of the bottom surface 221b of the pushing portion 221, and the coordinate relationship between the points can be referred to Table 3.

In Table 3, the height of the first upper position H2 is the same as the height of the second upper position H6 (all Z coordinates are Z0), but the invention is not limited to this. The height of the first upper position H2 and the second The height of the upper position point H6 is based on the principle that the pushing portion 221 does not interfere with other devices in the workplace. In addition, when the initial position point H1 of the pushing portion 221 is directly above the pushing starting point H3, the working path may omit the translation path LH. In this embodiment, the pushing portion 221 is a single-dimensional displacement for each movement, which is only an example and is not limited in implementation.

With reference to FIG. 11, it is a schematic diagram of the moving path of the target object in FIG. 9. The target object is pushed by the pushing portion 221, pushed from the first position point P1 to the second position point P2, and then pushed from the second position point P2 to the third position point P3, and then the target object is displaced to The fourth position point P4 is located in the discharge area 31. About the above points (P1~P4) can be the center point of the bottom plane of the target object, and the coordinate relationship of each point can refer to Table 4.

Refer to Figure 12 and Figure 13 together. FIG. 12 is a flowchart of steps for selecting a target object from objects 1 to 8 according to another embodiment of the present invention. Figure 13 is a schematic diagram of the steps in Figure 12. In this embodiment, the conveying direction D2 of the discharging device 30 is configured to be perpendicular to the conveying direction D1 of the feeding device 20, the objects 1-8 are located in the recognition area 111, and the control module 130 is based on the coordinates of each object 1-8 Select the target object from among objects 1-8. In this embodiment, the object closest to the discharge device 30 and the downstream end 30b of the discharge device 30 (here, object 1) is selected as the target object, as in step 510 Go to step 550.

Step 510 is to calculate the first distance d1 between each object 1~8 and the discharge device 30 according to the coordinates of each object 1~8. The first distance d1 may be the vertical point from the center point of each object 1~8 to the discharge device 30 The distance in FIG. 13 only illustrates the first distance d1 between the object 1 and the discharge device 30 by way of example.

Step 520 is to divide the objects 1~8 into a plurality of groups L1, L2, L3 according to the first distance d1, and each group L1, L2, L3 includes at least one object 1~8, which is closest to the discharge device 30 The group L1 is the first group. As shown in FIG. 13, the group L1 includes objects 1, the group L2 includes objects 2, 3, and 4, and the group L3 includes objects 5, 6, 7, and 8.

Step 530 is to calculate the second distance d2 between each object 1~8 and the downstream end 30b of the discharge device 30 according to the coordinates of each object 1~8. The second distance d2 can be the center point of each object 1~8 and the discharge The distance between the downstream end 30b of the device 30 in the parallel transmission direction D2, and the second distance d2 between the object 1 and the downstream end 30b of the discharge device 30 are only illustrated in FIG. 13 by way of example.

Step 540 is to sort at least one object 1~8 in each group L1, L2, L3 according to the second distance d2, wherein the object with the shortest second distance d2 in each group L1, L2, and L3 is the first object In Figure 13, group L1 uses object 1 as the first object, group L2 uses object 2 as the first object, and group L3 uses object 5 as the first object.

Step 550 is to select the first object of the first group as the target object. As shown in FIG. 13, select the object 1 as the target object. By this method, it is advantageous to preferentially transfer the target object to the discharge area 31 located at the downstream end 30b, and to the smoothness of the production line.

Compared with the prior art, the automatic handling system of the present invention adopts the push-and-pull method to move the target object from the feeding device to the discharging device, which is beneficial to shorten the overall movement of the target object compared with the method of clamping or sucking Itinerary can greatly improve production efficiency. In addition, the automatic handling system of the present invention does not need to cooperate with the pneumatic system, which can avoid the bulky equipment, high maintenance cost, and is not conducive to the loss of continuous production, and is suitable for handling powdered objects such as biscuits, which is beneficial for application in the food industry. Furthermore, the retrieving device of the present invention uses the pushing portion to move the object. Therefore, when the type of the object changes, it is only necessary to replace the pushing portion accordingly, which has a high versatility.

The above are only the preferred embodiments of the present invention, and all changes and modifications made in accordance with the scope of the patent application of the present invention shall fall within the scope of the present invention.

1~12: Object

20: feeding device

20a: upstream

20b: downstream

21: Loading surface

30: Discharging device

30a: upstream

30b: downstream

31: Discharge area

110: Identification device

111: Identify the area

120: Reclaiming device

121: Pushing Department

121a: cylinder

121b: Curved bearing surface

130: control module

A: Centerline

D1, D2: transmission direction

G3: Push to the starting point

G4: Push to the end

X, Y, Z: coordinate axis

Claims (9)

An automatic handling system is used to move a target object from a feeding device to a discharging device, wherein the feeding device includes an object loading surface, the object loading surface is used to carry a plurality of objects, and the objects are randomly scattered On the surface of the object, the automatic handling system includes: an identification device that defines an identification area that corresponds to the surface of the object; a retrieving device that includes a pushing portion; and a control module, and the identification The device and the retrieving device are electrically connected; wherein, when the feeding device transfers the objects to the recognition area, the control module is configured to execute: control the recognition device to capture an image of the objects; analysis The image obtains a coordinate of each object; the target object is selected from the objects according to the coordinate of each object; a push start point and a push end point are determined according to the coordinate of the target object; and the push control is controlled The abutting part pushes the target object, pushes the target object from the pushing start point to the pushing end point, the pushing part keeps contact with the target object, and the target object moves on the surface of the object in a contact manner , So that the pushing part alone moves the target object from the feeding device to the discharging device. The automatic handling system according to claim 1, wherein the control module further includes a configuration to execute: plan a working path according to the pushing start point and the pushing end point, wherein the working path includes a descending path and a push An offset path and an ascending path, the offset start point and the offset end point define the offset path; wherein controlling the offset part to push the target object further includes controlling the offset part to push based on the working path Against the target object, the pushing part moves downward from a first upper position point above the target object to the pushing start point in the descending path, and the pushing part moves the target object from the pushing path The pushing start point is pushed to the pushing end point, and the pushing part moves upward from the pushing end point to a second upper position point above the target object in the ascending path. The automatic handling system according to claim 2, wherein the working path further includes a translation path before the descending path, and the pushing part is horizontally displaced from the initial position point to the first upper position point on the translation path. The automatic handling system according to claim 1, wherein the discharging device includes a downstream end, the target object is selected from the objects according to the coordinates of the objects, and the closest object is selected according to the coordinates of the objects The discharge device and the object closest to the downstream end of the discharge device serve as the target object. The automatic handling system according to claim 4, wherein the selection of the target object from the objects based on the coordinates of the objects includes: calculating a number between the object and the discharge device according to the coordinates of the objects A distance; the objects are divided into a plurality of groups according to the first distance, and each of the groups includes at least one of the objects, wherein the group closest to the discharge device is a first group; The coordinates of the object calculate a second distance between each object and the downstream end of the discharge device; sort the at least one object in each group according to the second distance, wherein each of the groups The object with the shortest second distance is a first object; and the first object in the first group is selected as the target object. The automatic handling system according to claim 1, wherein the feeding device includes a downstream end, the target object is selected from the objects according to the coordinates of the objects, and the closest object is selected according to the coordinates of the objects The object at the downstream end of the feeding device serves as the target object. The automatic handling system according to claim 1, wherein the pushing portion has a side surface, the target object has a side wall, and the pushing portion pushes the side wall of the target object with the side surface. The automatic handling system according to claim 7, wherein the side surface of the pushing portion is an arc-shaped bearing surface. The automatic handling system according to claim 1, wherein the pushing portion has a bottom surface, the target object has a top surface, and the pushing portion pushes the top surface of the target object with the bottom surface.

Images