TWI754914B - Horizontal picking device for automatic storage system - Google Patents

Abstract

A horizontal picking device for an automatic storage system comprises a first conveying module, a second conveying module, a first material box, a second material box, a clamping module and a control unit. The control unit controls the gripping module to move to the first material box and grips the objects in a horizontal state, then the control unit controls the gripping module to move the objects in a horizontal state to the second material box, and finally places the objects in the horizontal state. in the second material box. Thereby, the present invention can automatically place the objects in the first material box horizontally in the second material box. Furthermore, the present invention can automatically take out the objects in the first material box or the second material box that are in a horizontal state, and automatically turn the objects into a vertical state through the inversion module, and then automatically place them in another second material box.

Description

Horizontal picking device for automatic storage system

The invention relates to a picking device, in particular to a horizontal picking device for an automatic storage system.

Warehouse management is important for many industries. Especially for enterprises with a wide variety of materials and a large amount of material storage, if the materials can be properly classified and placed in appropriate locations, the storage space can be maximized and the search time can be reduced.

Taking surface mount technology (also known as SMT, Surface Mount Technology) as an example, surface mount technology is a basic industry in the field of electronic manufacturing, and warehouse management is a very important part of the surface mount technology process, mainly including feeding and discharging. , material return, replenishment and other steps.

However, most of the existing warehousing and distribution systems use paper bills of material and manual identification and search methods, which have low work efficiency, high error rate, and poor real-time update performance. They require a lot of operating skills of operators, and require skilled personnel to train for a long time. Effectively carry out the process of feeding and discharging.

Furthermore, in order to be able to classify and store materials effectively and accurately, the storage locations of different types of materials are mostly fixed. Require.

In addition, due to the characteristics of the electronic product production industry, such as large batches and multiple varieties, many materials are used; if the material management and delivery are carried out manually, it will be difficult to find 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.

At present, there is a storage and transport device for automatic storage on the market that can solve the above problems, which includes a storage cabinet, a guide rail, an access device, a first conveying module, a second conveying module and a clamping module. The access device takes out the material box from the material box placement area of the storage cabinet, and then guides the guide rail to transport the object to the conveying module to complete the reclaiming action. The access device can also take out the material box from the first conveying module, and then transport the material box to the material box placement area of the storage cabinet through the guide rail to complete the material storage action. The clamping module clamps a plurality of objects in a certain material box on the first conveying module and places them in a certain material box on the second conveying module, so as to complete the action of picking materials.

In general, objects can be placed vertically or horizontally in a bin. However, the gripper of the conventional gripping device can only grip vertically placed objects, but cannot grip horizontally placed objects, resulting in the following two problems:

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

Second, some material box placement areas are vertical material storage areas, and some material box placement areas are horizontal material storage areas. Items placed in material bins in vertical material storage areas must be placed vertically, and items placed in material boxes in horizontal material storage areas must be placed horizontally. In case the object of a material box on the second conveying module is placed horizontally, but it is allocated in the vertical material storage area, it must be manually placed in a material box on the second conveying module. Take it out, manually turn it into vertical, and then manually place it in a material box in the vertical material area, which is inefficient.

The main purpose of the present invention is to provide a horizontal picking device for an automatic storage system, which can automatically place a single piece of objects, several pieces of objects or a whole string of objects in a horizontal state in one material box horizontally in another material box. , no need to rely on manual work, high efficiency.

Another object of the present invention is to provide a horizontal picking device for an automatic storage system, which can automatically take out a single object in a horizontal state in one of the material boxes, automatically turn it into a vertical state, and then automatically place it on another material In the box, there is no need to rely on manual work, and the efficiency is high.

Another object of the present invention is to provide a horizontal picking device for an automatic storage system, which can clamp the outer side wall and bottom surface of a single piece of objects or several pieces of objects or a whole string of objects in a horizontal state in one of the material boxes. When moving a single object or several objects or a whole string of objects in a horizontal state, it is quite stable and will not shake.

In order to achieve the aforementioned purpose, the present invention provides a horizontal picking device for an automatic storage system, comprising a first conveying module, a second conveying module, a first material box, a second material box, a gripper module and a control unit. The first conveying module has a first picking area. The second conveying module has a second picking area. The first material box is arranged in the first picking area, and is used for at least one object in a horizontal state to be placed horizontally therein. The second material box is arranged in the first picking area or the second picking area. The gripping module is close to the first picking area and the second picking area. The control unit is electrically connected to the first conveying module, the second conveying module and the clamping module. The control unit first controls the gripping module to move into the first material box, then the control unit controls the gripping module to grip at least one object in the first material box that is in a horizontal state, and then the control unit controls the gripping module The at least one object is moved from the first material box to the second material box, and finally the control unit controls the clamping module to disengage the at least one object, so that the at least one object is placed in the second material box.

In one embodiment, the clamping module includes a base, a robotic arm and a plurality of first clamps, the base is close to the first picking area and the second picking area, and a first end of the robotic arm is disposed on the base. On the seat, the control unit is electrically connected to the robotic arm, the first clamps are arranged at a second end of the robotic arm, and are close to the axis of the second end of the robotic arm, the control unit is electrically connected to the first clamps, and controls The first clamps move between a first position and a second position; wherein, before the clamping module clamps at least one object in a horizontal state in the first material box, the first clamps are located in the first position. a position; wherein, when the gripping module grips at least one object in a horizontal state in the first material box, the control unit first controls the robotic arm to move to the top of the first material box, and then the control unit controls the robotic arm to move to the top of the first material box. Move down, so that the first clamps pass through a central hole of at least one object in the first material box that is in a horizontal state, and are respectively connected to a center hole of at least one object in the first material box that is in a horizontal state. The inner side wall is kept at a distance, and then the control unit controls the first clamps to move horizontally to the second position, so that the first clamps clamp the inner side wall of the center hole of at least one object in the first material box that is in a horizontal state; And wherein, after the gripping module grips at least one object in a horizontal state in the first material box, the control unit first controls the robotic arm to move upward, so that the at least one object in a horizontal state leaves the first material box, and then The control unit then controls the robotic arm to move to the top of the second material box, so that at least one object in a horizontal state is located above the second material box, and then the control unit controls the robotic arm to move down to move the at least one object in a horizontal state. into the second material box, and then the control unit controls the first clamps to move horizontally to the first position, so that the first clamps are separated from the inner wall of the center hole of the at least one object in a horizontal state, and finally the control unit controls the robotic arm Moving upward, the first clamps pass through the central hole of the at least one object in the horizontal state, so as to place the at least one object in the horizontal state in the second material box horizontally.

In one embodiment, the clamping module further includes a plurality of second clamps, the second clamps are arranged at the second end of the robotic arm, and are close to the outside of the robotic arm, and the control unit is electrically connected to the second clamps, and control the second clamps to move between a third position and a fourth position; wherein, before the clamping module clamps at least one object in a horizontal state, the second clamps are located at the third position; wherein , when the gripping module grips at least one object in a horizontal state in the first material box, the control unit first controls the robotic arm to move to the top of the first material box, and then the control unit controls the robotic arm to move down, so that the Wait for the second fixture to pass through the outer side of an outer side wall of at least one object in the first material box in a horizontal state, and keep a distance from the outer side wall of at least one object in the first material box in a horizontal state, and then control the The unit controls the second clamps to move horizontally to a fourth position, so that the second clamps clamp the outer side wall of at least one object in the first material box that is in a horizontal state; and wherein the clamping module clamps the first object. After at least one object in a horizontal state in a material box, the control unit first controls the robot arm to move upward, so that the at least one object in a horizontal state is located above the second material box, and then the control unit controls the robot arm to move to the second material box. Above the material box, and then the control unit controls the robotic arm to move down to move at least one object in a horizontal state into the second material box, and then the control unit controls the second clamps to move horizontally to the third position, so that the The second clamps are separated from the outer side wall of the at least one object in the horizontal state, and finally the control unit controls the robotic arm to move upward, so that the second clamps pass through the outer side of the outer side wall of the at least one object in the horizontal state, so as to be in the horizontal state. At least one of the objects is placed horizontally in the second material box.

Preferably, each second clamp includes a second movable clamp rod and a second hook portion, the second movable clamp rod is disposed at the second end of the mechanical arm, and is close to the outer side of the mechanical arm, and the second hook portion protrudes from the second hook portion. Two inner side walls of the movable clamping rod, the control unit is electrically connected to the second movable clamping rod, and controls the second movable clamping rod to move between a third position and a fourth position; wherein, when the clamping module clamps When at least one object in the first material box is in a horizontal state, the second moving clamp bars of the second clamps clamp the outer side wall of at least one object in the first material box in a horizontal state, while the second The second hook portion of the clamp abuts against the bottom surface of at least one object in the first material box that is in a horizontal state.

Preferably, the extending directions of the second hooks of the second clamps are different.

Preferably, the second hook portion of each second clamp is located at the bottom end of the second moving clamp rod of each second clamp.

In one embodiment, the horizontal picking device for the automatic storage system further includes a flipping module, which is close to the gripping module and is electrically connected to the control unit; wherein, the control unit first controls the gripping module to move to the In the first material box, the control unit then controls the gripping module to grip at least one object in a horizontal state in the first material box, and then the control unit controls the gripping module to move the at least one object in a horizontal state to an inverted state. In the module; wherein, the control unit controls the flipping module to flip at least one object in a horizontal state from a horizontal state to a vertical state; and wherein, the control unit controls the gripping module to move to the flipping module, and then the control unit controls the gripping module The module clamps at least one object in the vertical state in the flipping module, and then the control unit controls the clamping module to move the at least one object in the vertical state from the flipping module to the second material box, and finally the control unit controls the clip The taking module is 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 clamping module includes a base, a robotic arm and a plurality of first clamps, the base is close to the first picking area and the second picking area, the flipping module is close to the base, and a first One end is arranged on the base, the control unit is electrically connected to the robotic arm, the first clamps are arranged at a second end of the robotic arm, and are close to the axis of the second end of the robotic arm, and the control unit is electrically connected to the first clamps. a clamp, and controls the first clamps to move between a first position and a second position; wherein, before the clamping module clamps at least one object in a horizontal state in the first material box, the The first clamp is located at the first position; wherein, when the clamping module clamps at least one object in the first material box that is in a horizontal state, the control unit first controls the robotic arm to move to the top of the first material box, and then the control unit Control the robotic arm to move down, so that the first clamps pass through a central hole of at least one object in the first material box that is in a horizontal state, and are respectively connected with the at least one object in the first material box that is in a horizontal state. An inner side wall of the center hole is kept at a distance, and then the control unit controls the first clamps to move horizontally to the second position, so that the first clamps clamp the center hole of at least one object in the first material box that is in a horizontal state The inner side wall of the ; wherein, after the gripping module grips at least one object in a horizontal state in the first material box, the control unit first controls the robotic arm to move upward, and then the control unit controls the robotic arm to move to the turning module, Move the at least one object in the horizontal state into the flipping module, and then the control unit controls the first clamps to move horizontally to the first position, so that the first clamps are separated from the center hole of the at least one object in the horizontal state. the side wall, and finally the control unit controls the robotic arm to move upward, so that the first clamps pass through the central hole of the at least one object in the horizontal state, so as to place the at least one object in the horizontal state horizontally in the turning module; wherein, The control unit controls the flipping module to flip at least one object in a horizontal state from a horizontal state to a vertical state; wherein, before the clamping module clamps at least one object in the vertical state in the flipping module, the first clamps is located at the second position; wherein, when the gripping module grips at least one object in a vertical state in the flipping module, the control unit first controls the robotic arm to move to the top of the flipping module, and then the control unit controls the robotic arm to go down Move, so that these first clamps pass through the outside of the two surfaces of the at least one object in the vertical state in the flipping module, and keep a distance from the two surfaces of the at least one object in the vertical state in the flipping module, and then The control unit controls the first clamps to move horizontally to the first position, so that the first clamps clamp the two surfaces of at least one object in the vertical state in the flipping module; and wherein the flipping module is clamped in the clamping module After at least one object in the vertical state in the module, the control unit first controls the robotic arm to move upward, so that the at least one object in the vertical state leaves the flipping module, and then the control unit controls the robotic arm to move to the top of the second material box , At least one object in a vertical state is located above the second material box, and then the control unit controls the robotic arm to move down, and moves the at least one object in a vertical state into the second material box, and then the control unit controls the first The clamps are moved horizontally to the second position, so that the first clamps are separated from the two surfaces of the at least one object in a vertical state, and finally the control unit controls the robotic arm to move up, so as to place the at least one object in a vertical state vertically on the second surface. in the material box.

Preferably, the overturning module comprises a fixing part, a turning part and a driving mechanism. The fixing part is close to the base; and the turning portion is driven to rotate relative to the fixing portion between a horizontal position and a vertical position, and the control unit is electrically connected to the driving mechanism; and wherein the control unit controls the gripping module to move at least one object in a horizontal state into a horizontal position In the receptacle of the inversion portion, the control unit controls the drive mechanism to drive the inversion portion to move to a vertical position, so that at least one object in a horizontal state is turned from a horizontal state to a vertical state.

Preferably, the horizontal picking device for the automatic storage system further includes an optical reader, which is arranged on the clamping module and is electrically connected to the control unit; wherein, when the control unit controls the robotic arm to move to the first When above a material box, the optical reader optically reads the center hole of at least one object in the first material box that is in a horizontal state to obtain an optical positioning signal and an object stacking height signal and transmit them to the control unit. The unit calculates the correct orientation of the center hole of at least one object in a horizontal state in the first material box according to the optical positioning signal, and then the control unit controls the robotic arm to fine-tune the horizontal position of the second end according to the calculated correct orientation, so that the Waiting for the first fixture to accurately align the center hole of at least one object in the first material box that is in a horizontal state; and wherein, when the control unit controls the robotic arm to move above the second material box, the optical reader optically reads Take the second material box to obtain a depth signal and send it to the control unit. The control unit compares the difference between the height signal and the depth signal of the material stack to calculate the moving quantity of an object. A plurality of horizontal objects are moved from the material box to the second material box. When the height of the plurality of horizontal objects in the second material box is consistent with the material stacking height signal, the control unit controls the robotic arm to stop operating.

The effect of the present invention is that the present invention can automatically place a single piece, several pieces or a whole string of objects in a horizontal state in the first material box horizontally in the second material box, without relying on manual operation and high efficiency.

Furthermore, the present invention can automatically take out the single-piece object in the horizontal state in the first material box or the second material box, and automatically turn the single-piece object in the horizontal state into a vertical state through the flipping module, and then automatically place it in the horizontal state. In the other second material box, there is no need to rely on manual operation, and the efficiency is high.

In addition, the present invention can clamp the outer side wall and bottom surface of a single piece or several pieces of objects or a whole string of objects in the first material box in a horizontal state by the second clamps, so the single piece in a horizontal state can be moved when moving. When an object or several pieces of objects or a whole string of objects are used, it is quite stable and will not shake.

The embodiments of the present invention will be described in more detail below with reference to the drawings and component symbols, so that those skilled in the art can implement them after studying the description.

Please refer to FIG. 1 . FIG. 1 is a schematic diagram of the overall operation of the automatic storage system 100 including the first embodiment of the present invention. The present invention provides a horizontal picking device 1 for an automatic storage system, which is a part of an automatic storage system 100 , and the automatic storage system 100 further includes a plurality of storage cabinets 101 . Specifically, the automatic storage system 100 includes a plurality of storage cabinets 101 , a plurality of guide rails 102 , a plurality of access devices 103 , and a plurality of picking devices 1 for the automatic storage system.

The storage cabinets 101 are arranged in a storage space at intervals, and include a plurality of layers of material box placement areas 1011 . The multiple layers of material box placing areas 1011 are used for storing multiple material boxes 104 , and each layer of material box placing areas 1011 can accommodate several material boxes 104 to be arranged in a row. There is a moving space 1012 between two adjacent storage cabinets 101 . In other words, the storage cabinets 101 are vertical cabinets. The material box placement area 1011 includes a horizontal material storage area and a vertical material storage area.

The guide rails 102 are respectively disposed on the ground of the moving spaces 1012, surround the outer peripheral sides of the storage cabinets 101, and are connected to each other to form a guiding system.

Each access device 103 includes a sliding seat 1031 , a vertical rod 1032 and a transport assembly 1033 . The conveying assembly 1033 includes a power part (not shown), two vertical moving parts 10331 , a carrying platform 10332 and a horizontal moving part 10333 . One side is electrically connected to the power part, the carrying platform 10332 is provided on the vertical moving part 10331, and the horizontal moving part 10333 is set on the carrying platform 10332 and is electrically connected to the power part.

The picking procedure of the automatic storage system 100 will be briefly described below. First, the carriage 1031 moves along one of the guide rails 102 with the upright rod 1032 and the carrying assembly 1033, and stays at a specific position. Next, the power part drives the two vertical moving parts 10331 to lift the carrying platform 10332 along the vertical pole 1032 to a certain layer of the material box placement area 1011 of one of the storage cabinets 101 . Next, the power part drives the horizontal moving part 10333 to translate from the carrying platform 10332 to the direction of the material box placement area 1011 of a certain layer to the bottom of a material box 104 . Then, the power part drives the horizontal moving part 10333 to translate to the initial position in the direction of the carrying platform 10332 . Then, the power part drives the vertical moving part 10331 to descend along the vertical rod 1032 with the carrying platform 10332 . In addition, the sliding seat 1031 moves along one of the guide rails 102 with the vertical rod 1032 and the conveying assembly 1033 to one side of the picking device 1 for the automatic storage system. Finally, the power unit drives the horizontal moving unit 10333 to translate from the carrying platform 10332 to the picking device 1 for the automatic storage system, so as to transport the material box 104 to one of the picking devices 1 for the automatic storage system.

The reverse operation of the picking procedure of the automatic storage system 100 is the stocking procedure of the automatic storage system 100 .

Please refer to FIG. 1 to FIG. 3 , which are a schematic diagram of the overall operation of the automatic storage system including the first embodiment of the present invention, a perspective view and a schematic structural diagram of the first embodiment of the present invention, respectively. The horizontal picking device 1 for the automatic storage system of the present invention includes a first conveying module 10 , a second conveying module 20 , a first material box 31 , a second material box 41 , and a clamping module 50 , an optical reader 60 and a control unit 70 .

The first conveying module 10 includes a first frame body 11 and a first conveying part 12 , the first frame body 11 is arranged on one side of one of the storage cabinets 101 and is separated by a distance, and the first conveying part 12 is arranged on the first On the rack body 11 and electrically connected to the control unit 70 , a certain part of the first conveying part 12 is defined as a first picking area 13 . A plurality of first conveying modules 10 of a plurality of picking devices 1 used in a plurality of automatic storage systems are connected end to end to form a first conveying system.

In the present embodiment, the first conveying part 12 includes a plurality of first positioning and conveying units 121 . The first positioning and conveying units 121 are arranged on the first frame body 11 and are electrically connected to the control unit 70 , and some of the first positioning and conveying units 121 are arranged on the first frame body 11 . The units 121 together define the first picking area 13 .

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

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

In this embodiment, the second conveying part 22 includes a plurality of second positioning and conveying units 221 , the second positioning and conveying units 221 are disposed on the second frame body 21 and are electrically connected to the control unit 70 , and some of the second positioning and conveying units 221 are arranged on the second frame body 21 . The units 221 collectively define the second picking area 23 .

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

The access 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 transports the taken out material box to the first conveying part 12 . The control unit 70 controls the operation of the first conveying part 12 , and the first conveying part 12 horizontally moves the taken out material box to the first picking area 13 . Therefore, the taken-out material box is defined as the first material box 31, which is arranged in the first picking area 13, and is used for horizontally placing a plurality of objects 105 in a horizontal state therein.

Please refer to FIG. 4A . FIG. 4A is a schematic diagram of the first material box 31 and the second material box 41 for horizontally placing objects in a horizontal state. In this embodiment, the first material box 31 includes a box body 331 and a plurality of partitions 332 . The box body 331 includes two side walls 3311 , two end walls 3312 and a bottom wall. The side walls 3311 are parallel to each other and are located on opposite sides of the box body 331 , and the end walls 3312 are parallel to each other and are located at opposite ends of the box body 331 , The bottom wall is located at the bottom end of the box body 331 , the side walls 3311 , the end walls 3312 and the bottom wall are connected to each other and together form an accommodating groove. The partitions 332 are disposed in the accommodating grooves at intervals and are parallel to the end walls 3312 . A plurality of positioning pillars 333 are protruded from the inner side surface of each end wall 3312 , and a plurality of positioning pillars 333 are respectively protruded from the outer side surface and the inner side surface of each partition plate 332 . The space between the two positioning posts 333 on the inner side of each end wall 3312 and the two positioning posts 333 on the outer side of each partition 332 is defined as a horizontal positioning area 334, and the inner side of the adjacent two partitions 332 The space between the four positioning columns 333 is defined as a horizontal positioning area 334 . A plurality of objects 105 in a horizontal state are placed horizontally in the horizontal positioning areas 334 respectively, and the positioning posts 333 abut against the outer side walls of the objects 105 in a horizontal state. The object 105 is a material tray dedicated to SMT, but it is not limited to this.

Please refer to FIG. 4B . FIG. 4B is a schematic diagram of a second aspect of the first material box 31 and the second material box 41 for horizontally placing objects in a horizontal state. In other embodiments, the first material box 31 may only include the box body 331 , but not include the partition 332 , and the accommodating slot can only accommodate a stack of objects 105 .

The access 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 transports the taken out material box to the first conveying part 12 or the second conveying part 22, the material box is empty box, without placing any objects 105. The control unit 70 controls the operation of the first conveying part 12 or the second conveying part 22 , and the first conveying part 12 or the second conveying part 22 horizontally moves the extracted material boxes to the first picking area 13 or the second picking area 23 . Therefore, the material box taken out is defined as the second material box 41 , which is arranged 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 material box 41 shown in FIGS. 1 and 2 is disposed in the second picking area 23 .

The clamping module 50 includes a base 51 , a robotic arm 52 and two first clamps 53 . The base 51 is disposed between the first rack body 11 and the second rack body 21 and is close to the first picking area 13 and the second picking area 23 . The robot arm 52 is a multi-axis robot arm, the first end of which is arranged on the base 51, and a screw 521 is rotatably arranged at the second end of the multi-axis robot arm 52, penetrating the top and bottom thereof, and the electrical Sexual connection control unit 70. The first clamps 53 are disposed at the bottom end of the screw rod 521B, close to the axis of the second end of the robot arm 52 , and are electrically connected to the control unit 70 . The control unit 70 controls the first clamps 53 to move between a first position and a second position.

The optical reader 60 is disposed on the second end of the robotic 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 80, respectively.

Please refer to FIGS. 5A to 5E . FIGS. 5A to 5E are schematic diagrams of picking a single piece of object 105 according to the first embodiment of the present invention. Hereinafter, with reference to FIGS. 5A to 5E , the first embodiment of the present invention will be described for picking a single piece of object 105 .

As shown in FIG. 5A , before the clamping module 50 clamps the single-piece object 105 in a horizontal state, the first clamps 53 are located at the first position. When the gripping module 50 grips the single-piece object 105 in the horizontal state in the first material box 31 , the control unit 70 first controls the robot arm 52 to move above the first material box 31 , and then the optical reader 60 moves The light emitting part 61 emits light, the light irradiates the periphery of a central hole 1051 of the single piece object 105 in the horizontal state in the first material box 31, and is reflected back to the light receiving part 62 to obtain an optical positioning signal and a The object stack height signal is sent to the control unit 70 . The control unit 70 calculates the correct orientation of the center hole 1051 of the single-piece object 105 in the horizontal state 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 its first position according to the calculated correct orientation. The horizontal positions of the two ends make the first clamps 53 precisely align with the central hole 1051 of the single piece object 105 in the horizontal state 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 single-piece object 105 in the horizontal state in the first material box 31 , and are respectively connected with the first clamp 53 . The inner wall of the central hole 1051 of the single-piece object 105 in a horizontal state in a material box 31 is kept at a certain distance.

As shown in FIG. 5C , the control unit 70 controls the first clamps 53 to move horizontally to the second position, so that the first clamps 53 clamp the center hole of the single-piece object 105 in the horizontal state in the first material box 31 1051 inner sidewall. After the clamping module 50 clamps the single-piece object 105 in the horizontal state in the first material box 31 , as shown in FIG. 5C , the control unit 70 first controls the screw 521 to move upward, so that the single-piece object in the horizontal state is in the horizontal state. 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 to the top of the second material box 41 , so that the single-piece object 105 in a horizontal state is located above the second material box 41 .

When the control unit 70 controls the robotic arm 52 to move above the second material box 41, the light emitting part 61 of the optical reader 60 emits light, and the light irradiates the bottom of the second material box 41 or has been stored in the second material box The top of the uppermost layer of the object 105 in the horizontal state in 41 is reflected back to the optical receiving part 62 to obtain a depth signal and transmit it to the control unit 70 . The control unit 70 compares the difference between the object stacking height signal and the depth signal to calculate an object moving quantity. The depth signal refers to the distance from the top of the second material box 41 to the bottom or the top of the uppermost layer of the horizontal objects 105 stored in the second material box 41 .

As shown in FIG. 5E , the control unit 70 controls the screw 521 to move downward, and moves the single-piece object 105 in a horizontal state into the second material box 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 wall of the center hole 1051 of the single piece object 105 in a horizontal state. Finally, the control unit 70 controls the screw 521 to move upward, so that the first clamps 53 pass through the central hole 1051 of the single-piece object 105 in the horizontal state, so as to place the single-piece object 105 in the horizontal state on the second material. in the horizontal positioning area 334 of the box 41 .

The control unit 70 continuously controls the robotic arm 52 to move a plurality of single-piece objects 105 in a horizontal state from the first material box 31 to the second material box 41 according to the moving quantity of the objects. Specifically, each time the number of objects 105 in the horizontal state in the second material box 41 increases by one piece, the optical reader 60 will update the depth signal, and the control unit 70 will deduct the moving quantity of the objects according to the updated depth signal until The number of object moves is deducted to zero. When the control unit 70 deducts the moving quantity of the objects to zero, it means that the heights of the objects 105 in the second material box 41 in a horizontal state are consistent with the material stacking height signal, and the control unit 70 controls the robot arm 52 to stop working. Please refer to FIG. 6 , which is a schematic diagram of picking several pieces of objects 105 according to the first embodiment of the present invention. The first embodiment can also be used for picking several pieces of objects 105 . The number of pieces of objects 105 refers to two to five pieces of objects 105 in the same stack of objects 105 . The difference between the process of picking several pieces of objects 105 in the first embodiment and the process of picking up a single piece of object 105 is: First, when the clamping module 50 clamps several pieces of objects 105 in a horizontal state, the Waiting for the first clamps 53 to pass through the center holes 1051 of several pieces of objects 105 in the first material box 31 in a horizontal state; secondly, the control unit 70 controls the first clamps 53A to move horizontally to the second position, so that the The first clamp 53A clamps the inner side walls of the center holes 1051 of several pieces of objects 105 in a horizontal state in the first material box 31 . Except for the above two differences, the rest of the process of picking several pieces of objects 105 in the first embodiment is exactly the same as the process of picking a single piece of objects 105 in the first embodiment.

In this way, the present invention can automatically place a single piece of object 105 or several pieces of objects 105 in a horizontal state in the first material box 31 horizontally in the second material box 41 , without relying on manual operations and with high efficiency.

As shown in FIG. 1 to FIG. 3 , the horizontal picking device 1 for the automatic storage system of the present invention further includes a turning module 80 , and the turning module 80 includes a fixing part 81 , a turning part 82 and a driving mechanism 83 . The fixing portion 81 is disposed between the first conveying module 10 and the second conveying module 20 and is close to the base 51 of the clamping module 50 . The inverting portion 82 is arranged on the fixing portion 81 and has an accommodating groove 821. The driving mechanism 83 is arranged on the fixing portion 81 to connect the inverting portion 82, and drives the inverting portion 82 to rotate relative to the fixing portion 81 between a horizontal position and a vertical position. The control unit 70 is electrically connected to the driving mechanism 83 .

1 and 2 again, 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 transports the taken out material box to the first conveying part 12 or the second conveying part On the part 22, the material box is an empty box, and no object 105 is placed there. The control unit 70 controls the operation of the first conveying part 12 or the second conveying part 22 , and the first conveying part 12 or the second conveying part 22 horizontally moves the extracted material boxes to the first picking area 13 or the second picking area 23 . Therefore, the taken out material box is defined as the second material box 42 , which is arranged in the first picking area 13 or the second picking area 23 , and has a completely different structure from that of the first material box 31 and the second material box 41 . The second material box 42 of FIG. 1 and FIG. 2 is disposed in the second picking area 23 .

Please refer to FIG. 7 . FIG. 7 is a schematic diagram of the second material box 42 for vertically placing objects in a vertical state. The difference between the structure of the second material box 42 and the structure of the first material box 31 and the second material box 41 is that the partitions 332 divide the accommodating groove into two vertical positioning areas 421; it is worth mentioning that this embodiment can also Applies to undivided material bins.

Please refer to FIGS. 8A to 8C . FIGS. 8A to 8C are schematic diagrams of flipping and picking a single piece of object 105 according to the first embodiment of the present invention. In the following, the first embodiment of the present invention will be described with reference to FIGS. 8A to 8C for flipping and picking the single-piece object 105 .

As shown in FIG. 8A , the control unit 70 first controls the gripping module 50 to move into the first material box 31 , and then the control unit 70 controls the gripping module 50 to grip the horizontal single pieces in the first material box 31 . Then, the control unit 70 controls the clamping module 50 to move the single-piece object 105 in the horizontal state into the accommodating slot 821 of the turning portion 82 in the horizontal position. The action details of the gripping module 50 for gripping, moving and placing the single-piece object 105 in the horizontal state are as described above, the only difference is that the single-piece object 105 in the horizontal state is changed to be placed horizontally in the receptacle of the turning portion 82 821 instead of the second material box 41.

As shown in FIG. 8B , the control unit 70 controls the driving mechanism 83 to drive the turning portion 82 to move to the vertical position, so that the single-piece object 105 in the horizontal state is turned from the horizontal state to the vertical state.

As shown in FIG. 8C , before the clamping module 50 clamps the single-piece object 105 in the vertical state, the first clamps 53 are located at the second position. When the gripping module 50 grips the single-piece object 105 in the vertical state in the turning portion 82 , the control unit 70 first controls the robotic arm 52 to move above the turning portion 82 , and then the control unit controls the screw 521 to move downward. , so that the first clamps 53 pass through the outer sides of the two surfaces of the single-piece object 105 in the vertical state in the inversion portion 82 , and maintain a distance from the two surfaces of the single-piece object 105 in the vertical state in the inversion portion 82 respectively. , and then the control unit 70 controls the first clamps 53 to move horizontally to the first position, so that the first clamps 53 clamp the two surfaces of the single-piece object 105 in the vertical state in the turning portion 82 . After the clamping module 50 clamps the single-piece object 105 in the vertical state in the inversion portion 82, 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 inversion portion 82, and then controls The unit 70 controls the robotic 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 down, and the vertical state of the single-piece object 105 is located above the second material box 42. The single-piece object 105 is moved into the second material box 42 . Next, the control unit 70 controls the first clamps 53 to move horizontally to the second position, so that the first clamps 53 are separated from the two surfaces of the single-piece object 105 in a vertical state. Finally, the control unit 70 controls the screw 521 to move upward, so as to vertically place the single-piece object 105 in the vertical state in the vertical positioning area 421 of the second material box 42 .

In the present invention, the single-piece object 105 in the horizontal state can also be taken out from the second material box 41 through the above-mentioned operation mode, and then flipped and picked, and then the single-piece object 105 in the vertical state is vertically placed in the second material box 42 . in the vertical positioning area 421.

In this way, the present invention can automatically take out the single-piece object 105 in the horizontal state in the first material box 31 or the second material box 41 , and automatically turn the single-piece object 105 in the horizontal state into a vertical state through the inversion module 80 . , and then automatically placed in the second material box 42 without relying on manual work, and the efficiency is high.

It is worth mentioning that the access device 103 can 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 part 12 or the second material box. On the second conveying part 22, the material box is filled with a plurality of objects 105 in a vertical state. The control unit 70 controls the operation of the first conveying part 12 or the second conveying part 22 , and the first conveying part 12 or the second conveying part 22 horizontally moves the extracted material boxes to the first picking area 13 or the second picking area 23 . Therefore, the material box taken out is defined as the second material box 43 , which is arranged in the first picking area 13 or the second picking area 23 , and has the same structure as that of the second material box 42 . The second material box 43 of FIG. 1 and FIG. 2 is disposed in the first picking area 13 .

Before the clamping module 50 clamps the single-piece object 105 in the vertical state, the first clamps 53 are located at the second position. 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 first controls the robot arm 52 to move above the second material box 43 , and then the control unit controls the screw 521 moves downward, so that the first clamps 53 pass through the outer sides of the two surfaces of the single-piece objects 105 in the vertical state in the second material box 43 , and are respectively connected with the single-piece objects in the vertical state in the second material box 43 . The two surfaces of the object 105 are kept at a distance, and then the control unit 70 controls the first clamps 53 to move horizontally to the first position, so that the first clamps 53 clamp the single-piece object in the vertical state in the second material box 43 105's second surface. 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. Next, the control unit 70 controls the robotic arm 52 to move to the top 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 down to move the The single-piece object 105 in the vertical state is moved into the second material box 42 . Next, the control unit 70 controls the first clamps 53 to move horizontally to the second position, so that the first clamps 53 are separated from the two surfaces of the single-piece object 105 in a vertical state. Finally, the control unit 70 controls the screw 521 to move upward, so as to vertically place the single-piece object 105 in the vertical state in the vertical positioning area 421 of the second material box 42 .

Thereby, the present invention can automatically take out the single-piece objects 105 in the vertical state in the second material box 43, and then automatically place them in the second material box 42, without relying on manual operations, and has high efficiency.

Please refer to FIG. 9 , which is a schematic diagram of a second embodiment of the present invention. The clamping module 50A of the second embodiment is different in structure from the clamping module 50 of the first embodiment. Except for this, other technical features of the second embodiment of the present invention are the same as those of the first embodiment.

Further, the clamping module 50A of the second embodiment further includes four second clamps 54A, each of the second clamps 54A includes a second movable clamp rod 541A and a second hook portion 542A, and the second movable clamp rod 541A is provided with At the second end of the robot arm 52A and close to the outer side of the robot arm 52A, the second hook portion 542A is protruded from an inner side wall of the second moving clamp rod 541A, the control unit 70 is electrically connected to the second moving clamp rod 541A, and The second moving clamp rod 541A is controlled to move between a third position and a fourth position. Preferably, the extending directions of the second hook portions 542A of the second clamps 54A are different. Preferably, the second hook portion 542A of each second clamp 54A is located at the bottom end of the second moving clamp rod 541A of each second clamp 54A.

The process of picking single-piece objects 105 in the second embodiment is different from the process of picking single-piece objects 105 in the first embodiment. First, the first material box 31 is clamped in the clamping module 50A Before the single-piece object 105 in the horizontal state, the second moving clamping bars 541A of the second clamps 54A are located at the third position; secondly, when the clamping module 50A clamps the first material box 31 in the horizontal state single When the object 105 is cut, the second clamps 54A pass 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; thirdly, the control unit 70 controls the second movement of the second clamps 54A The clamping rods 541A move horizontally to the fourth position, so that the second moving clamping rods 541A of the second clamps 54A clamp the outer side walls of the single-piece objects 105 in the horizontal state in the first material box 31 , while the second moving clamping rods 541A The second hook portion 542A of the clamp 54A abuts against the bottom surface of the single-piece object 105 in the horizontal state in the first material box 31 . Except for the above three differences, the rest of the process of picking the single-piece object 105 in the second embodiment is exactly the same as the process of picking the single-piece object 105 in the first embodiment.

Please refer to FIG. 10 . FIG. 10 is a schematic diagram of picking the entire string of objects 105 according to the second embodiment of the present invention. Hereinafter, with reference to FIG. 10 , it will be described how the second embodiment of the present invention performs the picking of the entire string of objects 105 .

The process of picking up the whole string of objects 105 in the second embodiment is different from the process of picking single-piece objects 105 in the second embodiment. First, when the clamping module 50A clamps the first material When the entire string of objects 105 in the horizontal state in the box 31 is in a horizontal state, the first clamps 53A pass through the central hole 1051 of the entire string of objects 105 in the horizontal state in the first material box 31 , while the second clamps 54A pass through the center hole 1051 . The outer side of the outer side wall of the entire string of objects 105 in the first material box 31 in a horizontal state; secondly, the control unit 70 controls the first clamps 53A to move horizontally to the second position, so that the first clamps 53A are clamped The inner side wall of the central hole 1051 of the entire string of objects 105 in the first material box 31 in a horizontal state; thirdly, the control unit 70 controls the second moving clamp bars 541A of the second clamps 54A to move horizontally to the fourth position, The second moving clamping rods 541A of the second clamps 54A clamp the outer side walls of the entire string of objects 105 in the horizontal state in the first material box 31, while the second hooks 542A of the second clamps 54A abut against The bottom surface of the lowermost object 105 of the entire string of objects 105 in the first material box 31 in a horizontal state. Except for the above-mentioned three differences, the rest of the process of picking the whole string of objects 105 in the second embodiment is exactly the same as the process of picking the single piece of objects 105 in the second embodiment.

The clamping module 50A of the second embodiment of the present invention can clamp the outer side walls and bottom surfaces of several pieces of objects 105 in the first material box 31 in a horizontal state or the entire string of objects 105 by the second clamps 54A. Therefore, when moving several pieces of objects 105 or a whole string of objects 105 in a horizontal state, it is quite stable and will not shake. Since the clamping module 50 of the first embodiment of the present invention does not have the second clamp 54A, when moving several pieces of objects 105 or a whole string of objects 105 in a horizontal state, it is easy to shake and not very stable. Except for the above-mentioned difference in efficacy, other basic functions of the first embodiment and the second embodiment of the present invention are exactly the same.

Please refer to FIG. 11 . FIG. 11 is a schematic diagram of the overall operation of the automatic storage system 100A including the third embodiment of the present invention. The structural difference between the third embodiment of the present invention and the first embodiment is: firstly, the first conveying module 10 and the second conveying module 20 are arranged side by side and adjacent to each other; Between a conveying module 10 and one of the storage cabinets 101A. In addition, each storage cabinet 101A of the automatic storage system 100A is a box-type cabinet, and the other components of the automatic storage system 100A are adjusted to match the storage cabinet 101A of the box-shaped cabinet body, and are structurally similar to the other components of the automatic storage system 100. different, but functionally the same.

Please refer to FIG. 12 , which is a perspective view of a fourth embodiment of the present invention. The structural difference between the fourth embodiment and the first embodiment is that: first, the first conveying module 10A further includes two first picking parts 14 , and the first picking parts 14 are arranged at intervals away from the first conveying part 12 . One side of one of the storage cabinets 101 is electrically connected to the control unit 70. The first picking parts 14 together define the first picking area 13, and each first picking part 14 is substantially a table. and secondly, the second conveying module 20A includes two second picking parts 24, the second picking parts 24 are arranged at intervals on the side of the second conveying part 22 close to the first conveying module 10, and are electrically Connected to the control unit 70, the second picking parts 24 together define the second picking area 23, and each second picking part 24 is substantially a table. Except for the above differences, other structures of the fourth embodiment are the same as those of the first embodiment.

Please refer to FIG. 13 . FIG. 13 is a schematic diagram of the overall operation of the automatic storage system 100B including the first embodiment of the present invention. The access device 103B of the automatic storage system 100B is a storage and transportation robot. Except for this, the rest of the structure of the automatic storage system 100B is the same as that of the automatic storage system 100 . Further, the storage and transportation robot has functions such as autonomous navigation, real-time positioning, reading path planning, and intelligent obstacle avoidance, and is suitable as the access device 103B. In this way, the access device 103B can not only achieve the storage operation mode like the access device 103 , but also has better transportation maneuvering efficiency, and is not limited to the limitation related to the track. Furthermore, the access device 103B can correspondingly transport the material box 104 to one of the picking devices 1 used in the automatic storage system for performing horizontal picking related procedures. In addition, the access device 103B can, of course, also perform the stocking procedure of storage after the picking procedure.

The above descriptions are only used to explain the preferred embodiments of the present invention, and are not intended to limit the present invention in any form. Therefore, any modification or change of the present invention should be made under the same spirit of the invention. , all should still be included in the intended protection scope of the present invention.

1: Horizontal picking device for automatic storage system 10: The first conveying module 11: The first frame 12: The first conveying part 121: The first positioning conveying unit 13: The first picking area 14: The first picking department 20: The second conveying module 21: The second frame 22: The second conveying part 221: Second positioning conveying unit 23: The second picking area 24: The second picking department 31: The first material box 331: Box 3311: Sidewall 3312: End Wall 332: Separator 333: Positioning Post 334: Horizontal positioning area 41, 42, 43: Second material box 421: Vertical positioning area 50,50A: Clamping module 51: Pedestal 52,52A: Robotic arm 521: Screw 53, 53A: First fixture 54A: Second fixture 541A: Second moving clamp bar 542A: Second hook 60: Optical Reader 61: Light emission part 62: Light receiving part 70: Control unit 80: Flip Module 81: Fixed part 82: Flip part 821: Container 83: Drive mechanism 100, 100A, 100B: Automatic Storage System 101,101A: Storage Cabinets 1011: Material box placement area 1012: Mobile Space 102: Rails 103, 103B: Access devices 1031: Slider 1032: Pole 1033: Handling Components 10331: Vertical moving part 10332: Bearing Platform 10333: Horizontal moving part 104: Material Box 105: Objects

[FIG. 1] is a schematic diagram of the overall operation of the automatic storage system including the first embodiment of the present invention. [ Fig. 2 ] is a perspective view of the first embodiment of the present invention. [FIG. 3] is a schematic structural diagram of the first embodiment of the present invention. [ FIG. 4A ] is a schematic diagram of a first aspect of the first material box and the second material box for horizontally placing objects in a horizontal state. [ FIG. 4B ] is a schematic diagram of a second aspect of the first material box and the second material box for horizontally placing objects in a horizontal state. [FIG. 5A] to [FIG. 5E] are schematic diagrams of picking single-piece objects according to the first embodiment of the present invention. [Fig. 6] is a schematic diagram of picking several pieces of objects according to the first embodiment of the present invention. [Fig. 7] is a schematic diagram of a second material box for vertically placing objects in a vertical state. [FIG. 8A] to [FIG. 8C] are schematic diagrams of turning over and picking a single piece of objects according to the first embodiment of the present invention. [ FIG. 9 ] is a schematic diagram of a second embodiment of the present invention. [Fig. 10] is a schematic diagram of picking up a whole string of objects according to the second embodiment of the present invention. [FIG. 11] is a schematic diagram of the overall operation of the automatic storage system including the third embodiment of the present invention. [ Fig. 12 ] is a perspective view of a fourth embodiment of the present invention. [FIG. 13] is a schematic diagram of the overall operation of the automatic storage system including the first embodiment of the present invention.

1: Horizontal picking device for automatic storage system

10: The first conveying module

11: The first frame

12: The first conveying part

121: The first positioning conveying unit

13: The first picking area

20: The second conveying module

21: The second frame

22: The second conveying part

221: Second positioning conveying unit

23: The second picking area

31: The first material box

41, 42, 43: Second material box

50: Clamping module

51: Pedestal

52: Robotic Arm

521: Screw

53: First Fixture

60: Optical Reader

80: Flip Module

81: Fixed part

82: Flip part

821: Container

83: Drive mechanism

105: Objects

Claims (9)

A horizontal picking device for an automatic storage system, comprising: a first conveying module with a first picking area; a second conveying module with a second picking area; and a first material box set in the first picking area, and for at least one object in a horizontal state to be placed horizontally therein; a second material box, set in the first picking area or the second picking area; a clamping mold A group, close to the first picking area and the second picking area, the gripping module includes: a base, close to the first picking area and the second picking area; a robotic arm, the first picking area The end is arranged on the base; a plurality of first clamps are arranged at the second end of the robot arm and are close to the axis of the second end of the robot arm; and a plurality of second clamps are arranged at the second end of the robot arm. The second end is close to the outside of the robotic arm; and a control unit is electrically connected to the first conveying module, the second conveying module and the gripping module, and the control unit controls the first clamps to move in the Between a first position and a second position, or control the second clamps to move between a third position and a fourth position, wherein the control unit first controls the clamping module to move to the first position In the material box, then control the first clamp in the first position or control the second clamp in the third position to clamp the at least one object in the first material box that is in a horizontal state, and then control the clamping The module moves the at least one object from the first material box to the second material box, and finally controls the first material box When the clamp is in the second position or the second clamp is controlled to be disengaged from the at least one object, the at least one object is placed in the second material box. The horizontal picking device for an automatic storage system according to claim 1, wherein the second clamps comprise a second moving clamp bar and a second hook portion, and the second moving clamp bar is disposed on the robot arm. The second end is close to the outside of the robotic arm, the second hook portion protrudes from an inner side wall of the second moving clamp rod, the control unit is electrically connected to the second moving clamp rod, and controls the second movement The clamping rod moves between the third position and the fourth position; wherein, when the clamping module clamps the at least one object in the horizontal state in the first material box, the The second moving clamping rod clamps the outer side wall of the at least one object in the first material box in a horizontal state, and at the same time the second hooks of the second clamps abut against the surface in the first material box the bottom surface of the at least one object in a horizontal state. The horizontal picking device for an automatic storage system according to claim 2, wherein the extension directions of the second hooks of the second clamps are different. The horizontal picking device for an automatic storage system according to claim 2, wherein the second hooks of the second clamps are located at the bottom ends of the second moving clamp bars of the second clamps. The horizontal picking device for an automatic storage system according to claim 1, further comprising a flipping module close to the gripping module and electrically connected to the control unit; wherein the control unit first controls the gripping module The group is moved to the first material box, and then the control unit controls the gripping module to grip the at least one object in the first material box that is in a horizontal state, and then the control unit controls the gripping module to The at least one object in the horizontal state is moved into the flipping module; wherein, the control unit controls the flipping module to display the horizontal state The at least one object is turned from a horizontal state to a vertical state; and wherein, the control unit controls the gripping module to move to the turning module, and then the control unit controls the gripping module to grip the turning module. The at least one object in a vertical state, then the control unit controls the gripping module to move the at least one object in a vertical state from the turning module to the second material box, and finally the control unit controls the gripping The module is 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. The horizontal picking device for an automatic storage system according to claim 5, wherein the turning module is close to the base, and the gripping module grips the at least one horizontal state in the first material box. Before the object, the first clamps are located at the first position; wherein, when the clamping module clamps the at least one object in the first material box that is in a horizontal state, the control unit first controls the robotic arm to move to the top of the first material box, and then the control unit controls the robotic arm to move downward, so that the first clamps pass through a central hole of the at least one object in the first material box that is in a horizontal state, and respectively keep a distance from an inner side wall of the central hole of the at least one object in the first material box that is in a horizontal state, and then the control unit controls the first clamps to move horizontally to the second position, so that the The first clamp clamps the inner side wall of the central hole of the at least one object in the first material box in a horizontal state; wherein, the clamping module clamps the horizontal state in the first material box. After the at least one object, the control unit first controls the robotic arm to move upward, and then the control unit controls the robotic arm to move to the inversion module, and moves the at least one object in a horizontal state into the inversion module, Then, the control unit controls the first clamps to move horizontally to the first position, so that the first clamps are separated from the horizontal state. The inner side wall of the central hole of at least one object, and finally the control unit controls the robotic arm to move upward, so that the first clamps pass through the central hole of the at least one object in a horizontal state, so as to display a horizontal state The at least one object is placed horizontally in the flipping module; wherein, the control unit controls the flipping module to flip the at least one object in a horizontal state from a horizontal state to a vertical state; wherein, in the clamping module clamp Before taking the at least one object in the vertical state in the flipping module, the first clamps are located at the second position; wherein, when the gripping module clamps the at least one object in the vertical state in the flipping module When there is an object, the control unit first controls the robotic arm to move above the flipping module, and then the control unit controls the robotic arm to move downward, so that the first clamps pass through the vertical state of the flipping module. The outer sides of the two surfaces of the at least one object are respectively kept at a distance from the two surfaces of the at least one object in the vertical state in the turning module, and then the control unit controls the first clamps to move horizontally to the first position, so that the first clamps clamp the two surfaces of the at least one object in the vertical state in the flipping module; and wherein, the gripping module clamps the vertical state in the flipping module. After the at least one object, the control unit first controls the robotic arm to move upward, so that the at least one object in a vertical state leaves the flipping module, and then the control unit controls the robotic arm to move above the second material box , so that the at least one object in a vertical state is located above the second material box, and then the control unit controls the robotic arm to move down, and the at least one object in a vertical state is moved into the second material box, and then The control unit controls the first clamps to move horizontally to the second position, so that the first clamps are separated from the two surfaces of the at least one object in a vertical state, and finally the control unit controls the robotic arm to move upward, thereby The at least one object in a vertical state is vertically placed in the second material box. The horizontal picking device for an automatic storage system according to claim 5 or 6, wherein the turning module comprises a fixing part, a turning part and a driving mechanism, the fixing part is close to the base, and the turning part is provided with The fixed part has an accommodating groove, the driving mechanism is arranged on the fixed part, is connected to the inverting part, and drives the inverting part to rotate between a horizontal position and a vertical position relative to the fixed part, and the control unit electrically and wherein the control unit controls the gripping module to move the at least one object in a horizontal state into the receptacle of the inversion portion located in a horizontal position, and the control unit controls the drive mechanism to drive The turning portion moves to a vertical position, so that the at least one object in a horizontal state is turned from a horizontal state to a vertical state. The horizontal picking device for an automatic storage system according to claim 1, further comprising an optical reader disposed on the gripping module and electrically connected to the control unit; wherein, when the control unit controls the When the robotic arm moves above the first material box, the optical reader optically reads the center hole of the at least one object in the first material box that is in a horizontal state to obtain an optical positioning signal and an object The stacking height signal is sent to the control unit, the control unit calculates the correct orientation of the center hole of the at least one object in the horizontal state in the first material box according to the optical positioning signal, and then the control unit calculates according to the calculated The correct orientation control the robotic arm to fine-tune the horizontal position of its second end, so that the first clamps are accurately aligned with the central hole of the at least one object in the first material box that is in a horizontal state; and wherein, when When the control unit controls the robotic arm to move above the second material box, the optical reader optically reads the second material box to obtain a depth signal and transmit it to the control unit, and the control unit compares the The difference between the material stacking height signal and the depth signal calculates the moving quantity of an object, and the control unit moves according to the object Quantity is continuously controlled by the robotic arm to move a plurality of objects in a horizontal state from the first material box to the second material box, when the height of the plurality of objects in a horizontal state in the second material box and the stacking height of the materials When the signals match, the control unit controls the robotic arm to stop running. The horizontal picking device for an automatic storage system according to claim 6, further comprising an optical reader disposed on the gripping module and electrically connected to the control unit; wherein, when the control unit controls the When the robotic arm moves above the first material box, the optical reader optically reads the center hole of the at least one object in the first material box that is in a horizontal state to obtain an optical positioning signal and an object The stacking height signal is sent to the control unit, the control unit calculates the correct orientation of the center hole of the at least one object in the horizontal state in the first material box according to the optical positioning signal, and then the control unit calculates according to the calculated The correct orientation controls the robotic arm to fine-tune the horizontal position of its second end, so that the first clamps are precisely aligned with the central hole of the at least one object in the first material box that is in a horizontal state.

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