TWM583442U - Material picking device for automated warehouse system - Google Patents

Abstract

A picking device for an automatic storage system can correct the movement path of objects and accurately and sequentially place a plurality of objects in the two first material boxes on the first conveying module on the second conveying module. In the place where the objects of the second and second material boxes are placed, the speed of picking and shipping is accelerated, and the efficiency of picking and shipping is improved. In this creation, one of the first material bins can be refilled with no empty space, and the other first material bin is removed from the storage cabinet by being emptied, reducing the number of material bins and the storage space occupied. This creation can also adjust the angle of the object to align the object placement with a non-warped or slightly warped part, so that the object can smoothly enter the object placement and prevent the two sides of the object from being caught on the two positioning plates.

Description

Picking device for automatic storage system

The present invention relates to a picking device, especially a picking device for an automatic storage system for correcting a moving path of an object.

Warehouse management is important for many industries. Especially for enterprises with a large variety of materials and large storage capacity, 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 electronics manufacturing, and storage management is a very important part of the process of surface mount technology, which mainly includes incoming and outgoing materials. , Return, feed and other steps.

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

Furthermore, in order to effectively and accurately classify and store materials, different types of material storage locations are mostly fixed settings. In order to skillfully and accurately perform process operations such as feeding and discharging, the skills of operators are further improved. Claim.

In addition, due to the characteristics of large quantities and multiple varieties in the electronic product production industry, more materials are used; if materials are manually managed and delivered, there will be problems of difficulty in finding and time consuming. Therefore, it is necessary to consider the automation of material storage and delivery, in order to shorten the time of material search and acquisition, increase the speed of logistics, and increase production efficiency.

At present, a storage and transportation device for automatic storage on the market can solve the above problems, which includes a storage cabinet, a guide rail, a storage device, a first conveying module, a second conveying module, and a gripping module. The storage device removes the objects from the storage cabinet, and then guides the objects to the conveying module through the guide rail to complete the reclaiming operation. The storage device can also take out the objects from the first conveying module, and then carry the objects to the storage cabinet through the guide rails to complete the storage operation. The gripping module grips multiple objects in a material box on the first conveying module and places them in a material box on the second conveying module.

However, in the process of shipping and picking, because the gripping module moves the object, the movement path of the object often shifts, so the gripping module cannot transfer one or Multiple objects in multiple material boxes are accurately and sequentially placed in a plurality of object placements of multiple material boxes on the second conveyance module, so the objects in multiple material boxes placed on the second conveyance module Before the plurality of objects are placed, the positions of the objects must be manually adjusted so that they can be accurately placed in the plurality of objects placed on the second conveyance module. Moreover, after a material box of the second conveying module is filled with objects, the second conveying module must move the next material box to a fixed point, so that the gripping module continues to move a certain material on the first conveying module. The remaining items in one bin are placed in the next bin of the second conveyor module. This mode of operation has a slow picking speed and poor efficiency.

Furthermore, after all the material boxes on the second conveyance module are filled with objects and shipped, the remaining items in the plurality of material boxes on the first conveyance module become stock items. The problem is that the multiple material boxes on the first conveying module are not full of objects, and because the gripping module cannot place multiple objects in one of the two material boxes of the first conveying module on the other Among them, there are still a lot of idle space in the multiple material boxes that are not full of objects, which also leads to the problem of too many material boxes and occupying too much storage space, reducing the efficiency of warehouse management.

In addition, under long-term use, the two sides of the object will inevitably be warped in some parts. If the area of the warped portion is larger than the allowable area of the two positioning plates, it means that the width of the warped portion is larger than the distance between the two positioning plates. Unfortunately, if the clamping module grips the object, the warped parts of the two sides of the object are exactly at the bottom end, then the warped parts of the two sides of the object will be stuck on the two positioning plates, and cannot be smoothly. Enter the place where the objects are placed between the two positioning plates.

The main purpose of this creation is to provide a picking device for an automatic storage system, which can correct the movement path of objects and accurately place multiple objects in one or more material boxes on the first conveying module in order. The placement of the plurality of objects in the multiple material boxes on the second conveying module accelerates the speed of shipping and picking, and improves the efficiency of shipping and picking.

Another purpose of this creation is to provide a picking device for an automatic storage system, which can correct the movement path of objects and accurately place multiple objects in one of the two material boxes of the first conveying module in order. In the place of the plurality of objects in the other, some of the material boxes in the first conveying module can be refilled with no empty space, and the remaining material boxes in the first conveying module are cleared and removed from the storage cabinet. Remove, reduce the number of material boxes, reduce the storage space occupied, and improve the efficiency of warehouse management.

Another purpose of this creation is to provide a picking device for an automatic storage system. Even if a certain part of the two sides of the object is seriously warped, this creation can also adjust the angle of the object so that there is no warping or slight The warped part is aligned with the object placement, so that the object can smoothly enter the object placement, preventing the two sides of the object from being caught on the two positioning plates.

In order to achieve the foregoing purpose, this creation will provide a picking device for an automatic storage system, including a first conveying module, a second conveying module, two first material boxes, two second material boxes, and a plurality of positioning plates. A gripping module, an optical reader, a calibration module, and a control unit, the two first material boxes are set on the first conveying module, and the two second material boxes are set on the second conveying module, The positioning plates are respectively arranged in the two first material boxes and the two second material boxes at intervals. A top of the positioning plates is provided with a first identifying reflection part, and one of the first material boxes is provided between the two positioning plates. There is an object. The optical reader is arranged on the gripping module. The control unit is electrically connected to the first conveying module, the second conveying module, the gripping module, the optical reader and the calibration module.

Wherein, the control unit controls the gripping module to move to the top of another positioning box of another first material box or one of the second material boxes, and the optical reader optically reads the other first material box or one of the first material boxes. The first identification and reflection part of the two positioning plates of the two material boxes obtains a first optical positioning signal and transmits it to the control unit. The control unit calculates the correct position of the object according to the first optical positioning signal, and then the control unit controls The gripping module is moved above the two positioning plates of one of the first material boxes, and the optical reader optically reads the first identification reflection part of the two positioning plates of one of the first material boxes to obtain a second The optical positioning signal is transmitted to the control unit. The control unit calculates the correct orientation of the object according to the second optical signal. The control unit accurately controls the gripping module to take out the object according to the calculated correct orientation of the object. Then the control unit controls the gripping module. Move the object to the calibration module. The calibration module measures whether the object deviates from the correct movement path to obtain a measurement value and sends it to Control unit, the control unit calculates an offset value between the object and the correct movement path according to the measured value, and the control unit controls the gripping module to pass the object from the calibration module to the correct position based on the calculated deviation value and the correct orientation of the object placement The moving path moves to the place where the object is placed and places the object precisely on the place where the object is placed.

Preferably, the correction module is located between the first conveying module and the second conveying module, is located on one side of the gripping module, and is separated from the gripping module by a distance. The correction module includes a first measurement module. Rangefinder and a second rangefinder, the first rangefinder and the second rangefinder are respectively electrically connected to the control unit, there is a measurement space between the first rangefinder and the second rangefinder, and the first side distance The rangefinder includes a first ranging module, the first side ranging module has a first ranging range, the second rangefinder includes a second ranging module, and the second ranging module has a second ranging Range; when the object is moved to the measurement space, the object is located in the first ranging range and the second ranging range, and the first ranging module measures the distance between the object and the first rangefinder to obtain a first A measurement value is transmitted to the control unit. The second distance measuring module measures the distance between the object and the second rangefinder to obtain a second measurement value and transmits the second measurement value to the control unit. The control unit is based on the first measurement value and the second measurement value. The deviation is calculated from the measured value, and the deviation is the difference between the first measured value and the second measured value. To one-half the value.

Preferably, two first identification reflection sections are provided on the top of each positioning plate, and the optical reader optically reads the first identification reflections of the second positioning plate of the other first material box or one of the second material boxes. The control unit calculates the area of the space between the first identifying and reflecting parts of another first material box or two positioning plates of one of the second material boxes according to the first optical positioning signal, and defines the area An allowable area; wherein the first rangefinder has a third ranging module, the third ranging module has a third ranging range, the second rangefinder has a fourth ranging module, the first The four ranging modules have a fourth ranging range. The distance between the first ranging module and the third ranging module and the distance between the second ranging module and the fourth ranging module are equal to each positioning. The distance between the two first recognition reflection parts of the plate, the distance between the first rangefinder and the second rangefinder is equal to the distance between the two positioning plates; wherein when the object is moved to the measurement space, the bottom of the object End located in the first to fourth ranging range, the third ranging module Measure the distance between the object and the first rangefinder to obtain a third measurement value and send it to the control unit. The fourth distance measurement module measures the distance between the object and the second rangefinder to obtain a fourth measurement value. And transmitted to the control unit, the control unit calculates the actual area of the bottom ends of the two sides of the object according to the first to fourth measured values; wherein, when the actual area of the bottom ends of the two sides of the object is greater than the allowable area, the control unit Control the gripping module to rotate the object to adjust the angle of the object so that the area of the bottom ends of the two sides of the rotated object is equal to or less than the allowable area.

Preferably, the first ranging module is an infrared ranging module or a laser ranging module, the second ranging module is an infrared ranging module or a laser ranging module, and the third ranging module The infrared ranging module or the laser ranging module, and the fourth ranging module is the infrared ranging module or the laser ranging module.

Preferably, the correction module is provided with a second identification reflection part. When the gripping module moves an object to the correction module, the optical reader optically reads the second identification reflection part of the correction module to obtain a first identification reflection part. The three optical positioning signals are transmitted to the control unit, and the control unit actually moves the object to the correction module according to the third optical positioning signal record gripping module.

Preferably, the optical reader includes a light emitting portion and a light receiving portion. When the optical reader performs the optical reading action, the light emitting portion emits light, and the second identification reflection portion of the correction module reflects the light. Return to the light receiving section to obtain the third optical positioning signal.

Preferably, the optical reader includes a light emitting part and a light receiving part, and the light emitting part and the light receiving part are electrically connected to the control unit respectively. When the optical reader performs the optical reading action, the light emitting part The light is emitted, and the first identification reflection part of the two positioning plates reflects the light back to the light receiving part to obtain the first optical positioning signal or the second optical positioning signal.

Preferably, a plurality of sensing position structures are respectively provided on the outer sides of the two first material boxes and the second second material boxes, and the sensing position structures are convex posts or grooves, and the sensing position structures are respectively provided with a The third identification reflection part, the optical reader optically reads the first identification reflection part of the other positioning box of the second material box or one of the second material boxes, and the optical reader optically reads the sensing measurements The third identification reflection part of the bit structure obtains the first optical positioning signal and transmits it to the control unit.

Preferably, the gripping module includes a base, a robot arm and a chuck, the base is disposed between the first conveying module and the second conveying module, and a first end of the robot arm is rotatably provided. On the base, the robotic arm is electrically connected to the control unit, the chuck is provided at a second end of the robotic arm, is electrically connected to the control unit, and can grip objects, and an optical reader is provided on the chuck.

Preferably, the first conveying module includes a first horizontal conveying section and two first picking sections. The first horizontal conveying section is arranged adjacent to one side of a storage cabinet, separated by a distance, and is electrically connected and controlled. Unit, the two first picking units are spaced apart from one side of the first horizontal conveying unit away from the storage cabinet and are electrically connected to the control unit, and the two first material boxes are transported from the storage cabinet to the first horizontal conveying unit. The two first material boxes are respectively translated from the first horizontal conveying section to the two first picking sections; wherein the second conveying module includes a second horizontal conveying section and two second picking sections, and the second horizontal conveying section is provided The first conveying module is remote from the storage cabinet and is electrically connected to the control unit. The two second picking sections are spaced from the second horizontal conveying section near the first conveying module and electrically connected to the control unit. The two second material boxes are carried from another storage cabinet to the second horizontal conveying section, and the two second material boxes are respectively translated from the second horizontal conveying section to the two second picking sections.

The effect of this creation is that the movement path of the object can be corrected, and the plurality of objects in the two first material boxes on the first conveying module are accurately and sequentially placed on the two second on the second conveying module. In the place where these items in the material box are placed, the speed of shipping and picking is accelerated, and the efficiency of shipping and picking is improved.

Furthermore, the creation can correct the movement path of the objects, and accurately place the plurality of objects of one of the first material boxes of the first conveying module in the order placement of the objects of the other first material box. One of the first material bins can be refilled with no empty space, and the other first material bin is removed from the storage cabinet by being emptied, reducing the number of material bins, reducing the storage space occupied, and improving the efficiency of storage management.

In addition, even if a certain part of the two sides of the object is seriously warped, this creation can also adjust the angle of the object to align the place where the object is not warped or slightly warped, so that the object can enter smoothly Place the object to prevent the two sides of the object from getting caught on the two positioning plates.

The following is a more detailed description of the implementation of this creation with drawings and component symbols, so that those skilled in the art can implement it after studying this manual.

Please refer to FIG. 1, which is a schematic diagram of the overall operation of the automatic storage system 100 including the creation. The creative department provides a picking device 1 for an automatic storage system, which is part of the automatic storage system 100. 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 picking device 1 for a plurality of automatic storage systems.

The storage cabinets 101 are arranged in a storage space at intervals, and include a plurality of layers of material box storage areas 1011. The multiple-layer material box placement area 1011 is used for storing multiple material boxes 104, and each layer of the material box placement area 1011 can be used for arranging several material boxes 104 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 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 storage device 103 includes a slide base 1031, a vertical rod 1032, and a carrying component 1033. The slide base 1031 is slidably disposed on one of the guide rails 102, and the vertical rod 1032 is disposed on the top of the slide base 1031. The conveying assembly 1033 includes a power section (not shown), two vertical moving sections 10331, a bearing platform 10332, and a horizontal moving section 10333. The power section is provided on the slide base 1031, and the two vertical moving sections 10331 are provided on the pole 1032. One side is electrically connected to the power section. The supporting platform 10332 is disposed on the vertical moving section 10331. The horizontal moving section 10333 is disposed on the supporting platform 10332 and electrically connected to the power section.

The following will briefly explain the reclaiming procedure of the automatic storage system 100. First, the slide base 1031 moves along one of the guide rails 102 with a pole 1032 and a carrying component 1033, and stays at a specific position. Secondly, the power section drives the two vertical moving sections 10331 and the carrying platform 10332 to rise along the vertical pole 1032 to one of the storage box 101 storage area 101 on one floor. Then, the power part drives the horizontal moving part 10333 to translate from the loading platform 10332 to a certain material box placement area 1011 to the bottom of a material box 104. Then, the power section drives the horizontal moving section 10333 to translate to the initial position in the direction of the bearing platform 10332. Then, the power part drives the vertical moving part 10331 to lower the supporting platform 10332 along the vertical pole 1032. In addition, the slide base 1031 moves along one of the guide rails 102 to a side of the picking device 1 for an automatic storage system with a vertical pole 1032 and a carrying module 1033. Finally, the power unit drives the horizontal moving unit 10333 to translate from the loading platform 10332 to the picking device 1 for the automatic storage system, thereby transferring the material box 104 to the picking device 1 for one of the automatic storage systems.

The retrieving program of the automatic storage system 100 operates in reverse, which is the storing program of the automatic storage system 100.

Please refer to FIG. 1, FIG. 2, and FIG. 3, respectively, for the overall operation schematic diagram of the automatic storage system 100 including the creation, the perspective view and the block diagram of the creation. The picking device 1 for an automatic storage system includes a first conveying module 10, a second conveying module 20, two first material boxes 31, 32, two second material boxes 33, 34, a plurality of positioning plates 40, one The gripping module 50, an optical reader 60, a calibration module 70, and a control unit 80.

The first conveying module 10 is located adjacent to one side of one of the storage cabinets 101, and is electrically connected to the control unit 80. The two first material boxes 31 and 32 are disposed on the first conveying module 10. More specifically, the first conveying module 10 includes a first horizontal conveying section 11 and two first picking sections 12 and 13. The first horizontal conveying portion 11 is adjacent to one side of one of the storage cabinets 101, is separated by a distance, and is electrically connected to the control unit 80. The plurality of first horizontal conveying sections 11 of the plurality of first conveying modules 10 of the picking device 1 for the plurality of automatic storage systems are connected to each other end to end to form a first conveying system. The two first picking sections 12 and 13 are spaced from one side of the first horizontal conveying section 11 away from one of the storage cabinets 101 and are electrically connected to the control unit 80. The access device 103 takes out two of the material boxes from the storage cabinet 101 and carries them to the first horizontal conveying section 11, and the two of the material boxes are respectively translated from the first horizontal conveying section 11 to the two first picking sections 12 and 13. Therefore, the two material boxes are defined as the two first material boxes 31 and 32.

The second transport module 20 is disposed on a side of the first transport module 10 away from one of the storage cabinets 101 and is electrically connected to the control unit 80; the two second material boxes 33 and 34 are disposed on the second transport module 20. More specifically, the second conveying module 20 includes a second horizontal conveying section 21 and two second picking sections 22 and 23. The second horizontal conveying section 21 is disposed on a side of the first conveying module 10 away from one of the storage cabinets 101 and is electrically connected to the control unit 80. The plurality of second horizontal conveying sections 21 of the plurality of second conveying modules 20 of the picking device 1 for the plurality of automatic storage systems are connected to each other end to end to form a second conveying system. The two second picking sections 22 and 23 are disposed on the side of the second horizontal conveying section 21 close to the first conveying module 10 and are electrically connected to the control unit 80. The access device 103 takes out the other two material boxes from the storage cabinet 101 and carries them to the second horizontal conveying section 21, and the other two material boxes are respectively translated from the second horizontal conveying section 21 to the two second picking sections 22 and 23. Therefore, the other two material boxes are defined as the two second material boxes 33, 34.

Each of the first horizontal conveying module 11 and the second horizontal conveying module 21 may be a conveyor belt, a roller, or a combination thereof.

Please refer to FIGS. 4 and 5. FIG. 4 is a perspective view of the material box, positioning plate 40 and object 105 of the creation, and FIG. 5 is a perspective view of the positioning plate 40 of the creation. The positioning plates 40 are disposed at intervals in the two first material boxes 31 and 32 and the two second material boxes 33 and 34, respectively, and a first identification reflection portion 41 is provided on the top of each of the positioning plates 40. More specifically, the first identification reflection portion 41 of each of the positioning plates 40 is a white coating and has a good light reflection effect; however, it is not limited to this, and other materials having a good light reflection effect can be used as each. The first identification and reflection portion 41 of the positioning plate 40 is described in advance. An object 105 is disposed between the two positioning plates 40 of one of the first material boxes 31 and 32. The object 105 shown in FIG. 4 and FIG. 5 is a material tray dedicated to SMT, but it is not limited thereto, and it will be described first.

As shown in FIGS. 2 and 3, the gripping module 50 includes a base 51, a robot arm 52, and a collet 53. The base 51 is disposed between the first transport module 10 and the second transport module 20. A first end of the robot arm 52 is rotatably disposed on the base 51, and the robot arm 52 is electrically connected to the control unit 80. The chuck 53 is disposed on a second end of the robot arm 52, is electrically connected to the control unit 80, and can clamp objects 105. In the first embodiment, the base 51 includes a base 511, two long columns 512, 513, two horizontal columns 514, 515, and a fixing plate 516. The base 511 is disposed on a ground, the two long columns 512, 513 are fixed on the top surface of the base 511, the two horizontal columns 514, 515 are disposed between the two long columns 512, 513, and the fixing plate 516 is disposed on the The top surfaces of the two long columns 512, 513; the robot arm 52 is rotatably disposed on the fixed plate 516. In other words, the entire base 51 is immovable, so the robot arm 52 provided on the base 51 can only rotate in place.

As shown in FIGS. 2 and 3, the optical reader 60 is disposed on the chuck 53 and is electrically connected to the control unit 80. 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.

As shown in FIG. 2 and FIG. 3, the correction module 70 is disposed between the first conveying module 10 and the second conveying module 20, is located on one side of the gripping module 50, and is spaced apart from the gripping module 50. distance. More specifically, the calibration module 70 includes a first range finder 71 and a second range finder 72, and the first range finder 71 and the second range finder 72 are electrically connected to the control unit 80, respectively. There is a measurement space 73 between the rangefinder 71 and the second rangefinder 72. The first rangefinder 71 includes a first rangefinder module 711, and the first rangefinder module 711 has a first rangefinder; the second rangefinder 72 includes a second rangefinder module 721, and the second rangefinder The distance module 721 has a second ranging range. The first ranging module 711 is an infrared ranging module or a laser ranging module, and the second ranging module 721 is an infrared ranging module or a laser ranging module. Preferably, the correction module 70 is provided with a second identification reflection part (not shown). More specifically, the second identification reflection part of the correction module 70 is a white coating, which has a good light reflection effect; however, it is not limited to this, other materials having a good light reflection effect can be used as the correction module 70 The second identification reflection part is described first. In this embodiment, the first rangefinder 71 and the second rangefinder 72 are respectively disposed on the top surfaces of the two horizontal pillars 514 and 515 of the base 51.

The three modes of operation of this creation will be explained in detail below with the help of diagrams.

The first operation mode: as shown in FIG. 6 and FIG. 7, the control unit 80 controls the robot arm 52 to move above the two positioning plates 40 of one of the second material boxes 33, and the optical reader 60 reads them optically. The first identification reflection portions 41 of the two positioning plates 40 of a second material box 33 are obtained to obtain a first optical positioning signal 63 and transmitted to the control unit 80. The control unit 80 calculates the correct orientation of the object according to the first optical positioning signal 63. Next, as shown in FIG. 8 and FIG. 9, the control unit 80 controls the robot arm 52 to move above the two positioning plates 40 of one of the first material boxes 31 (the movement path is shown by arrow A in FIG. 17). The reader 60 optically reads the first identification reflection portions 41 of the two positioning plates 40 of one of the first material boxes 31 to obtain a second optical positioning signal 64 and transmits the second optical positioning signal 64 to the control unit 80. The control unit 80 calculates the correct orientation of the object according to the second optical positioning signal 64. As shown in FIG. 10, the control unit 80 accurately controls the robotic arm 52 to align the object 105 according to the calculated correct orientation of the object, so that the chuck 53 accurately takes out the object 105. As shown in FIGS. 11 and 12, the control unit 80 controls the robot arm 52 to move in the direction of the calibration module 70 (the movement path is shown by arrow B in FIG. 17), so that the chuck 53 moves the object 105 to the measurement space 73 In the second embodiment, the optical reader 60 optically reads the second recognition reflection part of the correction module 70 to obtain a third optical positioning signal 65 and transmits the third optical positioning signal 65 to the control unit 80. The control unit 80 records and captures the third optical positioning signal 65 according to the record. The module 50 does move the object 105 to the calibration module 70. When the object 105 is moved to the measurement space 73, the calibration module 70 measures whether the object 105 deviates from the correct movement path to obtain a measurement value and transmits it to the control unit 80. The control unit 80 calculates the object 105 and the correctness based on the measurement value. A deviation of the moving path. More specifically, as shown in FIGS. 13 and 14, when the object 105 is moved to the measurement space 73, the bottom end of the object 105 is located in the first ranging range and the second ranging range. The first ranging module 711 measures the distance between the object 105 and the first rangefinder 71 to obtain a first measurement value 712 and transmits it to the control unit 80. The second ranging module 721 measures the distance between the object 105 and the second rangefinder 72. To obtain a second measurement value 722 and transmit it to the control unit 80. The control unit 80 calculates the deviation value according to the first measurement value 712 and the second measurement value 722, and the deviation value is one half of the absolute value of the difference between the first measurement value 712 and the second measurement value 722. As shown in FIG. 15 and FIG. 16, the control unit 80 controls the robot arm 52 to slightly adjust the extended distance according to the calculated deviation value and the correct orientation of the object placement, so that the object 105 on the chuck 53 can return to the correct On the moving path, the correcting module 70 is then moved over the correct moving path (its moving path is shown by arrow C in FIG. 17) to the object placing place and the object 105 is accurately placed on the object placing place.

The second mode of operation: the control unit 80 controls the robotic arm 52 to move above the two positioning plates 40 of the other second material box 34 first, and the optical reader 60 optically reads two of the other second material box 34 The first identifying and reflecting portion 41 of the positioning plate 40 obtains a first optical positioning signal 63 and transmits it to the control unit 80. Subsequent actions are similar to the first operation mode, except that the first is that the control unit 80 controls the robotic arm 52 to move to one of the first material boxes 31 and moves above the two positioning plates 40. (As shown by arrow D in FIG. 17); second, the object is placed between the two positioning plates 40 of the other second material box 34, so the correct movement path is longer than the first operation mode (the movement path is as follows (Indicated by arrows C and D in FIG. 17).

In this way, the author can correct the movement path of the object 105 by the first operation mode and the second operation mode, and the plurality of objects in the two first material boxes 31 and 32 on the first conveyance module 10 105 is accurately and sequentially placed in the place of the two second material boxes 33 and 34 on the second conveyance module 20 in order to accelerate the speed of shipping and picking and improve the efficiency of shipping and picking.

The third operation mode: the control unit 80 controls the robotic arm 52 to move above the two positioning plates 40 of the other first material box 32, and the optical reader 60 optically reads two of the other first material box 32 The first identifying and reflecting portion 41 of the positioning plate 40 obtains a first optical positioning signal 63 and transmits it to the control unit 80. Subsequent actions are similar to the first operation mode, except that the first is that the control unit 80 controls the robotic arm 52 to move to one of the first material boxes 31 and moves above the two positioning plates 40. (Shown as arrow F in FIG. 17); second, the object is placed between the two positioning plates 40 of the other first material box 32, so the correct movement path is completely the same as the first operation mode and the second operation mode. Different (the movement path is shown by arrow G in FIG. 17).

In this way, the author can correct the movement path of the object 105 by using the third operation mode, and accurately place the plurality of objects 105 of one of the first material boxes 31 of the first conveying module 10 in order on the other. In the place where the objects of one material box 32 are placed, one of the first material boxes 31 can be refilled with the objects 105 without idle space, and the other first material box 32 is cleared and removed from the storage cabinet 101. The number of material boxes reduces the storage space occupied and improves the efficiency of warehouse management.

It is worth mentioning that when the optical reader 60 performs the optical reading operation, the light emitting portion 61 emits light, wherein the first identification reflection portion 41 of the two positioning plates 40 or the second identification reflection portion of the correction module 70 The reflected light returns to the light receiving section 62 to obtain a first optical positioning signal 63, a second optical positioning signal 64, or a third optical positioning signal 65. Preferably, the light emitting unit 61 is a flash lamp. Only when the optical reading operation is performed, the light emitting can be achieved by emitting light for a short time, thereby reducing power consumption.

Preferably, as shown in FIG. 4, the two first material boxes 31 and 32 and the two second material boxes 33 and 34 are respectively provided with a plurality of sensing position determining structures 301, and the sensing position structures 301 are convex pillars. Or grooves, and a third identification reflection portion 302 is provided on each of the sensing position structures 301.

In the first operation mode, as shown in FIG. 6 and FIG. 7, the control unit 80 controls the robotic arm 52 to first move above the two positioning plates 40 of one of the second material boxes 33, and the optical reader 60 optically reads Take the first identification reflection part 41 of the two positioning plates 40 of one of the second material boxes 33, and at the same time, the optical reader 60 will also optically read the first position of the sensing position structure 301 of one of the second material boxes 33. The three identification reflection sections 302 obtain a first optical positioning signal 63 and transmit the first optical positioning signal 63 to the control unit 80. In other words, the first optical positioning signal 63 includes the optical sensor 60 to optically read the first recognition reflection portion 41 of the two positioning plates 40 of the second material box 33 and the sensing of the second material box 33. Reading result of the third identification reflection part 302 of the bit structure 301. Thereby, the control unit 80 can more accurately calculate the correct position where the object is placed according to the first optical positioning signal 63. Next, as shown in FIG. 8 and FIG. 9, the control unit 80 controls the robot arm 52 to move above the two positioning plates 40 of one of the first material boxes 31 (the movement path is shown by arrow A in FIG. 17). The reader 60 optically reads the first identification reflection portion 41 of the two positioning plates 40 of one of the first material boxes 31, and at the same time, the optical reader 60 also optically reads the senses of one of the first material boxes 31. The third identification reflection portion 302 of the measurement bit structure 301 obtains a second optical positioning signal 64 and transmits it to the control unit 80. In other words, the second optical positioning signal 64 includes an optical reader 60 for optically reading the first identification reflection portion 41 of the two positioning plates 40 of the first material box 31 and the sensing of the first material box 31. Reading result of the third identification reflection part 302 of the bit structure 301. Thereby, the control unit 80 can more accurately calculate the correct orientation of the object according to the second optical positioning signal 64.

In the second mode of operation, the control unit 80 controls the robotic arm 52 to move above the two positioning plates 40 of the other second material box 34 first, and the optical reader 60 optically reads the other second material box 34 The first identification reflection part 41 of the two positioning plates 40 and the optical reader 60 optically read the third identification reflection part 302 of the sensing position structure 301 of the other second material box 34 to obtain the first optical The positioning signal 63 is transmitted to the control unit 80. In other words, the first optical positioning signal 63 includes an optical reader 60 that optically reads the first recognition reflection portion 41 of the two positioning plates 40 of the other second material box 34 and the sensing measurement of the other second material box 34. Reading result of the third identification reflection part 302 of the bit structure 301. Thereby, the control unit 80 can more accurately calculate the correct position where the object is placed according to the first optical positioning signal 63.

In the third mode of operation, the control unit 80 controls the robotic arm 52 to move above the two positioning plates 40 of the other first material box 32, and the optical reader 60 optically reads the other first material box 32. The first identification reflection portion 41 of the two positioning plates 40 and the optical reader 60 optically read the third identification reflection portion 302 of the sensing position structure 301 of the other first material box 32 to obtain the first optical The positioning signal 63 is transmitted to the control unit 80. In other words, the first optical positioning signal 63 includes an optical reader 60 that optically reads the first recognition reflection portion 41 of the two positioning plates 40 of the other first material box 32 and the sensing of the other first material box 32 Reading result of the third identification reflection part 302 of the bit structure 301. Thereby, the control unit 80 can more accurately calculate the correct position where the object is placed according to the first optical positioning signal 63.

Preferably, the control unit 80 can control the robotic arm 52 to correct any five coordinates of the X-axis, Y-axis, Z-axis, A-axis, B-axis, and C-axis of the object 105 (that is, five-axis correction), thereby more The angle of the object 105 is finely adjusted so that the area of the bottom ends of the two sides 1051A, 1052A of the rotated object 105A is completely equal to the allowable area 42A.

As shown in FIG. 18, FIG. 19, and FIG. 20, in the second embodiment, two positioning discs 41A are provided on the top of each positioning plate 40A, and the optical reader 60A optically reads another first material box. 32 or the first identification reflection portions 41A of the two positioning plates 40A of the second material boxes 33 and 34, and the control unit 80 calculates another first material box 32 or one of the first material boxes 32 according to the first optical positioning signal 63. The area of the space between the first identification reflection portions 41A of the two positioning plates 40A of the two material boxes 33 and 34, and an allowable area 42A is defined according to this; the first rangefinder 71A has a third measurement Ranging module 713, third ranging module 713 has a third ranging range; second rangefinder 72A has a fourth ranging module 723, and fourth ranging module 723 has a fourth ranging range . The separation distance between the first ranging module 711 and the third ranging module 713 and the separation distance between the second ranging module 721 and the fourth ranging module 723 are equal to the two first identifications of the positioning plates 40A. The separation distance of the reflecting portion 41A, the separation distance of the first rangefinder 71A and the second rangefinder 72A is equal to the separation distance of the two positioning plates 40A. The third ranging module 713 is an infrared ranging module or a laser ranging module, and the fourth ranging module 723 is an infrared ranging module or a laser ranging module.

As shown in Figures 21 and 22, when the object 105A is moved to the measurement space 73, the bottom end of the object 105A is located in the first to fourth ranging ranges, and the third ranging module 713 measures the object 105A and the first The distance of the rangefinder 71A to obtain a third measurement value 714 and transmit it to the control unit 80. The fourth distance measurement module 723 measures the distance between the object 105A and the second rangefinder 72A to obtain a fourth measurement value. 724 is also transmitted to the control unit 80, and the control unit 80 calculates the actual area of the bottom ends of the two sides 1051A, 1052A of the object 105A based on the first to fourth measured values 712, 722, 714, and 724. When the actual area of the bottom sides of the two sides of the object 105A 1051A, 1052A is larger than the allowable area 42A, the bottom ends of the two sides of the object 105A 1051A, 1052A are severely warped, so the two sides of the object 105A 1051A, 1052A The width of the bottom end is larger than the distance between the two positioning plates 40A of the other first material box 32 or one of the second material boxes 33 and 34. The control unit 80 controls the robotic arm 52 to rotate the object 105A, thereby adjusting the angle of the object 105 so that the area of the bottom ends of the two sides 1051A, 1052A of the rotated object 105A is equal to or smaller than the allowable area 42A. At this time, the width of the bottom ends of the two sides 1051A, 1052A of the rotated object 105 is equal to or smaller than the separation distance between the two positioning plates 40A of the other first material box 32 or one of the second material boxes 33, 34. With this, even if one part of the two sides 1051A, 1052A of the object 105 is severely warped, the creation can also adjust the angle of the object 105 to align the object with the place where there is no warpage or slight warpage. The object 105 can be smoothly entered into the object place, and the two sides 1051A and 1052A of the object 105A are prevented from being caught on the two positioning plates 40A.

In addition, as shown in FIG. 23, when the objects 105 are material trays dedicated to SMT, the objects 105 can also be placed flat in the first material box 31.

Also, as shown in FIG. 24, in the first material box 31, one row of objects 105 is a SMT-dedicated material tray, and the other row of objects 105B may also be a cylindrical, rectangular or other shape box.

Please refer to FIG. 25, which is a perspective view of a third embodiment of the creation. The structural difference between the third embodiment of the present invention and the first embodiment lies in that: the gripping module 50A uses a traditional four-axis robot arm 52A; a screw 521A is rotatably provided at the first portion of the four-axis robot arm 52A. The two ends pass through the top and bottom and are electrically connected to the control unit 80; the chuck 53A is provided at the bottom end of the screw 521A; the first rangefinder 71B and the second rangefinder 72B are fixed to the four-axis robot arm 52A On both sides of the second end.

The difference between the three operation modes of the third embodiment and the three operation modes of the first embodiment is that the control unit 80 controls the screw 521A to move downward so that the chuck 53A accurately removes the object 105; the control unit 80 controls the screw 521A to move upward. The chuck 53A is caused to move the object 105 into the measurement space. As for the remaining parts of the three operation modes of the third embodiment, which are the same as the three operation modes of the first embodiment, they are not repeated here. Therefore, the third embodiment can achieve all the effects of the first embodiment.

Please refer to FIG. 26 and FIG. 27. FIG. 26 is a schematic diagram of the overall operation of another automatic storage system including the fourth embodiment of the present invention. FIG. 27 is a perspective view of a gripping module 50B of the fourth embodiment of the present invention. Another type of automatic storage system 100A includes only a plurality of storage cabinets 101A and a picking device 1A for a plurality of automatic storage systems, and does not include a guide rail 102 and a storage device 103. The storage cabinet 101A is a box-shaped cabinet and includes a layer of material box storage area 1011A. The area of the material box storage area 1011A on this floor is relatively large, and can be used to arrange a plurality of material boxes 104A in several rows, and each row has several material boxes 104A.

There are at least the following three differences between the overall structure of the picking device 1A for the automatic storage system of the fourth embodiment and the picking device 1 for the automatic storage system of the first embodiment.

First, the plurality of first horizontal conveying sections 11A of the plurality of first conveying modules 10A of the fourth embodiment are gapped with each other and are not connected to each other, so a first conveying system is not generated. Therefore, the function of the first horizontal conveying section 11A is to directly convey the two material boxes 104A from the storage cabinet 101A to the two first picking sections 12A and 13A. That is, the first horizontal conveying section 11A of the fourth embodiment is equivalent to the access device 103 of the automatic storage system 100 of the first embodiment.

Secondly, the second conveyance module 20A of the fourth embodiment does not include a second picking section. Therefore, in addition to the plurality of second horizontal conveying modules 21A of the plurality of second horizontal conveying modules 21A, in addition to maintaining a head and tail contact with each other to form a second conveying system, when the second horizontal conveying section 21A will convey the two material boxes 104A to the clamping mold When the group 50B is aside, the second horizontal conveying section 21A immediately suspends operation, and the profit gripping module 50B will accurately order the plurality of objects 105 in the two first material boxes 31 and 32 on the first conveying module 10A. The place where the two second material boxes 33, 34 are placed on the second conveying module 20A. After the above operation is completed, the second horizontal conveying section 21A can be restarted. Among them, the second horizontal conveying portion 21A of the fourth embodiment is a roller.

In addition, the overall structure of the base 51B of the fourth embodiment is greatly different from that of the base 51 of the first embodiment. More specifically, the base 51B of the fourth embodiment includes a plurality of bases 511B, a slide rail 517B, and a slide base 518B. The bases 511B are disposed on a ground. The slide rail 517B is provided on the bases 511B. The slide base 518B is slidably disposed on the slide rail 517B, and the four-axis robot arm 52A is rotatably provided on the slide base 518B. Thereby, the four-axis robot arm 52A can be horizontally moved along the slide rail 517B by the slide base 518B.

Please refer to FIG. 28, which is a perspective view of a fifth embodiment of the creation. The base 51C of the fifth embodiment is significantly different in structure from the base 51 of the first embodiment. More specifically, the base 51C of the fifth embodiment includes a vehicle body 511C, a fixed plate 516C, a mobile device 517C, and a standard sensor 518C. A fixed plate 516C is provided on the top of the vehicle body 511C, and a four-axis robot arm 52A is provided on the fixed plate 516C. The moving device 517C is provided at the bottom of the vehicle body 511C. The standard sensor 518C is disposed on one side of the vehicle body 511C, extends to the bottom of the vehicle body 511C, and is electrically connected to the control unit 80. The standard sensor 518C can sense a band 200 on the ground and obtain a sensing result. The standard sensor 518C returns the sensing result to the control unit 80. The control unit 80 controls the operation of the moving device 517C by the sensing result, so that the vehicle body 511C can move along the extending direction of the belt body 200. Preferably, the belt body 200 is a magnetic strip or a colored strip with magnetic properties, the standard sensor 518C is a magnetic strip standard sensor 518C or a color standard sensor 518C, and the moving device 517C is a track or a roller .

The above are only for explaining the preferred embodiment of the creation, and are not intended to restrict the creation in any form. Therefore, any modification or change related to the creation in the same spirit of creation , Should still be included in the scope of protection of this creative intention.

1.1A‧‧‧ Picking device for automatic storage system
10, 10A‧‧‧First Conveying Module
11, 11A‧‧‧The first horizontal conveyor
12, 12A, 13, 13A ‧‧‧ the first picking department
20, 20A‧‧‧Second Conveying Module
21, 21A‧‧‧Second horizontal conveyor
22, 23‧‧‧Second Picking Department
301‧‧‧Sensitive position structure
302‧‧‧Third recognition reflection section
31, 32‧‧‧First Material Box
33, 34‧‧‧Second Material Box
40, 40A‧‧‧ Positioning plate
41, 41A‧‧‧The first identification reflection part
42A‧‧‧Allowable area
50, 50A, 50B‧‧‧Clamp module
51, 51B, 51C‧‧‧ base
511, 511B‧‧‧base
511C‧‧‧body
512, 513‧‧‧
512B‧‧‧Slide
514, 515‧‧‧ beams
516, 516C‧‧‧Fixing plate
516B‧‧‧Slide
517C‧‧‧mobile device
518C‧‧‧Standard sensor
52, 52A‧‧‧ Robotic arm
521A‧‧‧Screw
53,53A‧‧‧Chuck
60, 60A‧‧‧Optical Reader
61‧‧‧Light emission department
62‧‧‧Light receiving section
63‧‧‧The first optical positioning signal
64‧‧‧Second optical positioning signal
65‧‧‧ Third optical positioning signal
70‧‧‧ Calibration Module
71, 71A, 71B‧‧‧The first rangefinder
711‧‧‧The first ranging module
712‧‧‧first measurement
713‧‧‧The third ranging module
714‧‧‧Third measurement
72, 72A, 72B‧‧‧Second rangefinder
721‧‧‧Second ranging module
722‧‧‧Second measurement
723‧‧‧Fourth ranging module
724‧‧‧Fourth measured value
73‧‧‧ measuring space
80‧‧‧control unit
100, 100A‧‧‧ Automatic Storage System
101, 101A‧‧‧Storage cabinet
1011, 1011A‧‧‧ Material box placement area
1012‧‧‧ Mobile Space
102‧‧‧rail
103‧‧‧Access device
1031‧‧‧slide
1032‧‧‧pole
1033‧‧‧Handling components
10331‧‧‧Vertical moving part
10332‧‧‧bearing platform
10333‧‧‧Horizontal moving part
104, 104A‧‧‧ Material Box
105, 105A, 105B‧‧‧ objects
1051A, 1052A‧‧‧ Side
200‧‧‧Band
A ~ G‧‧‧arrow

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 a first embodiment of the creation.
FIG. 3 is a block diagram of the first embodiment of the creation.
FIG. 4 is a perspective view of a material box, a positioning plate, and an object of the first embodiment of the creation.
FIG. 5 is a perspective view of a positioning plate according to the first embodiment of the present invention.
FIG. 6 is a schematic diagram of a gripping module of the first embodiment of the creation being moved above two positioning plates of the second material box.
FIG. 7 is a block diagram of an optical reader transmitting a first optical positioning signal to a control unit according to the first embodiment of the present invention.
FIG. 8 is a schematic diagram of a gripping module of the first embodiment of the creation being moved above two positioning plates of the first material box.
FIG. 9 is a block diagram of an optical reader transmitting a second optical positioning signal to a control unit according to the first embodiment of the present invention.
FIG. 10 is a schematic diagram of taking out an object by a gripping module of the first embodiment of the creation.
FIG. 11 is a schematic diagram of a gripping module moving an object to a calibration module according to the first embodiment of the creation.
FIG. 12 is a block diagram of an optical reader transmitting a third optical positioning signal to a control unit according to the first embodiment of the present invention.
FIG. 13 is a schematic diagram of object offset in the first embodiment of the creation.
FIG. 14 is a block diagram of a first rangefinder and a second rangefinder transmitting a first measurement value and a second measurement value to a control unit, respectively, of the first embodiment of the creation.
FIG. 15 is a schematic diagram of the grip module of the first embodiment of the creation moving an object to a position above the object through a correct moving path.
FIG. 16 is a schematic diagram of accurately placing an object at an object place by the gripping module of the first embodiment of the creation.
FIG. 17 is a schematic diagram of a movement path of an object in all operation modes of the first embodiment of the creation.
FIG. 18 is a perspective view of a second embodiment of the creation.
FIG. 19 is a block diagram of a calibration module and a control unit according to a second embodiment of the present invention.
FIG. 20 is a schematic diagram of an allowable area between two positioning plates in the second embodiment of the creation.
FIG. 21 is a top view of the distances measured by the first to fourth distance measuring modules according to the second embodiment of the present invention and the first and second distance measuring devices.
FIG. 22 is a side view of the distances measured by the first to fourth distance measuring modules of the second embodiment of the present invention from the first distance measuring device and the second distance measuring device.
FIG. 23 is a schematic diagram of the created object lying in the first material box.
FIG. 24 is a schematic diagram of a box body in which some objects are cylindrical or rectangular.
FIG. 25 is a perspective view of a third embodiment of the creation.
FIG. 26 is a schematic diagram of the overall operation of another automatic storage system including the fourth embodiment of the present invention.
FIG. 27 is a perspective view of a clamping module according to a fourth embodiment of the present invention.
FIG. 28 is a perspective view of a fifth embodiment of the creation.

Claims (10)

A picking device for an automatic storage system includes: a first conveying module, a second conveying module, two first material boxes, two second material boxes, a plurality of positioning plates, a clamping module, and an optical device. A reader, a calibration module, and a control unit, the two first material boxes are disposed on the first conveying module, the two second material boxes are disposed on the second conveying module, and the positioning plates are disposed at intervals. In the two first material boxes and the two second material boxes, a first identification reflection part is provided on the top of each positioning plate, and an object is disposed between the two positioning plates of a first material box. The picker is arranged on the gripping module, and the control unit is electrically connected to the first transport module, the second transport module, the gripping module, the optical reader and the correction module;
Wherein, the control unit controls the gripping module to move to another first material box or one of the second positioning boxes of the second material box, and the optical reader reads the other first material box optically. Or the first identification and reflection part of two positioning plates of one of the second material boxes to obtain a first optical positioning signal and transmit it to the control unit, and the control unit calculates an object placement place according to the first optical positioning signal The correct orientation, then the control unit controls the gripping module to move above the two positioning plates of one of the first material boxes, and the optical reader optically reads the two positions of the one of the first material boxes The first recognition and reflection part of the board obtains a second optical positioning signal and transmits it to the control unit. The control unit calculates the correct orientation of the object based on the second optical signal, and the control unit is accurate based on the calculated correct orientation of the object Control the gripping module to take out the object, then the control unit controls the gripping module to move the object to the calibration module, and the calibration module measures the object Whether to deviate from the correct movement path to obtain a measurement value and transmit it to the control unit, the control unit calculates a deviation value between the object and the correct movement path according to the measurement value, and the control unit according to the calculated deviation value And the correct orientation of the place where the object is placed controls the gripping module to move the object from the correction module to the top of the place where the object is placed via the correct movement path and accurately place the object at the place where the object is placed. The picking device for an automatic storage system according to item 1 of the scope of patent application, wherein the correction module is disposed between the first conveying module and the second conveying module, and is located in the gripping module. One side and a distance from the gripping module, the correction module includes a first rangefinder and a second rangefinder, and the first rangefinder and the second rangefinder are electrically connected respectively The control unit has a measurement space between the first rangefinder and the second rangefinder, the first siderangemeter includes a first rangefinder module, and the first siderange module has a first Ranging range, the second rangefinder includes a second ranging module, the second ranging module has a second ranging range; wherein when the object is moved to the measurement space, the object is located at In the first ranging range and the second ranging range, the first ranging module measures the distance between the object and the first rangefinder to obtain a first measurement value and transmits it to the control unit, The second ranging module measures the distance between the object and the second rangefinder to obtain a second measurement value and Transmitted to the control unit, the control unit calculates the deviation value according to the first measurement value and the second measurement value, the deviation value being two times the absolute value of the difference between the first measurement value and the second measurement value One-third. The picking device for an automatic storage system according to item 2 of the scope of the patent application, wherein each of the positioning plates is provided with two first identifying and reflecting portions, and the optical reader optically reads the other first material. Box or the first identification reflection part of two positioning plates of the second material box, the control unit calculates the other first material box or the second material box according to the first optical positioning signal The area of the space between the first identification reflection portions of the two positioning plates is defined, and an allowable area is defined accordingly; wherein the first rangefinder has a third ranging module, and the third The ranging module has a third ranging range, the second ranging device has a fourth ranging module, the fourth ranging module has a fourth ranging range, and the first ranging module and The distance between the third distance measuring module and the distance between the second distance measuring module and the fourth distance measuring module are both equal to the distance between the two first identification and reflection portions of each positioning plate. The distance between the rangefinder and the second rangefinder is equal to the distance between the two positioning plates. Distance; when the object is moved to the measurement space, the bottom end of the object is located in the first to fourth ranging ranges, and the third ranging module measures the object and the first ranging Distance of the meter to obtain a third measurement value and transmit it to the control unit, and the fourth distance measuring module measures the distance between the object and the second distance meter to obtain a fourth measurement value and transmits it to the A control unit that calculates the actual area of the bottom ends of the two sides of the object based on the first to fourth measurement values; wherein when the actual area of the bottom ends of the two sides of the object is greater than the allowable area, The control unit controls the gripping module to rotate the object, thereby adjusting the angle of the object, so that the area of the bottom ends of the two sides of the object after rotation is equal to or smaller than the allowable area. The picking device for an automatic storage system according to item 3 of the scope of patent application, wherein the first ranging module is an infrared ranging module or a laser ranging module, and the second ranging module is Infrared ranging module or laser ranging module, the third ranging module is infrared ranging module or laser ranging module, and the fourth ranging module is infrared ranging module or laser Ranging module. The picking device for an automatic storage system according to item 1 of the scope of the patent application, wherein the correction module is provided with a second identification reflection part, and when the gripping module moves the object to the correction module, The optical reader optically reads the second identification reflection part of the calibration module to obtain a third optical positioning signal and transmits the third optical positioning signal to the control unit. The control unit records the gripping module according to the third optical positioning signal. Make sure to move the object to the calibration module. The picking device for an automatic storage system according to item 5 of the scope of patent application, wherein the optical reader includes a light emitting section and a light receiving section, and the optical reader is performing an optical reading operation. At this time, the light emitting part emits light, and the second identification reflection part of the correction module reflects the light back to the light receiving part to obtain the third optical positioning signal. The picking device for an automatic storage system according to item 1 of the scope of patent application, wherein the optical reader includes a light emitting part and a light receiving part, and the light emitting part and the light receiving part are electrically connected respectively In the control unit, when the optical reader performs an optical reading action, the light emitting portion emits light, wherein the first identification reflection portion of the two positioning plates reflects the light and returns to the light receiving portion to obtain the first The optical positioning signal or the second optical positioning signal. The picking device for an automatic storage system according to item 1 of the scope of the patent application, wherein a plurality of sensing position structures are provided on the outer sides of the two first material boxes and the two second material boxes, and the sensing position structures It is a convex pillar or a groove. Each of the sensing position structures is provided with a third identification reflection part, and the optical reader optically reads the other first material box or two of the second material boxes. The first identification reflection part of the board, and the optical reader optically reads the third identification reflection part of the sensing position structures to obtain the first optical positioning signal and transmit it to the control unit. The picking device for an automatic storage system according to item 1 of the patent application scope, wherein the gripping module includes a base, a robot arm, and a chuck, and the base is provided on the first conveying module A first end of the robot arm is rotatably disposed on the base between the second conveyance module, the robot arm is electrically connected to the control unit, and the chuck is disposed on a second arm of the robot arm. Terminal, is electrically connected to the control unit, and can clamp the object, and the optical reader is disposed on the chuck. The picking device for an automatic storage system according to item 1 of the scope of patent application, wherein the first conveying module includes a first horizontal conveying section and two first picking sections, and the first horizontal conveying section is used for It is adjacent to one side of a storage cabinet, is separated by a distance, and is electrically connected to the control unit. The two first picking units are spaced from one side of the first horizontal conveying unit away from the storage cabinet, and are electrically connected to the control unit. A control unit, the two first material boxes are carried from the storage cabinet to the first horizontal conveying section, and the two first material boxes are respectively translated from the first horizontal conveying section to the two first picking sections; wherein, The second conveying module includes a second horizontal conveying section and two second picking sections. The second horizontal conveying section is disposed on a side of the first conveying module away from the storage cabinet, and is electrically connected to the control unit. , The two second picking units are spaced from one side of the second horizontal conveying unit near the first conveying module and are electrically connected to the control unit, and the two second material boxes are carried from another storage cabinet to the The second horizontal conveying section, the two second material boxes Translate from the second horizontal conveying section to the two second picking sections respectively.