A horizontal material picking device for automatic storage system

Abstract

The present invention provides a horizontal picking device for an automatic warehousing system, relates to the technical field of warehousing equipment, solves the technical problem of low picking efficiency of existing picking devices, 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 clamping module to move to the first material box and clamp objects in a horizontal state, then the control unit controls the clamping module to move the objects in a horizontal state and place them in the second material box, the present invention can automatically place objects in a horizontal state in the first material box horizontally in the second material box, can automatically take out objects in a horizontal state from the first material box or the second material box, automatically flip the objects into a vertical state through a flipping module, and automatically place them in another second material box, the picking effect is significant, and the picking efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of storage equipment, and in particular to a horizontal material picking device for an automatic storage system. Background Art

[0002] Warehouse management is very 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 the appropriate location, the storage space can be used to the maximum benefit and the search time can be reduced.

[0003] 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. Warehouse management is a very important part of the process of surface mount technology, mainly including steps such as material input, material output, material return, and material replenishment.

[0004] However, most existing warehouse delivery systems use paper material lists and manual identification and search methods, which have low work efficiency, high error rate, poor real-time update, and require a lot of operating skills from operators. It takes a long time of training for skilled personnel to effectively carry out processes such as material loading and unloading.

[0005] Furthermore, in order to effectively and accurately classify and store materials, the storage locations for different types of materials are mostly fixed. In order to perform process operations such as feeding and unloading proficiently and accurately, the skill requirements for operators are further improved.

[0006] Furthermore, due to the characteristics of the electronic product production industry, such as large quantities and multiple varieties, a large number of materials are used. If materials are managed and delivered 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 of material search and acquisition, improve logistics speed, and improve production efficiency.

[0007] Currently, there is a storage and transportation device for automatic warehousing on the market that can solve the above problems. It includes a storage cabinet, a guide rail, a storage and retrieval device, a first conveying module, a second conveying module and a gripping module. The storage and retrieval 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 material picking action. The storage and retrieval 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 by the guide rail to complete the material storage action. 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 to complete the material picking action.

[0008] Generally speaking, objects can be placed vertically or horizontally in a material box. However, existing picking devices cannot pick up objects, resulting in the following two problems:

[0009] First, when picking materials, if the user wants to place a horizontally placed object in a material box on the first conveying module horizontally in a material box on the second conveying module, manual labor must be relied upon to achieve the goal, which is inefficient.

[0010] Secondly, some material box placement areas are vertical material storage areas, and some material box placement areas are horizontal material storage areas. Objects placed in material boxes in the vertical material storage area must be placed vertically, and objects placed in material boxes in the horizontal material storage area must be placed horizontally. If an object in a material box on the second conveying module is placed horizontally but is assigned to the vertical material storage area, it is necessary to manually take out the horizontally placed object in a material box on the second conveying module, manually turn it vertically, and then manually place it in a material box in the vertical material area, which is inefficient. Summary of the invention

[0011] The purpose of the present invention is to provide a horizontal picking device for an automatic warehousing system to solve the technical problem that the existing picking devices in the prior art have low efficiency in picking horizontally placed objects; the preferred technical scheme among the many technical schemes provided by the present invention can produce many technical effects; see the detailed description below.

[0012] To achieve the above object, the present invention provides the following technical solutions:

[0013] The present invention provides a horizontal picking device for an automatic warehousing system, comprising: a first conveying module, having a first picking area; a second conveying module, having a second picking area; a first material box, arranged in the first picking area, and used for placing at least one object in a horizontal state horizontally therein; a second material box, arranged in the first picking area or the second picking area; a clamping module, close to the first picking area and the second picking area; a control unit, electrically connecting the first conveying module, the second conveying module and the clamping module; the control unit first controls the clamping module to move to the first material box, then the control unit controls the clamping module to clamp the at least one object in a horizontal state in the first material box, and then the control unit controls the clamping module to move the at least one object from the first material box to the second material box, and finally the control unit controls the clamping module to detach from the at least one object, so that the at least one object is placed in the second material box.

[0014] Preferably, the gripping 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, a first end of the robotic arm is arranged on the base, the control unit is electrically connected to the robotic arm, the first clamp is arranged at a second end of the robotic arm and close to the axis of the second end of the robotic arm, the control unit is electrically connected to the first clamp, and controls the first clamp to move between a first position and a second position; before the gripping module grips the at least one object in the first material box that is in a horizontal state, the first clamp is located at the first position; when the gripping module grips 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 clamp passes through a center hole of the at least one object in the first material box that is in a horizontal state, and respectively maintains a distance from an inner side wall of the center hole of the at least one object in the first material box that is in a horizontal state, and then the control unit The first clamp is controlled to move horizontally to the second position so that the first clamp clamps the inner side wall of the center hole of the at least one object in the first material box that is in a horizontal state; after 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 upward so that the at least one object in a horizontal state leaves the first material box, 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 horizontal state is located above the second material box, and then the control unit controls the robotic arm to move downward to move the at least one object in a horizontal state into the second material box, and then the control unit controls the first clamp to move horizontally to the first position so that the first clamp is separated from the inner side wall of the center hole of the at least one object in a horizontal state, and finally the control unit controls the robotic arm to move upward so that the first clamp passes through the center hole of the at least one object in a horizontal state to place the at least one object in a horizontal state horizontally in the second material box.

[0015] Preferably, the gripping module further includes a plurality of second grippers, the second grippers are arranged at the second end of the robotic arm and close to the outer side of the robotic arm, the control unit is electrically connected to the second grippers, and controls the second grippers to move between a first position and a second position; before the gripping module grips the at least one object in a horizontal state, the second grippers are located at the first position; when the gripping module grips the 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 downward, so that the second grippers pass through the outer side of an outer side wall of the at least one object in a horizontal state in the first material box, and respectively maintain a distance from the outer side wall of the at least one object in a horizontal state in the first material box, and then the control unit controls the second grippers to move horizontally to the second position, so that the second The clamp clamps the outer side wall of the at least one object in the first material box that is in a horizontal state; after 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 upward so that the at least one object in the horizontal state is located above the second material box, then the control unit controls the robotic arm to move above the second material box, and then the control unit controls the robotic arm to move downward to move the at least one object in a horizontal state into the second material box, then the control unit controls the second clamp to move horizontally to the first position so that the second clamp is separated from the outer side wall of the at least one object in a horizontal state, and finally the control unit controls the robotic arm to move upward so that the second clamp passes through the outer side of the outer side wall of the at least one object in a horizontal state to place the at least one object in a horizontal state horizontally in the second material box.

[0016] Preferably, the second clamp includes a second movable clamp rod and a second hook, the second movable clamp rod is arranged at the second end of the robotic arm and close to the outer side of the robotic arm, the second hook is protruding from an inner side wall of the second movable clamp rod, the control unit is electrically connected to the second movable clamp rod, and controls the second movable clamp rod to move between a first position and a second position; when the clamping module clamps the at least one object in the first material box that is in a horizontal state, the second movable clamp rod of the second clamp clamps the outer side wall of the at least one object in the first material box that is in a horizontal state, and at the same time, the second hook of the second clamp abuts against the bottom surface of the at least one object in the first material box that is in a horizontal state.

[0017] Preferably, the second hook portions of all the second clamps extend in different directions.

[0018] Preferably, the second hook portion of the second clamp is located at a bottom end of a second movable clamp rod corresponding to the second clamp.

[0019] Preferably, it further includes a flipping module, which is close to the gripping module and electrically connected to the control unit; the control unit first controls the gripping module to move into 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 move the at least one object in the horizontal state to the flipping module; the control unit controls the flipping module to flip the at least one object in the horizontal state from a horizontal state to a vertical state; the control unit controls the gripping module to move to the flipping module, and then the control unit controls the gripping module to grip the at least one object in the vertical state in the flipping module, and then the control unit controls the gripping 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 gripping module to detach from the at least one object in the vertical state, so that the at least one object in the vertical state is placed vertically in the second material box.

[0020] Preferably, the gripping module includes a base, a robotic arm and a plurality of first clamps, the base is close to the first material picking area and the second material picking area, the flipping module is close to the base, a first end of the robotic arm is arranged on the base, the control unit is electrically connected to the robotic arm, the first clamp is arranged at a second end of the robotic arm and close to the axis of the second end of the robotic arm, the control unit is electrically connected to the first clamp, and controls the first clamp to move between a first position and a second position; before the gripping module grips the at least one object in the first material box that is in a horizontal state, the first clamp is located at the first position; when the gripping module grips 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 clamp passes through a center hole of the at least one object in the first material box that is in a horizontal state, and respectively maintains a distance from an inner side wall of the center hole of the at least one object in the first material box that is in a horizontal state, and then the control unit The control unit controls the first clamp to move horizontally to the second position, so that the first clamp clamps the inner side wall of the center hole of the at least one object in the first material box that is in a horizontal state; after the gripping module grips the at least one object in the first material box that is in a horizontal state, the control unit first controls the mechanical arm to move upward, and then the control unit controls the mechanical arm to move to the flip module to move the at least one object in a horizontal state to the flip module, and then the control unit controls the first clamp to move horizontally to the first position, so that the first clamp is separated from the inner side wall of the center hole of the at least one object in a horizontal state, and finally the control unit controls the mechanical arm to move upward, so that the first clamp passes through the center hole of the at least one object in a horizontal state, so as to place the at least one object in a horizontal state horizontally in the flip module; the control unit controls the flip module to flip the at least one object in a horizontal state from a horizontal state to a vertical state; before the gripping module grips the at least one object in a vertical state in the flip module, the first clamp is located at the second position;When the gripping module grips the at least one object in the flipping module that is in a vertical state, the control unit first controls the robot arm to move to the top of the flipping module, and then the control unit controls the robot arm to move downward, so that the first clamp passes through the outer sides of the two surfaces of the at least one object in the flipping module that is in a vertical state, and respectively maintains a distance from the two surfaces of the at least one object in the flipping module that is in a vertical state, and then the control unit controls the first clamp to move horizontally to the first position, so that the first clamp clamps the two surfaces of the at least one object in the flipping module that is in a vertical state; after the gripping module grips the at least one object in the flipping module that is in a vertical state, The control unit first controls the robot arm to move upward so that the at least one object in a vertical state leaves the flip module, then the control unit controls the robot 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, then the control unit controls the robot arm to move downward so that the at least one object in a vertical state is moved into the second material box, then the control unit controls the first fixture to move horizontally to the second position so that the first fixture is separated from the two surfaces of the at least one object in a vertical state, and finally the control unit controls the robot arm to move upward so that the at least one object in a vertical state is placed vertically in the second material box. ;

[0021] Preferably, the flipping module includes a fixed part, a flipping part and a driving mechanism, the fixed part is close to the base, the flipping part is arranged on the fixed part and has a containing groove, the driving mechanism is arranged on the fixed part, connected to the flipping part, and drives the flipping part to rotate between a horizontal position and a vertical position relative to the fixed part, and the control unit is electrically connected to the driving mechanism; the control unit controls the clamping module to move the at least one object in a horizontal state into the containing groove of the flipping part located in the horizontal position, and the control unit controls the driving mechanism to drive the flipping part to move to a vertical position, so that the at least one object in a horizontal state is flipped from a horizontal state to a vertical state.

[0022] Preferably, it further includes an optical reader, which is arranged on the gripping module and is electrically connected to the control unit; when the control unit controls the robotic arm to move to the top of 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, so as to obtain an optical positioning signal and an object stack height signal and transmit them to the control unit, and the control unit calculates the correct position of the center hole of the at least one object in the first material box that is in a horizontal state according to the optical positioning signal, and then the control unit controls the robotic arm to adjust the horizontal position of its second end according to the calculated correct position, so that the first clamp is aligned with the first object the center hole of at least one object in a horizontal state in the material box; when the control unit controls the robotic arm to move to the top of the second material box, the optical reader optically reads the second material box to obtain a depth signal and transmits it to the control unit, the control unit compares the difference between the object stack height signal and the depth signal to calculate an object movement quantity, the control unit continuously controls the robotic arm to move a plurality of objects in a horizontal state from the first material box to the second material box according to the object movement quantity, and when the height of the plurality of objects in a horizontal state in the second material box matches the object stack height signal, the control unit controls the robotic arm to stop operating.

[0023] The horizontal material picking device for an automatic warehousing system provided by the present invention has at least the following technical effects:

[0024] The present invention can automatically place a single object, a plurality of objects or a whole string of objects in a horizontal state in a first material box in a horizontal position in a second material box without relying on manual operation and with high efficiency.

[0025] Furthermore, the present invention can automatically take out a single piece of object in a horizontal state from the first material box or the second material box, automatically flip the single piece of object in a horizontal state into a vertical state through a flip module, and then automatically place it in another second material box without relying on manual operation, which is highly efficient.

[0026] In addition, the present invention can clamp the outer wall and bottom surface of a single object, a plurality of objects or a whole string of objects in a horizontal state in the first material box by the second clamp, so when the single object, a plurality of objects or a whole string of objects in a horizontal state are moved, they are quite stable and will not shake. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 is a schematic diagram of the overall operation of the automatic warehousing system of Example 1 of the present invention;

[0029] Figure 2 is a stereogram of Embodiment 1 of the present invention;

[0030] Figure 3 is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0031] Figure 4A It is a schematic structural diagram of an embodiment of the present invention for horizontally placing a first material box and a second material box for horizontally placing objects in a horizontal state;

[0032] Figure 4B It is a schematic structural diagram of another embodiment of the present invention for a first material box and a second material box for horizontally placing objects in a horizontal state;

[0033] Figure 5A-5E is a schematic diagram of picking a single piece of object according to Embodiment 1 of the present invention;

[0034] Figure 6 is a schematic diagram of picking several pieces of material in Embodiment 1 of the present invention;

[0035] Figure 7 is a schematic diagram of a second material box for vertically placing vertical objects according to the present invention;

[0036] Figures 8A-8C is a schematic diagram of turning over and picking a single piece of object in Embodiment 1 of the present invention;

[0037] Fig. 9 is a schematic diagram of Embodiment 2 of the present invention;

[0038] Fig.10 is a schematic diagram of picking a whole string of objects according to Embodiment 2 of the present invention;

[0039] Fig.11 is a schematic diagram of the overall operation of the automatic storage system of Example 3 of the present invention;

[0040] Fig.12 is a stereogram of embodiment 4 of the present invention;

[0041] Fig.13It is a schematic diagram of Example 5 of the present invention.

[0042] Reference numerals

[0043] 1. Horizontal material picking device for automatic storage system; 10. First conveying module; 11. First frame; 12. First conveying part; 121. First positioning conveying unit; 13. First material picking area; 14. First material picking part; 20. Second conveying module; 21. Second frame; 22. Second conveying part; 221. Second positioning conveying unit; 23. Second material picking area; 24. Second material picking part; 31. First material box; 331. Box; 3311. Side wall; 3312. End wall; 332. Partition; 333. Positioning column; 334. Horizontal positioning area; 41 / 42 / 43. Second material box; 421. Vertical positioning area; 50 / 50A. Gripping module; 51. Base; 52 / 52A. Robot arm; 521. Screw; 53 / 53 A, first clamp; 54A, second clamp; 541A, second movable clamp rod; 542A, second hook; 60, optical reader; 61, light emitting unit; 62, light receiving unit; 70, control unit; 80, flip module; 81, fixing unit; 82, flip unit; 821, container slot; 83, driving mechanism; 100, automatic storage system; 101 / 101A, storage cabinet; 1011, material box placement area; 1012, moving space; 102, guide rail; 103, storage and retrieval device; 1031, slide seat; 1032, vertical pole; 1033, handling assembly; 10331, vertical moving unit; 10332, carrying platform; 10333, horizontal moving unit; 104, material box; 105, object; 1051, center hole. DETAILED DESCRIPTION

[0044] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0045] Embodiment 1:

[0046] like Figure 1 As shown, Figure 1 Schematic diagram of the overall operation of the automatic storage system of Embodiment 1 of the present invention. The present invention provides a horizontal material 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 storage and retrieval devices 103, and a plurality of horizontal material picking devices 1 for the automatic storage system.

[0047] The storage cabinets 101 are arranged in a storage space at intervals and include a plurality of material box placement areas 1011. The plurality of material box placement areas 1011 are used to store a plurality of material boxes 104, and each layer of material box placement area 1011 can be used to arrange a plurality of material boxes 104 in a row. There is a moving space 1012 between two adjacent storage cabinets 101. In other words, the storage cabinet 101 is a vertical cabinet. The material box placement area 1011 includes a horizontal material storage area and a vertical material storage area.

[0048] The guide rails 102 are respectively disposed on the floor of the moving space 1012 , surround the outer circumference of the storage cabinet 101 , and are interconnected to form a guide system.

[0049] The access device 103 includes a slide 1031, a vertical rod 1032 and a transport assembly 1033. The slide 1031 is slidably disposed on one of the guide rails 102, and the vertical rod 1032 is disposed on the top of the slide 1031. The transport assembly 1033 includes a power unit (not shown), two vertical moving units 10331, a carrying platform 10332 and a horizontal moving unit 10333. The power unit is disposed on the slide 1031, the two vertical moving units 10331 are disposed on one side of the vertical rod 1032 and are electrically connected to the power unit, the carrying platform 10332 is disposed on the vertical moving unit 10331, and the horizontal moving unit 10333 is disposed on the carrying platform 10332 and is electrically connected to the power unit.

[0050] The following will briefly describe the material retrieval procedure of the automatic storage system 100. First, the slide 1031 moves along one of the guide rails 102 with the vertical poles 1032 and the transport assembly 1033, and stays at a specific position. Secondly, the power unit drives the two vertical moving parts 10331 to carry the carrying platform 10332 along the vertical poles 1032 to rise to a certain layer of the material box placement area 1011 of one of the storage cabinets 101. Next, the power unit drives the horizontal moving part 10333 to move from the carrying platform 10332 to a certain layer of the material box placement area 1011 to the bottom of a material box 104. Then, the power unit drives the horizontal moving part 10333 to move in the direction of the carrying platform 10332 to the initial position. Next, the power unit drives the vertical moving part 10331 to carry the carrying platform 10332 down along the vertical poles 1032. The slide 1031 moves along one of the guide rails 102 with the vertical rod 1032 and the transport assembly 1033 to one side of the material picking device 1 for the automatic storage system. Finally, the power unit drives the horizontal moving unit 10333 to move horizontally from the carrying platform 10332 to the material picking device 1 for the automatic storage system, so as to transport the material box 104 to one of the horizontal material picking devices 1 for the automatic storage system.

[0051] The material taking process of the automatic storage system 100 is reversed to the material storing process of the automatic storage system 100 .

[0052] like Figure 1-Figure 3 , which are respectively a schematic diagram of the overall operation of the automatic storage system of embodiment 1 of the present invention, a stereoscopic diagram and a schematic diagram of the structure of embodiment 1 of the present invention. The horizontal picking device 1 for the automatic storage system of the present invention comprises a first conveying module 10, a second conveying module 20, a first material box 31, a second material box 41, a gripping module 50, an optical reader 60 and a control unit 70.

[0053] The first conveying module 10 includes a first frame 11 and a first conveying portion 12. The first frame 11 is disposed at a side of one of the storage cabinets 101 and is separated by a certain distance. The first conveying portion 12 is disposed on the first frame 11 and is electrically connected to the control unit 70. A certain portion of the first conveying portion 12 is defined as a first picking area 13. The plurality of first conveying modules 10 of the horizontal picking device 1 for the plurality of automatic storage systems are connected head to tail to form a first conveying system.

[0054] In this embodiment, the first conveying portion 12 includes a plurality of first positioning conveying units 121 . The first positioning conveying units 121 are disposed on the first frame 11 and electrically connected to the control unit 70 . Some of the first positioning conveying units 121 together define the first picking area 13 .

[0055] In other embodiments, the first conveying portion 12 is a first conveyor belt (not shown), which is movably disposed on the first frame 11 and electrically connected to the control unit 70 . A certain portion of the first conveyor belt is defined as the first picking area 13 .

[0056] The second conveying module 20 includes a second frame 21 and a second conveying portion 22. The second frame 21 is disposed on a side of the first conveying module 10 away from one of the storage cabinets 101. The second conveying portion 22 is disposed on the second frame 21 and is electrically connected to the control unit 70. A certain portion of the second conveying portion 22 is defined as a second picking area 23. The plurality of second conveying modules 20 of the horizontal picking device 1 for the plurality of automatic storage systems are connected head to tail to form a second conveying system.

[0057] In this embodiment, the second conveying portion 22 includes a plurality of second positioning conveying units 221 . The second positioning conveying units 221 are disposed on the second frame 21 and electrically connected to the control unit 70 . Some of the second positioning conveying units 221 together define the second picking area 23 .

[0058] In other embodiments, the second conveying portion 22 is a second conveyor belt (not shown), which is movably disposed on the second frame 21 and electrically connected to the control unit 70 . A certain portion of the second conveyor belt is defined as the second picking area 23 .

[0059] The storage and retrieval 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 moves the taken-out material box to the first conveying unit 12. The control unit 70 controls the operation of the first conveying unit 12, and the first conveying unit 12 moves the taken-out material box horizontally to the first picking area 13. Therefore, the taken-out material box is defined as the first material box 31, which is set in the first picking area 13 and is used for horizontally placing a plurality of objects 105 in a horizontal state therein.

[0060] As shown in FIG. 4 , FIG. 4 is a schematic diagram of a first material box 31 and a second material box 41 for horizontally placing objects in a horizontal state according to the present invention. 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 two side walls 3311 are parallel to each other and are located at two opposite sides of the box body 331. The two end walls 3312 are parallel to each other and are located at two opposite ends of the box body 331. The bottom wall is located at the bottom end of the box body 331. The two side walls 3311, the two end walls 3312 and the bottom wall are connected to each other and together form a receiving groove. The partitions 332 are arranged in the receiving groove at intervals and are parallel to the end walls 3312. A plurality of positioning posts 333 are protruding from the inner side surfaces of all the end walls 3312, and a plurality of positioning posts 333 are protruding from the outer side surfaces and the inner side surfaces of all the partitions 332. The space between two of the positioning posts 333 on the inner side of all the end walls 3312 and two of the positioning posts 333 on the outer side of all the partitions 332 is defined as a horizontal positioning area 334, and the space between four of the positioning posts 333 on the inner side of two adjacent partitions 332 is defined as a horizontal positioning area 334. Multiple objects 105 in a horizontal state are placed horizontally in the horizontal positioning area 334, and the positioning posts 333 are against the outer side walls of the objects 105 in a horizontal state. The object 105 is a material tray dedicated to SMT, but is not limited thereto.

[0061] like Figure 4B As shown, Figure 4B 3 is a schematic diagram of a second embodiment of the present invention for horizontally placing horizontal objects in the first material box 31 and the second material box 41. In other embodiments, the first material box 31 may only include a box body 331 without a partition 332, and the receiving groove can only accommodate a stack of objects 105.

[0062] The storage and retrieval 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 moves the taken-out material box to the first conveying part 12 or the second conveying part 22. This material box is an empty box and no object 105 is placed on it. 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 moves the taken-out material box horizontally 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 41, which is set in the first picking area 13 or the second picking area 23, and has the same structure as the first material box 31. Figure 1 and Figure 2 The second material box 41 is shown to be disposed in the second material picking area 23 .

[0063] The gripping module 50 includes a base 51, a robot arm 52 and two first clamps 53. The base 51 is disposed between the first frame 11 and the second frame 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, whose first end is disposed on the base 51, and a screw 521 is rotatably disposed at the second end of the multi-axis robot arm 52, passing through the top and bottom thereof, and is electrically connected to the control unit 70. The first clamp 53 is disposed at the bottom end of the screw 521B, close to the axis of the second end of the robot arm 52, and is electrically connected to the control unit 70. The control unit 70 controls the first clamp 53 to move between a first position and a second position.

[0064] The optical reader 60 is disposed on the second end of the mechanical 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 unit 61 and a light receiving unit 62, and the light emitting unit 61 and the light receiving unit 62 are electrically connected to the control unit 70 respectively.

[0065] like FIG. 5A to FIG. 5E As shown, FIG. 5A to FIG. 5E This is a schematic diagram of picking a single piece of object 105 according to Embodiment 1 of the present invention. FIG. 5A to FIG. 5E The first embodiment of the present invention is described in which single-piece objects 105 are sorted.

[0066] like Figure 5AAs shown, before the gripping module 50 grips the single-piece object 105 in a horizontal state, the first gripper 53 is located at the first position. When the gripping module 50 grips the single-piece object 105 in a horizontal state in the first material box 31, the control unit 70 first controls the robot arm 52 to move to the top of the first material box 31, and then the light emitting unit 61 of the optical reader 60 emits light, and the light is irradiated to the periphery of a central hole 1051 of the single-piece object 105 in a horizontal state in the first material box 31, and is reflected back to the light receiving unit 62, so as to obtain an optical positioning signal and an object stack height signal and transmit them to the control unit 70. The control unit 70 calculates the correct position of the center hole 1051 of the single-piece object 105 in a horizontal state in the first material box 31 based on the optical positioning signal, and then the control unit 70 controls the robot arm 52 to fine-tune the horizontal position of its second end based on the calculated correct position, so that the first clamp 53 is accurately aligned with the center hole 1051 of the single-piece object 105 in a horizontal state in the first material box 31.

[0067] like Figure 5B As shown, the control unit 70 controls the screw 521 to move downward, so that the first clamp 53 passes through a center hole 1051 of the single-piece object 105 in a horizontal state in the first material box 31, and maintains a distance from the inner side wall of the center hole 1051 of the single-piece object 105 in a horizontal state in the first material box 31.

[0068] like Figure 5C As shown, the control unit 70 controls the first clamp 53 to move horizontally to the second position, so that the first clamp 53 clamps the inner side wall of the central hole 1051 of the horizontal single-piece object 105 in the first material box 31. After the clamping module 50 clamps the horizontal single-piece object 105 in the first material box 31, as shown in FIG. Figure 5C As shown, the control unit 70 first controls the screw 521 to move upward, so that the single-piece object 105 in a horizontal state leaves the first material box 31, and then Figure 5DAs shown, 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 robot arm 52 to move to the top of the second material box 41, the light emitting unit 61 of the optical reader 60 emits light, and the light irradiates the bottom of the second material box 41 or the top of the uppermost layer of the objects 105 in a horizontal state stored in the second material box 41, and is reflected back to the light receiving unit 62 to obtain a depth signal and transmit it to the control unit 70. The control unit 70 compares the difference between the object stack height signal and the depth signal to calculate an object movement amount. The depth signal 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 objects 105 in a horizontal state stored in the second material box 41.

[0069] like Figure 5E As shown, the control unit 70 controls the screw rod 521 to move downward to move the single-piece object 105 in a horizontal state into the second material box 41 .

[0070] The control unit 70 controls the first clamp 53 to move horizontally to the first position, so that the first clamp 53 is separated from the inner side wall of the central hole 1051 of the horizontal single-piece object 105. Finally, the control unit 70 controls the screw 521 to move upward, so that the first clamp 53 passes through the central hole 1051 of the horizontal single-piece object 105, so as to horizontally place the horizontal single-piece object 105 in the horizontal positioning area 334 of the second material box 41.

[0071] The control unit 70 continuously controls the robot 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 number of objects moved. Specifically, each time the number of objects 105 in a horizontal state in the second material box 41 increases, the optical reader 60 will update the depth signal, and the control unit 70 will deduct the number of objects moved according to the updated depth signal until the number of objects moved is deducted to zero. When the control unit 70 deducts the number of objects moved to zero, it means that the height of the plurality of objects 105 in a horizontal state in the second material box 41 matches the object stack height signal, and the control unit 70 controls the robot arm 52 to stop operating. Figure 6 As shown, Figure 6Schematic diagram of picking up several pieces of objects 105 according to Embodiment 1 of the present invention. The first embodiment can also be used to pick up several pieces of objects 105. The several pieces of objects 105 refer to two to five pieces of objects 105 in the same stack of objects 105. The process of picking up several pieces of objects 105 in Embodiment 1 is different from the process of picking up a single piece of object 105 in that: first, when the clamping module 50 clamps the several pieces of objects 105 in a horizontal state, the first clamp 53 passes through the center hole 1051 of the several pieces of objects 105 in a horizontal state in the first material box 31; second, the control unit 70 controls the first clamp 53A to move horizontally to the second position, so that the first clamp 53A clamps the inner side wall of the center hole 1051 of the 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 sorting the multi-piece objects 105 in the first embodiment is exactly the same as the process of sorting the single-piece object 105 in the first embodiment.

[0072] The present invention can automatically place a single object 105 or a plurality of objects 105 in a horizontal state in the first material box 31 in a horizontal position in the second material box 41 without relying on manual operation, and has high efficiency.

[0073] like Figures 1 to 3 As shown, the horizontal picking device 1 for the automatic storage system of the present invention further includes a flip module 80, and the flip module 80 includes a fixed portion 81, a flip portion 82 and a driving mechanism 83. The fixed 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 gripping module 50. The flip portion 82 is disposed on the fixed portion 81 and has a receiving groove 821. The driving mechanism 83 is disposed on the fixed portion 81 and connected to the flip portion 82, and drives the flip portion 82 to rotate relative to the fixed portion 81 between a horizontal position and a vertical position. The control unit 70 is electrically connected to the driving mechanism 83.

[0074] like Figure 1 and Figure 2 As shown, the storage and retrieval 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 22. This material box is an empty box and no object 105 is placed on it. 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 moves the taken-out material box horizontally 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 the structure is completely different from that of the first material box 31 and the second material box 41. Figure 1 and Figure 2 The second material box 42 is arranged in the second material picking area 23 .

[0075] like Figure 7 As shown, Figure 7 Schematic diagram of the second material box 42 for vertically placing vertical objects of the present invention. The structure of the second material box 42 is different from that of the first material box 31 and the second material box 41 in that the partition 332 divides the receiving groove into two vertical positioning areas 421; it is worth mentioning that this embodiment can also be applied to material boxes without partitions.

[0076] like Figure 8A-8C As shown, FIG. 8A to FIG. 8C This is a schematic diagram of flipping and picking a single piece of object 105 according to the first embodiment of the present invention. FIG. 8A to FIG. 8C The first embodiment of the present invention is described in which a single piece of object 105 is flipped and sorted.

[0077] like Fig. 8A As shown, the control unit 70 first controls the gripping module 50 to move to the first material box 31, and then the control unit 70 controls the gripping module 50 to grip the single-piece object 105 in the first material box 31 in a horizontal state, and then the control unit 70 controls the gripping module 50 to move the single-piece object 105 in a horizontal state into the receiving groove 821 of the flip part 82 located in a horizontal position. The details of the action of the gripping module 50 gripping, moving and placing the single-piece object 105 in a horizontal state are as described above, and the only difference is that the single-piece object 105 in a horizontal state is changed to be placed horizontally in the receiving groove 821 of the flip part 82 instead of the second material box 41.

[0078] like Figure 8B As shown, the control unit 70 controls the driving mechanism 83 to drive the flipping portion 82 to move to a vertical position, so that the single-piece object 105 in a horizontal state is flipped from the horizontal state to a vertical state.

[0079] like Figure 8CAs shown, before the gripping module 50 grips the single-piece object 105 in a vertical state, the first clamp 53 is located at the second position. When the gripping module 50 grips the single-piece object 105 in a vertical state in the flipping portion 82, the control unit 70 first controls the mechanical arm 52 to move to the top of the flipping portion 82, and then the control unit controls the screw 521 to move downward, so that the first clamp 53 passes through the outer sides of the two surfaces of the single-piece object 105 in the flipping portion 82 in a vertical state, and respectively maintains a distance from the two surfaces of the single-piece object 105 in the flipping portion 82 in a vertical state, and then the control unit 70 controls the first clamp 53 to move horizontally to the first position, so that the first clamp 53 clamps the two surfaces of the single-piece object 105 in the flipping portion 82 in a vertical state. After the gripping module 50 grips the single-piece object 105 in the vertical state in the flipping 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 flipping portion 82, and then the control unit 70 controls the robot arm 52 to move above the second material box 42, so that the single-piece object 105 in the vertical state is located above the second material box 42, and then the control unit 70 controls the screw 521 to move downward, and moves the single-piece object 105 in the vertical state into the second material box 42. Then, the control unit 70 controls the first clamp 53 to move horizontally to the second position, so that the first clamp 53 is separated from the two surfaces of the single-piece object 105 in the vertical state. Finally, the control unit 70 controls the screw 521 to move upward, 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.

[0080] The present invention can also take out the single-piece object 105 in a horizontal state from the second material box 41 through the above operation mode, then flip and pick the single-piece object 105 in a vertical state, and then vertically place the single-piece object 105 in a vertical position area 421 of the second material box 42.

[0081] The present invention can automatically take out the single-piece object 105 in the first material box 31 or the second material box 41 in a horizontal state, automatically flip the single-piece object 105 in a horizontal state into a vertical state through the flip module 80, and then automatically place it in the second material box 42 without relying on manual operation, and has high efficiency.

[0082] It is worth mentioning that the storage and retrieval 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 move the taken out material box to the first conveying part 12 or the second conveying part 22, and this material box is filled with multiple 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 moves the taken out material box horizontally 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 43, which is set in the first picking area 13 or the second picking area 23, and the structure is exactly the same as that of the second material box 42. Figure 1 and Figure 2 The second material box 43 is arranged in the first picking area 13 .

[0083] Before the gripping module 50 grips the single-piece object 105 in a vertical state, the first clamp 53 is located at the second position. When the gripping module 50 grips the single-piece object 105 in a vertical state in the second material box 43, the control unit 70 first controls the mechanical arm 52 to move to the top of the second material box 43, and then the control unit controls the screw 521 to move downward, so that the first clamp 53 passes through the outer sides of the two surfaces of the single-piece object 105 in a vertical state in the second material box 43, and respectively maintains a distance from the two surfaces of the single-piece object 105 in a vertical state in the second material box 43, and then the control unit 70 controls the first clamp 53 to move horizontally to the first position, so that the first clamp 53 clamps the two surfaces of the single-piece object 105 in a vertical state in the second material box 43. After the gripping module 50 grips the single-piece object 105 in the second material box 43 in a vertical state, the control unit 70 first controls the screw 521 to move upward, so that the single-piece object 105 in a vertical state leaves the second material box 43, and then the control unit 70 controls the mechanical arm 52 to move to the top of the second material box 42, so that the single-piece object 105 in a vertical state is located above the second material box 42, and then the control unit 70 controls the screw 521 to move downward, and moves the single-piece object 105 in a vertical state into the second material box 42. Then, the control unit 70 controls the first clamp 53 to move horizontally to the second position, so that the first clamp 53 is separated from the two surfaces of the single-piece object 105 in 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 a vertical state in the vertical positioning area 421 of the second material box 42.

[0084] The present invention can automatically take out the single-piece object 105 in a vertical state from the second material box 43 and then automatically place it in the second material box 42 without relying on manual operation, and has high efficiency.

[0085] Embodiment 2:

[0086] like Fig. 9 As shown, Fig. 9 Schematic diagram of Embodiment 2 of the present invention. The structure of the clamping module 50A of Embodiment 2 is different from that of the clamping module 50 of Embodiment 1. In addition, the remaining technical features of Embodiment 2 of the present invention are the same as those of Embodiment 1.

[0087] Furthermore, the clamping module 50A of Embodiment 2 further includes four second clamps 54A, each second clamp 54A includes a second movable clamp rod 541A and a second hook 542A, the second movable clamp rod 541A is disposed at the second end of the mechanical arm 52A and close to the outer side of the mechanical arm 52A, the second hook 542A is convexly disposed on an inner side wall of the second movable clamp rod 541A, and the control unit 70 is electrically connected to the second movable clamp rod 541A and controls the second movable clamp rod 541A to move between a first position and a second position. Preferably, the extension directions of the second hooks 542A of all the second clamps 54A are different. Preferably, the second hooks 542A of the second clamps 54A are located at the bottom end of the second movable clamp rod 541A of the corresponding second clamp 54A.

[0088] The process of picking up the single-piece object 105 in the second embodiment is different from the process of picking up the single-piece object 105 in the first embodiment in that: first, before the gripping module 50A grips the single-piece object 105 in the horizontal state in the first material box 31, the second movable gripping rod 541A of the second gripper 54A is located in the first position; second, when the gripping module 50A grips the single-piece object 105 in the horizontal state in the first material box 31, the second gripper 54A passes through the first material box 31. 1; thirdly, the control unit 70 controls the second movable clamping rod 541A of the second clamp 54A to move horizontally to the second position, so that the second movable clamping rod 541A of the second clamp 54A clamps the outer side wall of the single piece 105 in the horizontal state in the first material box 31, and the second hook 542A of the second clamp 54A abuts against the bottom surface of the single piece 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 105 in Example 2 is exactly the same as the process of picking the single piece 105 in Example 1.

[0089] like Fig.10 As shown, Fig.10 This is a schematic diagram of picking up a whole string of objects 105 according to Embodiment 2 of the present invention. Fig.10 The following describes how to sort the entire string of objects 105 according to the second embodiment of the present invention.

[0090] The process of picking up the whole string of objects 105 in Example 2 is different from the process of picking up the single piece of objects 105 in Example 2 in that: first, when the gripping module 50A grips the whole string of objects 105 in the first material box 31 in a horizontal state, the first clamp 53A passes through the center hole 1051 of the whole string of objects 105 in the first material box 31 in a horizontal state, and the second clamp 54A passes through the outer side of the outer wall of the whole string of objects 105 in the first material box 31 in a horizontal state; second, the control unit 70 controls the first clamp 53A to move horizontally to the second position First, the first clamp 53A clamps the inner side wall of the central hole 1051 of the whole string of objects 105 in the first material box 31 in a horizontal state; third, the control unit 70 controls the second movable clamping rod 541A of the second clamp 54A to move horizontally to the second position, so that the second movable clamping rod 541A of the second clamp 54A clamps the outer side wall of the whole string of objects 105 in the first material box 31 in a horizontal state, and at the same time, the second hook 542A of the second clamp 54A abuts against the bottom surface of the lowest layer of the whole string of objects 105 in the first material box 31 in a horizontal state. Except for the above three differences, the rest of the process of picking the whole string of objects 105 in Example 2 is exactly the same as the process of picking the single piece of object 105 in Example 2.

[0091] The gripping module 50A of the second embodiment of the present invention can grip the outer side wall and bottom surface of the horizontal pieces 105 or the whole string of objects 105 in the first material box 31 through the second clamp 54A, so when the horizontal pieces 105 or the whole string of objects 105 are moved, they are quite stable and will not shake. The gripping module 50 of the first embodiment of the present invention does not have the second clamp 54A, so when the horizontal pieces 105 or the whole string of objects 105 are moved, they are prone to shaking and are not very stable. In addition to the above-mentioned differences in efficacy, the other basic efficacy of the first embodiment of the present invention and the second embodiment are exactly the same.

[0092] Example 3

[0093] like Fig.11 As shown, Fig.11 Schematic diagram of the overall operation of the automatic storage system including the third embodiment of the present invention. The structural differences between the third embodiment of the present invention and the first embodiment are: first, the first conveying module 10 and the second conveying module 20 are arranged side by side and adjacent to each other; second, the gripping module 50 is arranged between the first conveying module 10 and one of the storage cabinets 101A; third, the storage cabinet 101A is a box-type cabinet.

[0094] Example 4

[0095] like Fig.12 As shown, Fig.12It is a three-dimensional diagram of Example 4 of the present invention. The structural differences between Example 4 and Example 1 are: first, the first conveying module 10A further includes two first picking parts 14, the first picking parts 14 are spaced apart on the side of the first conveying part 12 away from one of the storage cabinets 101, and are electrically connected to the control unit 70, the first picking parts 14 jointly define a first picking area 13, and the first picking parts 14 are substantially a table body; and second, the second conveying module 20A includes two second picking parts 24, the second picking parts 24 are spaced apart 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 jointly define a second picking area 23, and the second picking parts 24 are substantially a table body. Except for the above differences, the other structures of Example 4 are the same as those of Example 1.

[0096] Example 5

[0097] like Fig.13 As shown, Fig.13 Schematic diagram of Embodiment 5 of the present invention. The access device 103 of the present invention is a storage and transportation robot, which has the functions of autonomous navigation, real-time positioning, reading path planning, intelligent obstacle avoidance, etc. In more detail, this embodiment also achieves the storage operation mode of Embodiment 1, and has better transportation efficiency, and is not limited to track-related restrictions, such as Figure 1 As shown; in addition, the storage and transportation robot of this embodiment is capable of correspondingly transporting the material box 104 to a picking device 1 used in one of the automatic storage systems for horizontal sorting related procedures; furthermore, this embodiment can of course also perform a storage material storage procedure after the sorting procedure.

[0098] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A horizontal material picking device for an automatic storage system, It is characterized in that include: A first conveying module having a first material picking area; A second conveying module having a second material picking area; a first material box, disposed in the first material picking area and used for at least one object in a horizontal state to be horizontally placed therein; a second material box, disposed in the first material picking area or the second material picking area; a gripping module, close to the first picking area and the second picking area; a control unit, 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 controls the gripping module to grip the at least one object in the first material box that is in a horizontal state, then controls the gripping module to move the at least one object from the first material box to the second material box, and finally controls the gripping module to detach from the at least one object, so that the at least one object is placed in the second material box; The gripping module includes a base, a robotic arm and a plurality of first grippers, the base is close to the first material picking area and the second material picking area, a first end of the robotic arm is disposed on the base, the control unit is electrically connected to the robotic arm, the first gripper is disposed at a second end of the robotic arm and close to the axis of the second end of the robotic arm, the control unit is electrically connected to the first gripper, and controls the first gripper to move between a first position and a second position; Before the gripping module grips the at least one object in the first material box that is in a horizontal state, the first gripper is located at a first position; It further includes an optical reader, which is disposed on the clamping module and is electrically connected to the control unit; When the control unit controls the robot arm to move to the top of 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, so as to obtain an optical positioning signal and an object stack height signal and transmit the optical positioning signal to the control unit, and the control unit calculates the correct position of the center hole of the at least one object in the first material box that is in a horizontal state according to the optical positioning signal, and then the control unit controls the robot arm to adjust the horizontal position of its second end according to the calculated correct position, so that the first fixture is aligned with the center hole of the at least one object in the first material box that is in a horizontal state; When the control unit controls the robot arm to move to the top of the second material box, the optical reader optically reads the second material box to obtain a depth signal and transmits it to the control unit. The control unit compares the difference between the object stack height signal and the depth signal to calculate an object movement quantity. The control unit continuously controls the robot arm to move a plurality of objects in a horizontal state from the first material box to the second material box according to the object movement quantity. When the height of the plurality of objects in a horizontal state in the second material box matches the object stack height signal, the control unit controls the robot arm to stop operating. The depth signal refers to the distance from the top to the bottom of the second material box or the top of the uppermost layer of horizontal objects stored in the second material box.

2. The horizontal material picking device for the automatic storage system according to claim 1, It is characterized in that When the gripping module grips the at least one object in the first material box that is in a horizontal state, the control unit first controls the robot arm to move to the top of the first material box, and then the control unit controls the robot arm to move downward, so that the first clamp passes through a center hole of the at least one object in the first material box that is in a horizontal state, and respectively maintains a distance from an inner side wall of the center 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 clamp to move horizontally to a second position, so that the first clamp clamps the inner side wall of the center hole of the at least one object in the first material box that is in a horizontal state; After the gripping module grips 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 upward so that the at least one object in a horizontal state leaves the first material box, 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 horizontal state is located above the second material box, and then the control unit controls the robotic arm to move downward to move the at least one object in a horizontal state into the second material box, and then the control unit controls the first clamp to move horizontally to the first position so that the first clamp is detached from the inner side wall of the center hole of the at least one object in a horizontal state, and finally the control unit controls the robotic arm to move upward so that the first clamp passes through the center hole of the at least one object in a horizontal state to place the at least one object in a horizontal state horizontally in the second material box.

3. The horizontal material picking device for the automatic storage system according to claim 1 or 2, It is characterized in that The gripping module further includes a plurality of second grippers, the second grippers are disposed at the second end of the robotic arm and close to the outer side of the robotic arm, the control unit is electrically connected to the second grippers, and controls the second grippers to move between a first position and a second position; Before the clamping module clamps the at least one object in a horizontal state, the second clamp is located at a first position; When the gripping module grips the at least one object in the first material box that is in a horizontal state, the control unit first controls the robot arm to move to the top of the first material box, and then the control unit controls the robot arm to move downward, so that the second gripper passes through the outer side of an outer side wall of the at least one object in the first material box that is in a horizontal state, and respectively maintains a distance from the outer side wall of the at least one object in the first material box that is in a horizontal state, and then the control unit controls the second gripper to move horizontally to a second position, so that the second gripper grips the outer side wall of the at least one object in the first material box that is in a horizontal state; After the gripping module grips the 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 is located above the second material box, then the control unit controls the robotic arm to move above the second material box, and then the control unit controls the robotic arm to move downward to move the at least one object in a horizontal state into the second material box, then the control unit controls the second clamp to move horizontally to the first position so that the second clamp is separated from the outer side wall of the at least one object in a horizontal state, and finally the control unit controls the robotic arm to move upward so that the second clamp passes through the outer side of the outer side wall of the at least one object in a horizontal state to place the at least one object in a horizontal state horizontally in the second material box.

4. The horizontal material picking device for the automatic storage system according to claim 3, It is characterized in that The second clamp includes a second movable clamping rod and a second hook, the second movable clamping rod is arranged at the second end of the mechanical arm and close to the outer side of the mechanical arm, the second hook is protruded from an inner side wall of the second 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 first position and a second position; When the clamping module clamps the at least one object in the first material box that is in a horizontal state, the second movable clamping rod of the second clamp clamps the outer side wall of the at least one object in the first material box that is in a horizontal state, and the second hook of the second clamp rests against the bottom surface of the at least one object in the first material box that is in a horizontal state.

5. The horizontal material picking device for the automatic storage system according to claim 4, It is characterized in that The second hook portions of all the second clamps extend in different directions.

6. The horizontal material picking device for the automatic storage system according to claim 4, It is characterized in that The second hook portion of the second clamp is located at a bottom end of a second movable clamp rod corresponding to the second clamp.

7. The horizontal material picking device for the automatic storage system according to claim 1, It is characterized in that It further includes a flip module, which is close to the clamping module and electrically connected to the control unit; The control unit first controls the gripping module to move into the first material box, then controls the gripping module to grip the at least one object in the first material box that is in a horizontal state, and then controls the gripping module to move the at least one object in a horizontal state into the flipping module; 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; The control unit controls the gripping module to move to the flipping module, and then the control unit controls the gripping module to grip the at least one object in the vertical state in the flipping module, and then the control unit controls the gripping 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 gripping module to detach from the at least one object in the vertical state, so that the at least one object in the vertical state is placed vertically in the second material box.

8. The horizontal material picking device for the automatic storage system according to claim 7, It is characterized in that The gripping module includes a base, a robotic arm and a plurality of first grippers, the base is close to the first material picking area and the second material picking area, the flip module is close to the base, a first end of the robotic arm is disposed on the base, the control unit is electrically connected to the robotic arm, the first gripper is disposed at a second end of the robotic arm and close to the axis of the second end of the robotic arm, the control unit is electrically connected to the first gripper, and controls the first gripper to move between a first position and a second position; Before the gripping module grips the at least one object in the first material box that is in a horizontal state, the first gripper is located at a first position; When the gripping module grips the at least one object in the first material box that is in a horizontal state, the control unit first controls the robot arm to move to the top of the first material box, and then the control unit controls the robot arm to move downward, so that the first clamp passes through a center hole of the at least one object in the first material box that is in a horizontal state, and respectively maintains a distance from an inner side wall of the center 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 clamp to move horizontally to a second position, so that the first clamp clamps the inner side wall of the center hole of the at least one object in the first material box that is in a horizontal state; After the gripping module grips the at least one object in the first material box that is in a horizontal state, the control unit first controls the robot arm to move upward, and then the control unit controls the robot arm to move to the flip module to move the at least one object in a horizontal state into the flip module, and then the control unit controls the first clamp to move horizontally to a first position so that the first clamp is separated from the inner side wall of the center hole of the at least one object in a horizontal state, and finally the control unit controls the robot arm to move upward so that the first clamp passes through the center hole of the at least one object in a horizontal state, so as to place the at least one object in a horizontal state horizontally in the flip module; The control unit controls the flip module to flip the at least one object in a horizontal state from a horizontal state to a vertical state; Before the clamping module clamps the at least one object in the vertical state in the flipping module, the first clamp is located at the second position; When the gripping module grips the at least one object in the flipping module that is in a vertical state, the control unit first controls the mechanical arm to move to the top of the flipping module, and then the control unit controls the mechanical arm to move downward, so that the first clamp passes through the outer sides of the two surfaces of the at least one object in the flipping module that is in a vertical state, and respectively maintains a distance from the two surfaces of the at least one object in the flipping module that is in a vertical state, and then the control unit controls the first clamp to move horizontally to the first position, so that the first clamp clamps the two surfaces of the at least one object in the flipping module that is in a vertical state; After the gripping module grips the at least one object in the vertical state in the flipping 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 above the second material box so that the at least one object in the vertical state is located above the second material box, and then the control unit controls the robotic arm to move downward to move the at least one object in the vertical state into the second material box, and then the control unit controls the first clamp to move horizontally to the second position so that the first clamp is separated from the two surfaces of the at least one object in the vertical state, and finally the control unit controls the robotic arm to move upward to vertically place the at least one object in the vertical state in the second material box.

9. The horizontal material picking device for the automatic storage system according to claim 7 or 8, It is characterized in that The flip module comprises a fixed part, a flip part and a driving mechanism, wherein the fixed part is close to the base, the flip part is arranged on the fixed part and has a containing groove, the driving mechanism is arranged on the fixed part, connected to the flip part, and drives the flip part to rotate between a horizontal position and a vertical position relative to the fixed part, and the control unit is electrically connected to the driving mechanism; The control unit controls the gripping module to move the at least one object in a horizontal state into the receiving groove of the flipping part located in a horizontal position, and the control unit controls the driving mechanism to drive the flipping part to move to a vertical position, so that the at least one object in a horizontal state is flipped from a horizontal state to a vertical state.

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