Material taking and placing method and material taking and placing system

Abstract

The invention belongs to the technical field of material transferring, and discloses a material taking and placing method and a material taking and placing system.The position coordinates of at least two position points of the first side of a material pile are measured through a first microswitch, so that the spatial position of the first side can be measured, and correspondingly, the position coordinates of the at least two position points of the first side are measured; the position coordinates of at least two position points on the second side of the material pile are measured through the first microswitch, so that the spatial position of the second side can be measured, and after the spatial positions of the first side and the second side are measured, the pose of the material pile can be accurately recognized. Therefore, after the poses of the material piles are accurately recognized, the material carrying device can accurately carry the materials from the material piles to the material feeding station one by one. In this way, the materials can be accurately carried to the material feeding station from the material pile one by one only by arranging the first microswitch, cost is low, manual participation is not needed in the whole process, and efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of material transfer, and in particular to a material picking and placing method and a material picking and placing system. Background Art

[0002] In the production process of plate-shaped products such as photo frames, it is necessary to load the plate-shaped materials. Specifically, the materials are stacked to form a material pile, and the traditional material picking and placing method mostly relies on manual work, that is, manual work involves moving materials from the material pile one by one and placing the materials at the material loading station. However, manual work has the problems of high labor intensity and low efficiency.

[0003] In order to realize automatic loading, it is necessary to consider the situation that the position of the material pile is uncertain when the material is received. For this reason, in the prior art, a visual positioning structure is set on the automatic handling device, so that the material can be grasped by visual positioning, and then the material is transported one by one from the material pile to the material loading station. However, the cost of setting up the visual positioning structure is relatively high. Summary of the invention

[0004] The object of the present invention is to provide a material picking and placing method and a material picking and placing system to solve the problem that manual work has high labor intensity and low efficiency, while setting a visual positioning structure has high cost.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] One aspect of the present invention provides a material taking and placing method, comprising:

[0007] Move the material pile to the material reclaiming station;

[0008] Adjusting the posture of the first micro switch, and making the first micro switch face the first side of the material pile located at the material picking station along the first direction, then moving the first micro switch, and making the first micro switch contact with at least two position points of the first side in sequence, and recording the position coordinates of the contact point each time the first micro switch contacts with the material pile;

[0009] Adjust the posture of the first micro switch, and make the first micro switch face the second side of the material pile located at the material picking station along the second direction, the second direction is set at an angle with the first direction, then move the first micro switch, and make the first micro switch contact with at least two position points on the second side in sequence, and record the position coordinates of the contact point each time the first micro switch contacts the material pile;

[0010] The position of the material pile is determined according to all recorded position coordinates, and then the material handling device takes the materials from the material pile one by one and transports the materials to the material loading station.

[0011] As a preference, it also includes:

[0012] When the material pile is moved to the material taking station, the material pile is positioned.

[0013] Preferably, a first guide rod and a second guide rod are provided at the material taking station, the first guide rod includes a first rod portion and a second rod portion, the second guide rod includes a third rod portion and a fourth rod portion, the first rod portion and the third rod portion are arranged in parallel, the second rod portion and the fourth rod portion are arranged opposite to each other, an opening is formed between an end of the second rod portion away from the first rod portion and an end of the fourth rod portion away from the third rod portion, and the spacing between the second rod portion and the fourth rod portion gradually decreases from the opening to a side close to the first rod portion and the third rod portion;

[0014] The pallet carrying the material pile can be moved from the opening into between the first guide rod and the second guide rod, and finally moved to between the first rod portion and the third rod portion.

[0015] Preferably, the material pile includes several material layers, each of which includes several materials, and the material handling device moves the materials from the material pile layer by layer. After each material handling device moves a preset number of material layers, the material handling device determines the posture of the material pile;

[0016] Each time the posture of the material pile is determined, the first micro switch contacts the upper portion of the material pile.

[0017] Preferably, according to the posture of the material pile, the position coordinates of each material in the material pile are calculated, and a material fetching path is planned, and the material handling device fetches the materials one by one along the material fetching path.

[0018] Another aspect of the present invention further provides a material picking and placing system, which uses the above-mentioned material picking and placing method to transport the materials one by one from the material pile to the material loading station, and the material picking and placing system comprises:

[0019] A material handling device, comprising a moving mechanism and a handling mechanism, wherein the moving mechanism is configured to drive the handling mechanism to move, and the handling mechanism is configured to take and place the material; and

[0020] The first micro switch is installed on the carrying mechanism.

[0021] Preferably, the material picking and placing system also includes a guiding and positioning mechanism, which is arranged at the material picking station, and the guiding and positioning mechanism includes a first guide rod and a second guide rod, the first guide rod includes a first rod portion and a second rod portion, the second guide rod includes a third rod portion and a fourth rod portion, the first rod portion and the third rod portion are arranged in parallel, the second rod portion and the fourth rod portion are arranged opposite to each other, an opening is formed between an end of the second rod portion away from the first rod portion and an end of the fourth rod portion away from the third rod portion, the distance between the second rod portion and the fourth rod portion gradually decreases from the opening to a side close to the first rod portion and the third rod portion, and a pallet carrying the material pile can be moved from the opening into between the first guide rod and the second guide rod.

[0022] Preferably, the handling mechanism comprises a suction cup, which can absorb or release the material.

[0023] Preferably, the handling mechanism further comprises a vibrator, which is mounted on the suction cup and can contact the top of the material when the suction cup absorbs the material.

[0024] Preferably, the handling mechanism further comprises a second micro switch, which is mounted on the suction cup and can contact the top of the material when the suction cup absorbs the material.

[0025] Beneficial effects of the present invention:

[0026] The present invention measures the position coordinates of at least two position points on the first side of the material pile along the first direction through the first micro switch, so that the spatial position of the first side can be measured according to the line connecting all the measured position coordinates. Correspondingly, the present invention also measures the position coordinates of at least two position points on the second side of the material pile along the second direction through the first micro switch, so that the spatial position of the second side can be measured according to the line connecting all the measured position coordinates. Since the first direction and the second direction are set at an angle, after measuring the spatial position of the first side and the second side, the posture of the material pile can be accurately identified. Since for any material pile moved to the material picking station, several materials are stacked in a specific form, therefore, after accurately identifying the posture of the material pile, the material handling device can accurately transport the materials from the material pile to the material loading station one by one. From the above, the present invention only needs to set the first micro switch to accurately transport the materials from the material pile to the material loading station one by one, the cost is low, and the whole process does not require manual participation, and the efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of a material pile, a material picking and placing system and a loading platform in an embodiment of the present invention;

[0028] Figure 2 It is a structural schematic diagram of a material pile and a material picking and placing system in an embodiment of the present invention;

[0029] Figure 3 It is a structural schematic diagram of a material picking and placing system in an embodiment of the present invention;

[0030] Figure 4 It is a structural schematic diagram of the carrying mechanism and the first micro switch in an embodiment of the present invention.

[0031] In the figure:

[0032] 100, material pile; 110, material stack; 210, material handling device; 211, moving mechanism; 212, handling mechanism; 2121, suction cup; 21211, suction nozzle; 21212, driving member; 2122, vibrator; 2123, second micro switch; 220, first micro switch; 231, first guide rod; 2311, first rod portion; 2312, second rod portion; 232, second guide rod; 2321, third rod portion; 2322, fourth rod portion; 233, opening; 234, baffle; 2351, launching member; 2352, receiving member; 240, tray; 310, loading platform. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0034] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0036] In the description of this embodiment, the terms "upper", "lower", "right", "left" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0037] like Figure 1 and Figure 2 As shown, materials are stacked layer by layer to form a material stack 110 , and several material stacks 110 are put together to form a material pile 100 . Exemplarily, in this embodiment, the material stack 110 includes 15 material stacks 110 , and the 15 material stacks 110 are arranged in 3 rows, and each row includes 5 material stacks 110 .

[0038] To move the material from the material pile 100 mentioned above to the material loading station, please refer to Figures 1 to 4 The present embodiment provides a material picking and placing system, which includes a material handling device 210 and a first micro switch 220, wherein the material handling device 210 includes a moving mechanism 211 and a handling mechanism 212, the moving mechanism 211 is configured to drive the handling mechanism 212 to move, and the handling mechanism 212 is configured to pick up and place materials, and in addition, the first micro switch 220 is installed on the handling mechanism 212, that is, the moving mechanism 211 can not only drive the handling mechanism 212 to move, but also drive the first micro switch 220 to move.

[0039] Illustratively, in this embodiment, the moving mechanism 211 is a robot. Of course, in other optional embodiments, the moving mechanism 211 may also be a structure composed of a three-axis moving module and a rotating module, and this embodiment does not impose any specific limitation on this.

[0040] As described above, in the present embodiment, the material picking and placing method adopted by the material picking and placing system for transporting materials one by one from the material pile 100 to the material loading station is specifically as follows: first, the material pile 100 is moved to the picking station, and then the posture of the first micro switch 220 is adjusted, and the first micro switch 220 is made to be opposite to the first side of the material pile 100 located at the picking station along the first direction, and then the first micro switch 220 is moved, and the first micro switch 220 is made to contact with at least two position points on the first side in turn, and each time the first micro switch 220 contacts with the material pile 100, the position coordinates of the contact point are recorded. Exemplarily, the first micro switch 220 contacts with two position points on the first side in turn, and the two recorded data are the first position coordinates and the second position coordinates, respectively. Since for any material pile 100 moved to the picking station, a number of materials are stacked in a specific form, therefore, after obtaining the first position coordinates and the second position coordinates, the spatial position of the first side can be determined according to the connecting line between the first position coordinates and the second position coordinates.

[0041] Afterwards, the posture of the first microswitch 220 is adjusted, and the first microswitch 220 is made to be opposite to the second side of the material pile 100 located at the material picking station along the second direction, and the second direction is set at an angle to the first direction. Exemplarily, in this embodiment, the first direction and the second direction are both horizontal directions, and the first direction is perpendicular to the second direction. Then, the first microswitch 220 is moved, and the first microswitch 220 is made to contact with at least two position points on the second side in turn. Each time the first microswitch 220 contacts with the material pile 100, the position coordinates of the contact point are recorded. Exemplarily, the first microswitch 220 contacts with two position points on the second side in turn, and the two recorded data are the third position coordinates and the fourth position coordinates, respectively. Since for any material pile 100 moved to the material picking station, a number of materials are stacked in a specific form, therefore, after obtaining the third position coordinates and the fourth position coordinates, the spatial position of the second side can be determined according to the line connecting the third position coordinates and the fourth position coordinates.

[0042] After measuring the spatial position of the first side and the second side, the posture of the material pile 100 can be accurately identified, that is, the material picking and placing method adopted by the material picking and placing system also includes: determining the posture of the material pile 100 according to all recorded position coordinates, and then, the material handling device 210 picks up materials from the material pile 100 one by one, and transports the materials to the material loading station. It can be understood that the material loading station is provided with a loading platform 310, and the material handling device 210 can transport the materials to the loading platform 310.

[0043] Based on the above, the present embodiment determines the position coordinates of at least two position points on the first side of the material pile 100 along the first direction through the first micro switch 220, so that the spatial position of the first side can be determined according to the line connecting all the measured position coordinates. Correspondingly, the present embodiment also determines the position coordinates of at least two position points on the second side of the material pile 100 along the second direction through the first micro switch 220, so that the spatial position of the second side can be determined according to the line connecting all the measured position coordinates. Since the first direction is set at an angle to the second direction, after determining the spatial position of the first side and the second side, the posture of the material pile 100 can be accurately identified. Since for any material pile 100 moved to the material picking station, several materials are stacked in a specific form, therefore, after accurately identifying the posture of the material pile 100, the material handling device 210 can accurately transport the materials from the material pile 100 to the material loading station one by one. As described above, in this embodiment, only the first micro switch 220 is provided to accurately transport materials from the material pile 100 to the material loading station one by one, which is low in cost, and the entire process does not require manual intervention, so the efficiency is high.

[0044] Based on the above-mentioned contents, in order to ensure that the moving mechanism 211 can drive the first micro switch 220 to accurately move to a position opposite to the first side of the material pile 100 located at the material picking station along the first direction, and to a position opposite to the second side of the material pile 100 located at the material picking station along the second direction, the material picking and placing system in this embodiment also includes a guiding and positioning mechanism, which is arranged at the material picking station, and the guiding and positioning mechanism includes a first guiding rod 231 and a second guiding rod 232, the first guiding rod 231 includes a first rod portion 2311 and a second rod portion 2312, the second guiding rod 232 includes a third rod portion 2321 and a fourth rod portion 2322, the first rod portion 2311 and the third rod portion 2321 are arranged in parallel, the second rod portion 2312 and the fourth rod portion 2322 are arranged opposite to each other, and an opening 2 is formed between an end of the second rod portion 2312 away from the first rod portion 2311 and an end of the fourth rod portion 2322 away from the third rod portion 2321 33, the distance between the second rod portion 2312 and the fourth rod portion 2322 gradually decreases from the opening 233 to the side close to the first rod portion 2311 and the third rod portion 2321, and the tray 240 carrying the material pile 100 can be moved from the opening 233 into between the first guide rod 231 and the second guide rod 232, and the second rod portion 2312 and the fourth rod portion 2322 can guide the tray 240, thereby ensuring that the tray 240 can be moved into between the first rod portion 2311 and the third rod portion 2321 in a preset posture, and the first rod portion 2311 and the third rod portion 2321 can position the tray 240, thereby determining the relative position of the tray 240 and the material picking station, thereby ensuring that the moving mechanism 211 can drive the first micro switch 220 to accurately move to the first side of the material pile 100 located at the material picking station along the first direction, and to the second side of the material pile 100 located at the material picking station along the second direction.

[0045] Based on the above, in this embodiment, the material taking and placing method further includes:

[0046] When the material pile 100 moves to the material taking station, the material pile 100 is positioned.

[0047] Specifically, a first guide rod 231 and a second guide rod 232 are provided at the material picking station. The tray 240 carrying the material pile 100 can be moved from the opening 233 between the first guide rod 231 and the second guide rod 232, and finally moved to between the first rod portion 2311 and the third rod portion 2321. The first rod portion 2311 and the third rod portion 2321 can position the tray 240, thereby determining the relative position of the tray 240 and the material picking station.

[0048] It can be understood that the guiding and positioning mechanism also includes a baffle 234, which is arranged opposite to the opening 233 and is located on the side of the first guide rod 231 and the second guide rod 232 away from the opening 233. When the tray 240 moves from the opening 233 into between the first guide rod 231 and the second guide rod 232, the baffle 234 can stop the tray 240, so that the tray 240 can be positioned more accurately.

[0049] Moreover, the guiding and positioning mechanism also includes a photoelectric sensor, whose emitting element 2351 and receiving element 2352 are respectively arranged on the first rod portion 2311 and the third rod portion 2321, and the emitting element 2351 and the receiving element 2352 are arranged opposite to each other. The photoelectric sensor is used to identify whether there is a material pile 100 at the material picking station.

[0050] Based on the above, this embodiment can, on the one hand, determine the relative position of the tray 240 and the material picking station when the tray 240 carrying the material pile 100 is moved into the material picking station, and on the other hand, can also determine the relative position of the material pile 100 and the tray 240 through the first micro switch 220, thereby more accurately determining the posture of the material pile 100.

[0051] In addition, based on the above, in this embodiment, the material pile 100 includes several material layers, each material layer includes several materials. Therefore, after determining the posture of the material pile 100, the position coordinates of each material in the material pile 100 are calculated according to the posture of the material pile 100, and the material fetching path is planned. The material handling device 210 fetches the materials one by one along the material fetching path, which is more efficient.

[0052] As described above, in the present embodiment, the material pile 100 is formed by stacking several layers of material layers, and the material handling device 210 carries the material from the material pile 100 layer by layer. However, due to the influence of factors such as shaking that may occur during the movement of the tray 240, it is inevitable that the material layer located below is slightly offset compared to the material layer located above. As the offset accumulates, the material layer near the bottom of the material pile 100 is more offset relative to the material layer near the top. To ensure that when the material handling device 210 carries the material in the material layer near the bottom, the material handling device 210 cannot accurately complete the carrying operation, the material handling device 210 determines the posture of the material pile 100 once after carrying a preset number of material layers. In addition, each time the posture of the material pile 100 is determined, the first micro switch 220 contacts the upper part of the material pile 100.

[0053] That is, in this embodiment, after the material pile 100 is moved to the material picking station and after each preset number of material layers are moved, the position of the material pile 100 is determined once by the first micro switch 220, wherein after each preset number of material layers are moved, the material pile 100 composed of the remaining materials remaining in the material picking station is determined by the first micro switch 220, and each time the position of the material pile 100 is determined, the position of all materials near the top of the material pile 100 is determined by the first micro switch 220, thereby ensuring that after each determination of the position of the material pile 100, the material handling device 210 can accurately complete the handling operation.

[0054] Illustratively, the material handling device 210 determines the position of the material pile 100 once after handling 30 layers of materials, thereby ensuring that after determining the position of the material pile 100 each time, the material handling device 210 can accurately complete the handling operation of the top 30 layers of materials in the material pile 100.

[0055] Further, based on the content mentioned above, in this embodiment, the handling mechanism 212 includes a suction cup 2121, and the suction cup 2121 can absorb or release materials. That is, in this embodiment, the suction cup 2121 is driven to move by the moving mechanism 211, and the suction cup 2121 can absorb materials at the material picking station, and transport and place the materials to the material loading station.

[0056] Specifically, a plurality of suction nozzles 21211 are provided on the suction cup 2121 , and the suction cup 2121 sucks or releases the material through the suction nozzles 21211 .

[0057] Furthermore, the handling mechanism 212 also includes a vibrator 2122, which is installed on the suction cup 2121 and can contact the top of the material when the suction cup 2121 absorbs the material. The vibrator 2122 can vibrate the material when the suction cup 2121 absorbs the material, thereby preventing the material absorbed by the suction cup 2121 from sticking to other materials stacked thereunder, thereby ensuring that the material handling device 210 transports only one material to the material loading station each time.

[0058] In addition, the handling mechanism 212 also includes a second micro switch 2123, which is installed on the suction cup 2121 and can contact the top of the material when the suction cup 2121 absorbs the material. When the material contacts the second micro switch 2123, the second micro switch 2123 is triggered, thereby ensuring that the material can be firmly sucked by the suction cup 2121, thereby ensuring that the handling mechanism 212 can accurately remove a material from the material picking station each time, and the second micro switch 2123 can detect whether the material falls off the suction cup 2121 when the suction cup 2121 moves from the material picking station to the material loading station.

[0059] From the above, it should be noted that, in this embodiment, the first micro switch 220 is installed on one side of the suction cup 2121 along the horizontal direction, and the suction cup 2121 is provided with a driving member 21212, and the driving member 21212 is used to drive the first micro switch 220 to rise and fall in the vertical direction, so that the first micro switch 220 has a first working position located below the suction nozzle 21211 and a second working position located above the suction nozzle 21211. When it is necessary to determine the posture of the material pile 100 through the first micro switch 220 , and when the first side and / or the second side is the side of the material pile 100 away from the manipulator, the driving member 21212 drives the first micro switch 220 to move to the first working position, so that when the manipulator drives the first micro switch 220 to move so that the first micro switch 220 moves toward the first side or the second side, the suction cup 2121 is located between the first micro switch 220 and the moving mechanism 211, thereby shortening the stroke of the manipulator, that is, this embodiment does not need to set a manipulator with a large stroke, thereby saving production costs.

[0060] When the suction cup 2121 sucks the material, the driving member 21212 drives the first micro switch 220 to move to the second working position to prevent the first micro switch 220 from interfering with the suction cup 2121 sucking the material.

[0061] It is understandable that the driving member 21212 can be selected as a linear driving structure such as a cylinder or an electric cylinder, and this embodiment does not impose any specific limitation on this.

[0062] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A material picking and placing method, characterized in that: include: Moving the material pile (100) to the material taking station; Adjusting the position of the first micro switch (220) and making the first micro switch (220) face the first side of the material pile (100) located at the material picking station along the first direction, then moving the first micro switch (220) and making the first micro switch (220) contact with at least two position points on the first side in sequence, and recording the position coordinates of the contact point each time the first micro switch (220) contacts the material pile (100); Adjusting the position of the first micro switch (220) and making the first micro switch (220) face the second side of the material pile (100) located at the material picking station along the second direction, the second direction being set at an angle to the first direction, then moving the first micro switch (220) and making the first micro switch (220) contact at least two position points on the second side in sequence, and recording the position coordinates of the contact point each time the first micro switch (220) contacts the material pile (100); The position and posture of the material pile (100) is determined based on all recorded position coordinates, and then the material handling device (210) takes the materials from the material pile (100) one by one and transports the materials to the material loading station.

2. The material handling method according to claim 1, characterized in that: Also includes: When the material pile (100) moves to the material taking station, the material pile (100) is positioned.

3. The material handling method according to claim 2, characterized in that: A first guide rod (231) and a second guide rod (232) are provided at the material taking station, the first guide rod (231) comprising a first rod portion (2311) and a second rod portion (2312), the second guide rod (232) comprising a third rod portion (2321) and a fourth rod portion (2322), the first rod portion (2311) and the third rod portion (2321) are arranged in parallel, the second rod portion (2312) and the fourth rod portion (2322) are arranged opposite to each other, an opening (233) is formed between an end of the second rod portion (2312) away from the first rod portion (2311) and an end of the fourth rod portion (2322) away from the third rod portion (2321), and a distance between the second rod portion (2312) and the fourth rod portion (2322) gradually decreases from the opening (233) to a side close to the first rod portion (2311) and the third rod portion (2321); The tray (240) carrying the material pile (100) can be moved from the opening (233) into between the first guide rod (231) and the second guide rod (232), and finally moved to between the first rod portion (2311) and the third rod portion (2321).

4. The material handling method according to claim 1, characterized in that: The material pile (100) includes a plurality of material layers, each of which includes a plurality of the materials, and the material handling device (210) carries the materials from the material pile (100) layer by layer. After the material handling device (210) carries a preset number of material layers, the position of the material pile (100) is determined once; Each time the position and posture of the material pile (100) is determined, the first micro switch (220) contacts the upper part of the material pile (100).

5. The material handling method according to claim 1, characterized in that: According to the position and posture of the material pile (100), the position coordinates of each material in the material pile (100) are calculated, and a material collection path is planned, and the material handling device (210) carries the materials one by one along the material collection path.

6. A material handling system, which uses the material handling method according to any one of claims 1 to 5 to transport the materials one by one from the material pile (100) to the material loading station, characterized in that: The material picking and placing system comprises: A material handling device (210), comprising a moving mechanism (211) and a handling mechanism (212), wherein the moving mechanism (211) is configured to drive the handling mechanism (212) to move, and the handling mechanism (212) is configured to take and place the material; and The first micro switch (220) is installed on the carrying mechanism (212).

7. The material handling system according to claim 6, characterized in that: The material picking and placing system also includes a guide positioning mechanism, which is arranged at the material picking station, and includes a first guide rod (231) and a second guide rod (232), wherein the first guide rod (231) includes a first rod portion (2311) and a second rod portion (2312), and the second guide rod (232) includes a third rod portion (2321) and a fourth rod portion (2322), wherein the first rod portion (2311) and the third rod portion (2321) are arranged in parallel, and the second rod portion (2312) and the fourth rod portion (2322) are arranged opposite to each other, and the second An opening (233) is formed between an end of the rod portion (2312) away from the first rod portion (2311) and an end of the fourth rod portion (2322) away from the third rod portion (2321); a distance between the second rod portion (2312) and the fourth rod portion (2322) gradually decreases from the opening (233) toward a side close to the first rod portion (2311) and the third rod portion (2321); a tray (240) carrying the material pile (100) can be moved from the opening (233) into between the first guide rod (231) and the second guide rod (232).

8. The material handling system according to claim 6, characterized in that: The handling mechanism (212) comprises a suction cup (2121), and the suction cup (2121) is capable of sucking or releasing the material.

9. The material handling system according to claim 8, characterized in that: The handling mechanism (212) further comprises a vibrator (2122), wherein the vibrator (2122) is mounted on the suction cup (2121) and is capable of contacting the top of the material when the suction cup (2121) sucks the material.

10. The material handling system according to claim 8, characterized in that: The handling mechanism (212) further comprises a second micro switch (2123), wherein the second micro switch (2123) is mounted on the suction cup (2121) and is capable of contacting the top of the material when the suction cup (2121) sucks the material.

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