A plate warehousing control method and plate warehousing system

Abstract

The application discloses a kind of plate warehouse entry control method and plate storage system, plate warehouse entry control method includes the following steps: A, the warehouse entry information of plate to be entered is obtained, and the vertical rack for storing the plate is determined as warehouse entry rack according to the warehouse entry information;B, the plate is adjusted to first attitude using the plate moving device, and is moved to the side of the warehouse entry rack in first attitude;C, the plate is adjusted to second attitude using the plate moving device, while the plate is moved to the upper side of the warehouse entry rack;D, the plate is adjusted to third attitude using the plate moving device, and the plate is stored in the storage surface of the warehouse entry rack.The plate warehouse entry control method of the present application can effectively reduce the space required for moving and improve the moving speed by optimizing the moving attitude of the plate, thereby improving the plate warehouse entry efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of plate storage, and in particular to a plate warehousing control method and a plate storage system. Background Art

[0002] After production, artificial stone slabs need to be stored in warehouses. To facilitate subsequent further processing, information such as the pattern, size, and weight of the slabs must be registered and sorted into the warehouse. This allows for quick selection of the appropriate size for processing when the slabs are shipped out. However, due to the wide variety of specifications, models, processing techniques, and varieties of artificial stone slabs, warehouse storage space is limited. It is impossible to lay the slabs flat on the ground. Instead, the slabs can be stored vertically using the height space in the warehouse, using mobile racks.

[0003] During the sorting process of artificial stone slabs, gantry-type sorting equipment is often used due to their large size and heavy weight. However, traditional gantry-type sorting equipment requires a gantry that spans the entire storage area, which takes up a lot of space and limits its applicability in space-constrained locations, resulting in poor versatility. Furthermore, height restrictions in some factories, both domestically and internationally, significantly limit the flexibility of gantry-type sorting equipment.

[0004] In addition, in order to facilitate the storage of plates, the movement posture of the plates during the movement and the storage posture of the plates in the mobile shelves are generally kept consistent, that is, the plates maintain an unchanged posture during the movement into the warehouse. Due to the unchanged posture of the plates, space has to be reserved in the storage space for the movement of the plates, which greatly reduces the proportion of storage space in the storage space and is not conducive to improving the utilization rate of the storage space. In addition, during the movement of plates into the warehouse, it is very likely that the plate surface will be perpendicular to the movement direction, and the above situation will cause the plates to shake greatly during the movement. Therefore, in order to stabilize the movement, the movement speed of the plates has to be reduced, resulting in a decrease in storage efficiency. Summary of the Invention

[0005] The purpose of the present invention is to propose a plate warehousing control method, which can effectively reduce the space required for movement and increase the movement speed by optimizing the plate movement posture, thereby improving the plate warehousing efficiency.

[0006] Another object of the present invention is to propose a plate storage system using the above-mentioned plate warehousing control method, which can effectively reduce the floor space of the storage system, improve the utilization rate of the storage space, and overcome the shortcomings of the existing technology.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] A plate warehousing control method is applicable to a plate storage system, wherein the plate storage system includes one or more vertical shelves and a plate moving device, wherein the plurality of vertical shelves are arranged in parallel and spaced apart along a moving direction of the plate moving device, and the moving direction of the plate moving device intersects with a plane on which storage surfaces of the vertical shelves are located;

[0009] The plate warehousing control method comprises the following steps:

[0010] A. Obtaining the storage information of the plates to be stored, and determining, based on the storage information, a vertical shelf for storing the plates as the storage shelf;

[0011] B. Using the plate moving device to adjust the plate to a first posture, and moving the plate in the first posture close to the storage shelf;

[0012] C. Using the plate moving device to adjust the plate to a second posture, and at the same time moving the plate to above the storage shelf;

[0013] D. using the plate moving device to adjust the plate to a third posture, and storing the plate on the storage surface of the incoming shelf;

[0014] Wherein, the first posture is that the plate surface is parallel to the moving direction of the plate moving device;

[0015] The second posture is that the plate is arranged horizontally;

[0016] The third posture is that the plate surface is parallel to the storage surface of the vertical shelf.

[0017] Preferably, in the first posture, the width of the plate in the vertical projection direction is less than or equal to the width of the plate moving device.

[0018] Preferably, in the first posture, the plate is arranged vertically.

[0019] Preferably, in the second posture, the extension direction of the bottom edge of the plate is parallel to the extension direction of the storage surface of the vertical shelf in the vertical projection direction.

[0020] Preferably, the vertical shelf moves relative to the plate moving device, and the moving direction of the vertical shelf is parallel to the moving direction of the plate moving device;

[0021] The plate warehousing control method further includes step E, which is located between step A and step B, or between step B and step C, or between step C and step D:

[0022] E. Adjust the distance between the incoming shelf and the vertical shelf adjacent to the storage surface of the incoming shelf to the incoming distance.

[0023] Preferably, step D is specifically:

[0024] Calculating a second warehousing path based on the posture information of the plate in the second posture, the posture information of the plate in the third posture, the warehousing information of the plate, the warehousing distance, and the orientation information between the plate in the second posture and the warehousing shelf;

[0025] The plate moving device is used to adjust the plate to a third posture according to the second storage path, and the plate is stored on the storage surface of the storage shelf.

[0026] Preferably, step C is specifically:

[0027] Calculating a first warehousing path based on the posture information of the plate in the first posture, the posture information of the plate in the second posture, the warehousing information of the plate, the width of the plate moving device, and the accommodating height above the warehousing shelf;

[0028] The plate moving device is used to adjust the plate to a second posture according to the first storage path, and is moved to above the storage shelf.

[0029] Preferably, step A is specifically:

[0030] A. Obtaining the storage information of the plates to be stored, and designating, based on the storage information and the storage information of the plurality of vertical shelves, a vertical shelf whose storage information matches the storage information as a storage shelf for the plates.

[0031] A plate storage system for executing the above-mentioned plate warehousing control method comprises one or more vertical shelves, a plate moving device, and a control module; the plurality of vertical shelves are arranged in parallel along the moving direction of the plate moving device, and the moving direction of the plate moving device intersects with the plane of the storage surface of the vertical shelves; the vertical shelves and the plate moving device are both in communication with the control module;

[0032] The plate moving device includes a mounting base, a column, a cantilever and a material taking component, and the material taking component is used to take the plate;

[0033] The column is mounted on the top of the mounting base, and the column rotates along its own axis relative to the mounting base;

[0034] The cantilever is horizontally extended and protruded and mounted on one side of the column. The cantilever moves up and down relative to the column and rotates along its own axis relative to the column.

[0035] The material picking assembly is installed on the cantilever and moves horizontally relative to the cantilever; the material picking assembly rotates along its own axis relative to the cantilever, and the rotation axis of the material picking assembly is perpendicular to the extension direction of the cantilever.

[0036] Preferably, the plate moving device further comprises a support assembly, wherein the support assembly is mounted on the top of the mounting base, and the support assembly is used to support the material taking assembly.

[0037] The technical solution provided by the present invention can have the following beneficial effects:

[0038] This solution replaces the mounting base of the sorting equipment from the traditional gantry type to a column type, which can greatly reduce the floor space of the sorting equipment and enable the plate moving device to be used in more scenarios, especially in factories with limited space and / or height restrictions.

[0039] This solution utilizes a plate moving device to enable the plate to sequentially transform from a first posture, a second posture, and a third posture during the process of being moved into storage, which can effectively reduce the space required for movement and increase the movement speed, thereby improving the efficiency of plate storage.

[0040] This solution also optimizes the structure of the plate moving device so that the material picking component has relative displacement in five different directions relative to the mounting base, thereby increasing the degree of freedom of the material picking component and better meeting the conversion of the plate in different postures. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural schematic diagram of a plate storage system of the present invention.

[0042] Figure 2 It is a posture schematic diagram of the plate in the present invention when it is in the first posture.

[0043] Figure 3 It is a posture schematic diagram of the plate in the present invention when it is in the second posture.

[0044] Figure 4 It is a schematic diagram of the posture of the plate when it is in the third posture in the present invention.

[0045] Figure 5 It is a structural schematic diagram of the plate moving device in the present invention.

[0046] in:

[0047] Vertical shelf 100, plate moving device 200, plate 300;

[0048] Install the base 1, column 2, cantilever 3, material taking assembly 4, support assembly 8, fixing seat 81, support frame 82, and support driver 83. DETAILED DESCRIPTION

[0049] The technical solution of the present invention is further illustrated below through specific implementation methods.

[0050] A plate warehousing control method is applicable to a plate storage system, wherein the plate storage system includes one or more vertical shelves 100 and a plate moving device 200, wherein the plurality of vertical shelves 100 are arranged in parallel and spaced apart along a moving direction of the plate moving device 200, and the moving direction of the plate moving device 200 intersects with a plane on which the storage surface of the vertical shelves 100 is located;

[0051] The plate warehousing control method comprises the following steps:

[0052] A. Obtaining the storage information of the plate 300 to be stored, and determining the vertical shelf 100 for storing the plate 300 as the storage shelf according to the storage information;

[0053] B. Using the plate moving device 200 to adjust the plate 300 to a first posture, and moving the plate 300 in the first posture close to the storage shelf;

[0054] C. Using the plate moving device 200 to adjust the plate 300 to the second posture, and at the same time, moving the plate 300 to the top of the storage shelf;

[0055] D. Using the plate moving device 200 to adjust the plate 300 to a third posture, and storing the plate 300 on the storage surface of the incoming shelf;

[0056] The first posture is that the plate surface of the plate 300 is parallel to the moving direction of the plate moving device 200;

[0057] The second posture is that the plate 300 is arranged horizontally;

[0058] The third posture is that the plate surface of the plate 300 is parallel to the storage surface of the vertical shelf 100 .

[0059] During the sorting process of artificial stone slabs, gantry-type sorting equipment is often used due to their large size and heavy weight. However, traditional gantry-type sorting equipment requires a gantry that spans the entire storage area, which takes up a lot of space, limiting its application in space-constrained locations and making it less versatile. Furthermore, height restrictions in some factories, both domestically and internationally, significantly limit the flexibility of gantry-type sorting equipment.

[0060] Therefore, in order to overcome the technical defects of the traditional gantry sorting equipment, such as large floor space, poor versatility and flexibility, the plate storage system to which this technical solution is applicable proposes to use a plate moving device 200 to replace the traditional gantry sorting equipment, such as Figure 1 As shown, the installation base of the sorting equipment is replaced by a column type instead of a traditional gantry type, which can greatly reduce the floor space occupied by the sorting equipment and enable the plate moving device to be applied in more usage scenarios, especially in factories with limited floor space and / or height restrictions. It should be noted that in the plate storage system of this solution, the intersection of the moving direction of the plate moving device 200 and the plane of the storage surface of the vertical shelf 100 means that, in the vertical projection direction (i.e., in the visual orientation when looking down), there is an angle between the moving direction of the plate moving device 200 and the extension direction of the storage surface of the vertical shelf 100.

[0061] Furthermore, based on the use of the plate moving device 200, this technical solution proposes a plate warehousing control method, which uses the plate moving device 200 to enable the plate 300 to transform from a first posture, a second posture and a third posture in sequence during the process of moving into the warehouse, which can effectively reduce the space required for movement and increase the movement speed, thereby improving the efficiency of plate warehousing.

[0062] Specifically, the plate warehousing control method of this solution first needs to obtain the warehousing information of the plate 300 to be stored, including but not limited to the pattern, size, weight and variety of the plate 300; then, based on the above warehousing information, the vertical shelf 100 used to store the plate 300 is determined as the warehousing shelf. It should be noted that the determination of the warehousing shelf can be based on the storage information of each vertical shelf 100 being pre-set, and the warehousing shelf is determined based on whether the storage information and the warehousing information match. It can also be manually specified through human-computer interaction, which is not limited here. In addition, the acquisition of warehousing information can be obtained by scanning with an existing scanner, or by an identification system composed of a camera mechanism and a weighing mechanism.

[0063] In one specific embodiment, the storage entry information in this solution is obtained by scanning and acquiring it using a scanner. Specifically, the scanner in this solution is fixedly mounted above a sheet material conveying mechanism (such as a conveyor belt), scans the sheets conveyed by the sheet material conveying mechanism, and feeds the scanned storage entry information back to the control template. In other embodiments, the scanner can also be mobile.

[0064] After the incoming shelf is determined, the first transfer of the plate 300 is performed, that is, the plate 300 is adjusted to the first posture and moved to one side of the incoming shelf. The first posture in this solution refers to the posture when the plate surface of the plate 300 is parallel to the moving direction of the plate moving device 200, such as Figure 2As shown, this posture can greatly reduce the resistance of the plate 300 during movement. On the one hand, it can prevent the plate 300 from shaking greatly during movement. On the other hand, it can effectively increase the moving speed of the plate 300, thereby improving the warehousing efficiency.

[0065] After the plate 300 is moved close to the storage shelf, the plate 300 is transferred for the second time, that is, the plate 300 is adjusted to the second posture and moved above the storage shelf. The second posture in this solution refers to the horizontal setting of the plate 300, that is, the posture when the plate surface of the plate 300 is parallel to the horizontal plane, such as Figure 3 As shown, this posture can reduce the height space required for movement during the posture change of the plate 300, thereby reducing the proportion of the space required for movement in the storage space, which is more conducive to improving the utilization rate of the storage space.

[0066] Finally, the third transfer of the plate 300 is performed, that is, the plate 300 is adjusted to the third posture and moved to the storage surface of the storage shelf. The third posture in this solution refers to the posture when the plate surface of the plate 300 is parallel to the storage surface of the vertical shelf 100, such as Figure 4 As shown, when the plate 300 is taken out by releasing the above-mentioned posture, damage to the plate 300 can be effectively prevented, and the plate 300 can be safely stored.

[0067] It should be noted that the plate warehousing control method of this scheme is not only applicable to the storage of finished plates, but also to the temporary storage of semi-finished plates for subsequent deep processing; further, it can also be applied to the classified storage of plate waste to facilitate the recycling of plate waste.

[0068] To further illustrate, in the first posture, the width of the plate 300 in the vertical projection direction is less than or equal to the width of the plate moving device 200 .

[0069] When the sheet 300 is in the first position, it can be placed horizontally (i.e., the surface of the sheet 300 is parallel to the horizontal plane) or vertically (i.e., the surface of the sheet 300 is parallel to the vertical plane). However, in order to further reduce the space occupied by the sheet 300 during the first transfer process and prevent the sheet 300 from colliding with equipment, walls, etc. in the storage space during movement, this solution also optimizes the first position of the sheet 300.

[0070] It should be noted that the width direction in this solution refers to a direction perpendicular to the moving direction of the plate moving device 200 .

[0071] To further explain, in the first posture, the plate 300 is arranged vertically.

[0072] As a better embodiment of the above embodiment, the plate 300 is vertically arranged during the first transfer process, that is, the width of the plate 300 in the vertical projection direction is equal to the thickness of the plate 300, which is more conducive to the first transfer process.

[0073] To further illustrate, in the second posture, the extension direction of the bottom edge of the plate 300 is parallel to the extension direction of the storage surface of the vertical shelf 100 in the vertical projection direction.

[0074] In this way, the rotation of the plate 300 about the vertical direction can be omitted during the process of transforming the plate 300 to the third posture, thereby shortening the transformation path during the posture transformation process and improving the storage efficiency.

[0075] It should be noted that the bottom edge of the plate 300 refers to the edge of the plate 300 that abuts against the vertical shelf 100 when the plate 300 is stored on the storage surface of the vertical shelf 100 .

[0076] To further illustrate, the vertical shelf 100 moves relative to the plate moving device 200 , and the moving direction of the vertical shelf 100 is parallel to the moving direction of the plate moving device 200 ;

[0077] The plate warehousing control method further includes step E, which is located between step A and step B, or between step B and step C, or between step C and step D:

[0078] E. Adjust the distance between the incoming shelf and the vertical shelf 100 adjacent to the storage surface of the incoming shelf to the incoming distance.

[0079] In a preferred embodiment of this technical solution, the vertical shelves 100 of this solution are mobile shelves. When the incoming shelf for the plates 300 to be stored is determined, the distance between the incoming shelf and the vertical shelf 100 in the direction of the plate placement (i.e., the vertical shelf 100 adjacent to the storage surface of the incoming shelf) is increased to provide sufficient space for the storage of the plates 300. If the incoming shelf is not determined or the storage operation is not required, adjacent vertical shelves 100 can be placed close together or maintained at a narrow distance to further improve storage space utilization.

[0080] It should be noted that the storage distance of this solution can be determined based on the storage information of the plates 300, or manually input through human-computer interaction, and this is not limited here. In addition, the mobile vertical rack 100 in this solution is a common structure in the field of plate storage technology, and its specific structure is not described in detail here.

[0081] To further illustrate, step D is specifically as follows:

[0082] Calculate a second entry path based on the posture information of the plate 300 in the second posture, the posture information of the plate 300 in the third posture, the entry information of the plate 300, the entry distance, and the orientation information between the plate 300 in the second posture and the entry shelf;

[0083] The plate moving device 200 is used to adjust the plate 300 to a third posture according to the second storage path, and the plate 300 is stored on the storage surface of the storage shelf.

[0084] To further illustrate, step C is specifically as follows:

[0085] Calculate a first storage path based on the posture information of the plate 300 in the first posture, the posture information of the plate 300 in the second posture, the storage information of the plate 300, the width of the plate moving device 200, and the accommodating height above the storage shelf;

[0086] The plate moving device 200 is used to adjust the plate 300 to a second posture according to the first storage path, and is moved to the top of the storage shelf.

[0087] In another preferred embodiment of this technical solution, the posture change paths during the second and third transfer processes of the sheet 300 (i.e., the corresponding first and second storage paths) can be calculated using relevant parameter information. This shortens the posture change paths during the posture change process, improves storage efficiency, and prevents collisions of the sheet 300. More preferably, both the first and second storage paths of this solution are arc segments.

[0088] It should be noted that the first warehousing path and the second warehousing path of this solution can be calculated using existing algorithms, and the specific calculation process will not be described in detail here.

[0089] To further illustrate, step A is specifically as follows:

[0090] A. Obtaining the storage information of the plate 300 to be stored, and according to the storage information and the storage information of the plurality of vertical racks 100, designating the vertical rack 100 whose storage information matches the storage information as the storage rack for the plate 300.

[0091] It should be noted that the storage information corresponding to the vertical shelf 100 can be randomly assigned by the system or manually specified through human-computer interaction, which is not limited here.

[0092] A plate storage system for executing the above-mentioned plate warehousing control method comprises one or more vertical shelves 100, a plate moving device 200, and a control module; the plurality of vertical shelves 100 are arranged in parallel along the moving direction of the plate moving device 200, and the moving direction of the plate moving device 200 intersects with the plane where the storage surface of the vertical shelves 100 is located; the vertical shelves 100 and the plate moving device 200 are both communicatively connected to the control module;

[0093] The plate moving device 200 includes a mounting base 1, a column 2, a cantilever 3 and a material taking component 4, and the material taking component 4 is used to take the plate 300;

[0094] The column 2 is installed on the top of the mounting base 1, and the column 2 rotates along its own axis relative to the mounting base 1;

[0095] The cantilever 3 is horizontally extended and protruded and installed on one side of the column 2. The cantilever 3 moves up and down relative to the column 2, and the cantilever 3 rotates along its own axis relative to the column 2.

[0096] The material picking assembly 4 is installed on the cantilever 3, and the material picking assembly 4 moves horizontally relative to the cantilever 3; the material picking assembly 4 rotates along its own axis relative to the cantilever 3, and the rotation axis of the material picking assembly 4 is perpendicular to the extension direction of the cantilever 3.

[0097] In order to overcome the technical defects of the traditional gantry sorting equipment, such as large floor space, poor versatility and flexibility, the plate storage system to which this technical solution is applicable proposes to use a plate moving device 200 to replace the traditional gantry sorting equipment, such as Figure 5 As shown, it includes a mounting base 1, a column 2, a cantilever 3, and a material picking assembly 4 for picking up a material plate 300. It should be noted that the material picking assembly 4 for picking up a material plate 300 in this solution can absorb the material plate 300 by adsorption or clamping, which is not limited here.

[0098] Thanks to the structural design of this solution, the material-retrieving assembly 4 has relative displacements in five different directions relative to the mounting base 1, thereby increasing the degree of freedom of the material-retrieving assembly 4 and better meeting the conversion of the plate 300 in different postures.

[0099] To further explain, the plate moving device 200 also includes a support assembly 8 , which is installed on the top of the mounting base 1 , and is used to support the material taking assembly 4 .

[0100] In another preferred embodiment of the present technical solution, in order to improve the walking speed of the plate moving device 200 within the occupied space, the present solution also specially arranges a support assembly 8 on the top of the mounting base 1. In addition to supporting the material picking assembly 4, its arrangement can also effectively avoid the shaking of the cantilever 3 during horizontal movement, thereby realizing stable movement of the plate moving device 200.

[0101] Preferably, the support assembly 8 includes a fixing seat 81 and a support frame 82;

[0102] The column 2 and the fixed seat 81 are respectively installed at the two ends of the top of the mounting base 1; the support frame 82 includes a connecting end and a supporting end, the connecting end is hinged to the fixed seat 81, and the support frame 82 swings with the connecting end as the axis, and the supporting end is used to resist the material taking component 4.

[0103] Specifically, the support assembly 8 of this embodiment includes a fixed base 81 and a support frame 82, with the support frame 82 swinging about its connecting end. When necessary, the support frame 82 can be swung vertically, allowing the supporting end to abut against the material removal assembly 4. When not necessary, the support frame 82 can also be swung horizontally to prevent the support frame 82 from obstructing the material removal assembly 4 from removing and placing the sheet 300.

[0104] Preferably, the support assembly 8 further includes a support driver 83;

[0105] The support driver 83 is installed on the top of the mounting base 1 , and the output end of the support driver 83 is connected to the support frame 82 . The support driver 83 is used to drive the support frame 82 to swing.

[0106] As a better embodiment of the above embodiment, the support frame 82 can be swung by a support driver 83 (such as a support cylinder, etc.) to improve the degree of automation of the plate moving device 200.

[0107] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and are not to be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will readily conceive of other specific embodiments of the present invention without inventive effort, and such embodiments will fall within the scope of protection of the present invention.

Claims

1. A plate warehousing control method, characterized in that: Applicable to a plate storage system, the plate storage system comprising one or more vertical shelves and a plate moving device, wherein the plurality of vertical shelves are arranged in parallel and spaced apart along a moving direction of the plate moving device, and the moving direction of the plate moving device intersects with a plane where the storage surfaces of the vertical shelves are located; The plate warehousing control method comprises the following steps: A. Obtaining the storage information of the plates to be stored, and determining, based on the storage information, a vertical shelf for storing the plates as the storage shelf; B. Using the plate moving device to adjust the plate to a first posture, and moving the plate in the first posture close to the storage shelf; C. Using the plate moving device to adjust the plate to a second posture, and at the same time moving the plate to above the storage shelf; D. using the plate moving device to adjust the plate to a third posture, and storing the plate on the storage surface of the incoming shelf; Wherein, the first posture is that the plate surface is parallel to the moving direction of the plate moving device; The second posture is that the plate is arranged horizontally; The third posture is that the plate surface is parallel to the storage surface of the vertical shelf; The plate warehousing control method further includes step E, which is located between step A and step B, or between step B and step C, or between step C and step D: E. Adjust the distance between the incoming shelf and the vertical shelf adjacent to the storage surface of the incoming shelf to the incoming distance; Step D is specifically as follows: Calculating a second warehousing path based on the posture information of the plate in the second posture, the posture information of the plate in the third posture, the warehousing information of the plate, the warehousing distance, and the orientation information between the plate in the second posture and the warehousing shelf; The plate moving device is used to adjust the plate to a third posture according to the second storage path, and the plate is stored on the storage surface of the storage shelf.

2. A plate storage control method according to claim 1, characterized in that: In the first posture, the width of the plate in the vertical projection direction is less than or equal to the width of the plate moving device.

3. A plate storage control method according to claim 1, characterized in that: In the first posture, the plate is arranged vertically.

4. A plate storage control method according to claim 1, characterized in that: In the second posture, an extension direction of the bottom edge of the plate is parallel to an extension direction of the storage surface of the vertical shelf in a vertical projection direction.

5. A plate storage control method according to claim 1, characterized in that: The vertical shelf moves relative to the plate moving device, and the moving direction of the vertical shelf is parallel to the moving direction of the plate moving device.

6. A plate storage control method according to claim 1, characterized in that: Step C is specifically as follows: Calculating a first warehousing path based on the posture information of the plate in the first posture, the posture information of the plate in the second posture, the warehousing information of the plate, the width of the plate moving device, and the accommodating height above the warehousing shelf; The plate moving device is used to adjust the plate to a second posture according to the first storage path, and is moved to above the storage shelf.

7. A plate storage control method according to claim 1, characterized in that: Step A is specifically as follows: A. Obtaining the storage information of the plates to be stored, and designating, based on the storage information and the storage information of the plurality of vertical shelves, a vertical shelf whose storage information matches the storage information as a storage shelf for the plates.

8. A plate storage system, characterized in that: A method for controlling the warehousing of plates according to any one of claims 1 to 7, comprising one or more vertical shelves, a plate moving device, and a control module; the plurality of vertical shelves are arranged in parallel along a moving direction of the plate moving device, and the moving direction of the plate moving device intersects with a plane on which a storage surface of the vertical shelves is located; the vertical shelves and the plate moving device are both in communication with the control module; The plate moving device includes a mounting base, a column, a cantilever and a material taking component, and the material taking component is used to take the plate; The column is mounted on the top of the mounting base, and the column rotates along its own axis relative to the mounting base; The cantilever is horizontally extended and protruded and mounted on one side of the column. The cantilever moves up and down relative to the column and rotates along its own axis relative to the column. The material picking assembly is installed on the cantilever and moves horizontally relative to the cantilever; the material picking assembly rotates along its own axis relative to the cantilever, and the rotation axis of the material picking assembly is perpendicular to the extension direction of the cantilever.

9. The plate storage system according to claim 8, characterized in that: The plate moving device further includes a support assembly, which is mounted on the top of the mounting base and is used to support the material taking assembly.

Images