Warehousing system based on AMHS and warehousing method thereof

Abstract

The invention discloses a warehousing system based on AMHS and a warehousing method thereof, and the warehousing system comprises a goods shelf which is used for storing material frames; the adsorption device comprises a sliding table module and an adsorption disc, and the sliding table module is used for driving the adsorption disc to move front and back so as to grab or release the material frame; the connection conveying device comprises a lifting platform, a transverse moving platform and a bearing platform, the bearing platform conveys the material frame through a transmission belt, and the bearing platform is provided with an in-place detector, a first in-place sensor, a second in-place sensor and a butt joint sensor; a butt joint sensor is arranged on one side of the bearing platform, and a butt joint reflecting plate is arranged in the positioning jacking working groove and corresponds to the butt joint sensor. The bearing platform is connected with the adsorption device through the up-down module. And the working platform comprises a positioning jacking working groove, and the conveying belt is responsible for moving the position of the material frame. The system has the beneficial effects that the whole process of the system is automatically joined, the transfer efficiency is remarkably improved, manual intervention is reduced, and the system is suitable for high-frequency industrial logistics scenes.

Description

Technical Field

[0001] The present invention relates to the field of semiconductor warehousing, and particularly to a warehousing system based on AMHS and its warehousing method. Background Art

[0002] The Advanced Materials Handling System (AMHS) is a highly automated material transportation and storage system, mainly used in fields such as semiconductor manufacturing, electronic component production, logistics, and automated warehousing. AMHS integrates automated equipment, software control, and data analysis technologies to achieve efficient, precise, and reliable material handling, thereby improving production efficiency, reducing human errors, and lowering operating costs.

[0003] In an automated warehousing system, the cyclic feeding and recycling of the material frame is a key link to achieve continuous operation. In the prior art, the material handling device usually adopts a one-way process, that is, the material frame flows unidirectionally from the shelf to the workstation, and the empty material frame needs to return to the warehouse through an independent path or manual intervention. Such a one-way mode has significant defects in high-speed and multi-batch operation scenarios: after the forward feeding is completed, the equipment needs to reset to the initial position to perform the reverse recycling, resulting in process interruption and time waste; at the same time, when the empty material frame returns to the warehouse, due to the lack of a positioning mechanism coordinated with the forward process, it often needs to recalibrate the shelf coordinates, which is prone to positioning deviation or collision risks. Especially in the scenario where the shelf layer is highly dense and the material frame specifications vary greatly, the reset and repositioning operations of the one-way process further exacerbate the efficiency loss, and frequent start and stop are likely to cause equipment wear and energy waste. Summary of the Invention

[0004] The purpose of the present invention is to provide a warehousing system based on AMHS and its warehousing method to solve the technical problem of low efficiency in the picking and placing of the material frame mentioned above.

[0005] To solve the above technical problems, the present invention provides a warehousing system based on AMHS and its warehousing method, which includes a shelf for storing material frames;

[0006] An adsorption device, the adsorption device includes a sliding table module and an adsorption disc. The sliding table module consists of a servo motor, a straight rack, a straight gear, a mounting plate, a motor mounting plate, a slide rail, and a slider. The upper end of the mounting plate is fixedly connected to the slide rail, the slider is installed above the slide rail, the slider is fixedly connected with the motor mounting plate, the servo motor is arranged on the motor mounting plate, the output end of the servo motor is provided with a straight gear, the straight gear is engaged with the straight rack below, and the straight rack is fixedly connected with the mounting plate. The sliding table module is used to drive the adsorption disc to move back and forth to grab or release the material frame;

[0007] Docking and conveying device, the docking and conveying device includes a lifting platform, a transverse moving platform and a receiving platform. The lifting platform controls the lifting of the receiving platform, the transverse moving platform controls the transverse movement of the receiving platform, the receiving platform conveys the material frame through a transmission belt, and the receiving platform is configured with a position detector, a first in-place sensor, a second in-place sensor and a docking sensor; the first in-place sensor includes an oblique sensor and an oblique reflection plate. The material frame enters and exits the detection area of the oblique sensor, and the oblique sensor controls the operation of the transmission belt on the receiving platform. The material frame enters and exits the detection area of the second in-place sensor, and the second in-place sensor is responsible for closing the suction cup. A docking sensor is arranged on one side of the receiving platform, and a docking reflection plate is arranged corresponding to the docking sensor in the positioning and lifting working groove; the receiving platform is connected through an upper and lower module and a suction device.

[0008] Workstation table, the workstation table includes a positioning and lifting working groove, and a pair of sensors, a third in-place sensor, a positioning sensor and a conveying belt are arranged in the positioning and lifting working groove. The conveying belt is responsible for moving the position of the material frame, and the pair of sensors, the third in-place sensor and the positioning sensor cooperate to limit the position of the material frame.

[0009] Behind the workstation table is the docking and conveying device, and behind the docking and conveying device is the shelf.

[0010] Further, when the material frame enters the positioning and lifting working groove and enters the detection area of the positioning sensor, the conveying belt starts to work until the material frame completely enters the positioning and lifting working groove. After the material frame exits the detection area of the positioning sensor, the conveying belt stops moving.

[0011] Further, when the pair of sensors, the third in-place sensor and the positioning sensor do not detect the material frame, and when the pair of sensors detect the material frame, the material frame reaches the center position of the positioning and lifting working groove.

[0012] Further, clamping devices are arranged on both sides of the conveying belt. A cross-shaped through hole is arranged through the bottom of the material frame, and a lifting component is arranged at the lower end of the material frame. The lifting component includes a lifting plate and a lifting cylinder, and the lifting plate is in clearance fit with the cross-shaped through hole.

[0013] Further, a nameplate is arranged on the material frame, and the receiving platform further includes a code reading component. The code reading component includes a code reader and a laser sensor, and the code reading component is responsible for identifying the nameplate information on the material frame.

[0014] Further, lifting limit blocks are arranged at the upper and lower ends of the lifting platform, and urethane rubber is arranged on the lifting limit blocks. Anti-collision buffer parts are arranged at the left and right ends of the transverse moving platform, and urethane rubber is arranged on the anti-collision buffer parts.

[0015] Further, in the forward feeding stage:

[0016] Step 1: The suction device grabs the material frame from the shelf;

[0017] Step 2: The connecting conveying device delivers the material frame to the positioning and lifting working tank;

[0018] Step 3: Lift the components to eject the material;

[0019] Reverse recycling phase:

[0020] Step 1: The empty material frame is transported to the receiving platform in reverse direction via the transmission belt;

[0021] Step 2: The connecting conveyor device delivers the material frame to the shelf;

[0022] Step 3: The suction device puts the empty material frame back to the shelf accurately.

[0023] Further, step 1 in the reverse feeding stage also includes:

[0024] After the material in the material frame is taken out, the lifting plate returns to the initial position, the conveyor belt starts to rotate counterclockwise, the material frame is transported to the receiving platform, the material frame leaves the detection area of ​​the positioning sensor, the conveyor belt stops rotating, the transmission belt starts to rotate counterclockwise, the material frame first enters the first in-place sensor detection area, and then enters the second in-place sensor detection area. When the material frame leaves the second in-place sensor detection area, the transmission belt stops rotating.

[0025] Further, step 3 in the reverse feeding stage also includes:

[0026] The adsorption device moves the adsorption plate downward to the front of the material frame through the upper and lower modules, and the adsorption plate adsorbs the material frame. The slide module drives the adsorption device to transport the material frame into the shelf.

[0027] The beneficial effects of the present invention are as follows: Compared with the prior art, the intelligent material transfer system realizes efficient and automated material transfer through modular collaboration of shelves, adsorption devices, docking and conveying devices, and workstations. The adsorption device uses rack and pinion transmission to drive the adsorption plate to move precisely, and combines vacuum adsorption to quickly grab and release the material frame. The pressure sensor monitors in real time to ensure stability. The docking and conveying device dynamically adjusts the position of the receiving platform through the lifting and lateral movement platform. The oblique sensor and the in-place sensor automatically control the start and stop of the transmission belt to reduce idling waiting; the docking sensor and the reflector cooperate to achieve high-precision positioning to ensure seamless connection between the material frame and the workstation. The workstation detects the position of the material frame through multi-level sensors, and the conveying belt and the lifting mechanism work together to achieve accurate ejection of materials. During reverse recycling, the empty material frame is tracked and positioned by the sensor, the lifting and lateral movement platforms are automatically reset to the shelf, and the adsorption device is quickly pushed back to its position. The system is fully automated, which significantly improves the transfer efficiency and reduces manual intervention, and is suitable for high-frequency industrial logistics scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the first three-dimensional structure of the warehousing system based on AMHS.

[0029] Figure 2 for Figure 1 A schematic diagram of the enlarged structure of part A in the figure.

[0030] Figure 3 It is a second three-dimensional structural schematic diagram of the warehousing system based on AMHS.

[0031] Figure 4 It is a top view structural diagram of the AMHS-based storage system.

[0032] Figure 5 It is a schematic diagram of the front view structure of the warehousing system based on AMHS.

[0033] Figure 6 It is a schematic diagram of the third three-dimensional structure of the warehousing system based on AMHS.

[0034] Figure 7 It is a schematic diagram of the fourth three-dimensional structure of the warehousing system based on AMHS.

[0035] Among them: 1. Shelf; 2. Adsorption device; 21. Slide module; 210. Servo motor; 212. Spur rack; 213. Spur gear; 214. Mounting plate; 215. Motor mounting plate; 216. Slide rail; 217. Slider; 22. Adsorption plate; 23. Upper and lower modules; 220. Bottom plate; 221. Sliding plate; 222. Slide trough; 223. Pneumatic telescopic rod; 224. Limit block; 3. Connecting and conveying device; 31. Lifting platform; 310. Lifting limit block; 312. Glue; 32. Transverse platform; 320. Anti-collision buffer; 33. Receiving platform; 331. Transmission belt; 3310. Guide plate; 332 , in-place detector; 333, positioning sensor; 3331, conveyor belt; 334, first in-place sensor; 3341, oblique sensor; 3342, oblique reflector; 335, second in-place sensor; 336, code reading assembly; 3361, code reader; 3362, laser sensor; 337, docking sensor; 3371, docking reflector; 4, work station; 41, positioning jacking working slot; 410, third in-place sensor; 412, through-beam sensor; 413, through hole; 415, jacking component; 416, jacking plate; 5, material frame; 51, nameplate; 6, panel; 7, four-color indicator light; 8, clamping device. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiment is only one embodiment of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0037] In order to make the objectives, technical solutions and advantages of the present application more clear, the present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0038] In the following description, references to "one embodiment", "an embodiment", "an example", "an example", etc. indicate that the embodiment or example described in this way may include specific features, structures, characteristics, properties, elements or limitations, but not every embodiment or example necessarily includes the specific features, structures, characteristics, properties, elements or limitations. In addition, repeated use of the phrase "according to one embodiment of the present application" may refer to the same embodiment, but does not necessarily refer to the same embodiment.

[0039] In this embodiment: Figure 1 As shown, shelf 1 is used to store material frames 5; a positioning mark is set under the shelf 1 to facilitate the unmanned guided vehicle to carry the shelf 1. The positioning mark provides a high-precision navigation reference to improve the positioning efficiency of the unmanned guided vehicle.

[0040] Adsorption device 2, the adsorption device 2 includes a sliding table module 21 and an adsorption disc 22. The vacuum pressure of the adsorption disc 22 is adjustable to adapt to different weight material frames 5; the adsorption disc 22 uses a silica gel sealing ring, and the contact surface pressure sensor monitors the adsorption state in real time; the sliding table module 21 is composed of a servo motor 210, a straight rack 212, a spur gear 213, a mounting plate 214, a motor mounting plate 215, a slide rail 216, and a slider 217. The upper end of the mounting plate 214 is fixedly connected to the slide rail 216. A slider 217 is installed above the slide rail 216. A motor mounting plate 215 is fixedly connected to the slider 217. A servo motor 210 is arranged on the motor mounting plate 215. A spur gear 213 is arranged at the output end of the servo motor 210. The spur gear 213 is engaged with the straight rack 212 below. The straight rack 212 is fixedly connected to the mounting plate 214. The sliding table module 21 is used to drive the adsorption disc 22 to move back and forth to grab or release the material frame 5;

[0041] Feeding and conveying device 3, the feeding and conveying device 3 includes a lifting platform 31, a transverse moving platform 32, and a receiving platform 33. The lifting platform 31 controls the lifting of the receiving platform 33, and the transverse moving platform 32 controls the transverse movement of the receiving platform 33. The receiving platform 33 conveys the material frame 5 through a transmission belt 331. The receiving platform 33 is configured with a position detector 332, a first in-place sensor 334, a second in-place sensor 335, and a docking sensor 337; the first in-place sensor 334 includes an oblique sensor 3341 and an oblique reflection plate 3342. When the material frame 5 enters the detection area of the oblique sensor 3341, the oblique sensor 3341 starts the operation of the transmission belt 331 on the receiving platform 33. The oblique sensor 3341 triggers the start and stop of the belt, reducing the no-load rotation energy consumption;

[0042] When the material frame 5 leaves the detection area of the oblique sensor 3341, the oblique sensor 3341 shuts down the operation of the transmission belt 331 on the receiving platform 33. The transmission belt 331 is automatically started and stopped according to the position of the material frame 5, preventing no-load rotation and material deviation;

[0043] The material frame 5 enters and exits the detection area of the second in-place sensor 335. The second in-place sensor 335 is responsible for closing the suction cup 22. A docking sensor 337 is provided on one side of the receiving platform 33, and a docking reflector 3371 is provided in the positioning lifting working groove 41 corresponding to the docking sensor 337. After the material frame 5 is picked up on the receiving platform 33, the lifting platform 31 and the transverse movement platform 32 will move the receiving platform 33 to the front of the idle positioning lifting working groove 41. When the docking sensor 337 completes the docking with the docking reflector 3371, the lifting platform 31 and the transverse movement platform 32 stop moving, and millimeter-level positioning accuracy is achieved through optical signal alignment to ensure seamless docking between the receiving platform 33 and the working groove. The receiving platform 33 is connected to the adsorption device 2 through the upper and lower modules 23. The upper and lower modules 23 include a bottom plate 220 and a sliding plate 221. The bottom plate 220 is vertically arranged on one side of the receiving platform 33. The sliding plate 221 is matched with the sliding groove 222 on the bottom plate 220. A pneumatic telescopic rod 223 is arranged in the middle of the bottom plate 220. A limiting block 224 is fixedly arranged on the pneumatic telescopic rod 223. The limiting block 224 is located below the sliding plate 221. The sliding plate 221 is driven to move up and down by the pneumatic telescopic rod 223, so as to drive the adsorption device 2 to move up and down.

[0044] The workstation table 4 includes a positioning lifting working groove 41. A pair of photoelectric sensors 412, a third in-place sensor 410, a positioning sensor 333, and a conveyor belt 3331 are arranged in the positioning lifting working groove 41. The conveyor belt 3331 is responsible for moving the position of the material frame 5. The pair of photoelectric sensors 412, the third in-place sensor 410, and the positioning sensor 333 cooperate to limit the position of the material frame 5. The material frame 5 is located at the center of the positioning lifting working groove 41. The pair of photoelectric sensors 412 are located at the edge of the positioning lifting working groove 41 and are at the same horizontal plane as the front end of the material frame 5. The reflectors corresponding to the pair of photoelectric sensors 412 are located at the edge of the positioning lifting working groove 41 and are at the same horizontal plane as the rear end of the material frame 5. The ray direction of the pair of photoelectric sensors 412 is the same as the diagonal of the material frame 5. The pair of photoelectric sensors 412 are arranged along the diagonal to cover the full area detection of the material frame 5 (to prevent missed detection).

[0045] The third in-place sensor 410 is located at the edge of the positioning lifting working groove 41 and is at the same horizontal plane as the front end of the material frame 5. The ray direction of the third in-place sensor 410 is parallel to the front end of the material frame 5. The positioning sensor 333 is located at the edge of the positioning lifting working groove 41. The positioning sensor 333 is located at the rear end of the material frame 5. The ray direction of the positioning sensor 333 is parallel to the rear end face of the material frame 5.

[0046] Behind the workstation 4 is the docking conveyor 3. A panel 6 is arranged above the workstation 4 to display material information in real time. Four-color indicator lights 7 are arranged on the workstation 4 and the docking conveyor 3. The four-color indicator lights 7 (red, yellow, green and blue) communicate with the PLC through the Modbus protocol; the operation status of the display system is displayed. Behind the docking conveyor 3 is the shelf 1. The delivery port of each layer of the shelf 1 is a flared type setting, which is convenient for the subsequent delivery of the empty material frame 5 back to the shelf 1. The flared delivery port design reduces mechanical interference when the material frame 5 is put back, thereby improving the recovery success rate.

[0047] The material frame 5 enters the positioning and lifting working groove 41, and the material frame 5 enters the detection area of ​​the positioning sensor 333, and the conveyor belt 3331 starts to work until the material frame 5 completely enters the positioning and lifting working groove 41. After the material frame 5 leaves the detection area of ​​the positioning sensor 333, the conveyor belt 3331 stops moving.

[0048] The through-shooting sensor 412 , the third in-position sensor 410 and the positioning sensor 333 do not detect the material frame 5 , and when the through-shooting sensor 412 detects the material frame 5 , the material frame 5 reaches the center position of the positioning and lifting working groove 41 , and the lifting plate 416 ejects the material in the material frame 5 .

[0049] Clamping devices 8 are provided on both sides of the conveyor belt 3331. The clamping devices 8 on both sides of the conveyor belt 3331 are pneumatic clamps that adapt to the size of the material frame 5. A cross-shaped through hole 413 is provided through the bottom of the material frame 5, and a lifting component 415 is provided at the lower end of the material frame 5. The lifting component 415 includes a lifting plate 416 and a lifting cylinder. The lifting plate 416 and the cross-shaped through hole 413 are clearance-matched to prevent the lifting from getting stuck.

[0050] A nameplate 51 is provided on the material frame 5 , and the receiving platform 33 further includes a code reading component 336 , which includes a code reader 3361 and a laser sensor 3362 . The code reading component 336 is responsible for identifying the nameplate 51 information on the material frame 5 and displaying it on the panel 6 .

[0051] Lifting limit blocks 310 are provided at the upper and lower ends of the lifting platform 31, and high-strength rubber 312 is provided on the lifting limit blocks 310. Anti-collision buffers 320 are provided at the left and right ends of the transverse platform 32, and high-strength rubber 312 is provided on the anti-collision buffers 320. The high-strength rubber 312 is used for both the lifting limit blocks 310 and the anti-collision buffers 320, and absorbs impact energy through flexible materials to prevent hard collisions from damaging equipment and materials.

[0052] Guide plates 3310 are provided on both side edges of the upper end of the transmission belt 331. The guide plates 3310 are flared obtuse-angle bidirectional guide plates 3310. The angle between the front and rear ends and the middle of the guide plates 3310 is 120° to 150°, allowing the material frame 5 to enter in both directions and prevent displacement, making it convenient to take and place the material frame 5. The flared design guides the material frame 5 to be centered to prevent displacement or jamming during belt transportation.

[0053] Forward feeding stage:

[0054] Step 1: The adsorption device 2 grabs the material frame 5 from the shelf 1, and the in-position detector 332 scans the shelf 1. If the material frame 5 is detected, the subsequent action is triggered; if there is no material frame 5, an alarm is given, and the slide module 21 drives the adsorption plate 22 to move forward to the side of the shelf 1 to stand by (driven by the spur gear 213-spur rack 212, and the stroke is controlled by the servo motor 210 encoder), the lifting platform 31 lifts the receiving platform 33 to the target shelf 1 height, and the transverse platform 32 moves horizontally to the target shelf 1 position; the slide module 21 pushes the adsorption plate 22 to contact the surface of the material frame 5 and completes the adsorption, the slide module 21 retracts, and pulls the material frame 5 out of the shelf 1 to the top of the receiving platform 33. After the second in-position sensor 335 detects that the material frame 5 has completely entered the receiving platform 33, the adsorption plate 22 releases the material frame 5; the slide module 21 drives the adsorption plate 22 to move up (to avoid interfering with the movement of the material frame 5);

[0055] Step 2: The docking conveyor 3 delivers the material frame 5 to the positioning and lifting working groove 41, the lifting platform 31 moves the receiving platform 33 to the height of the positioning and lifting working groove 41, and the traverse platform 32 moves horizontally to the position of the positioning and lifting working groove 41. The docking sensor 337 emits, and when the intensity of the received reflected signal reaches the threshold, it is determined that it is aligned with the docking reflector 3371, and the receiving platform 33 stops moving;

[0056] Step 3: The lifting component 415 pushes out the material. After the material in the material frame 5 is taken out, the lifting plate 416 returns to the initial position;

[0057] Reverse recycling phase:

[0058] Step 1: The empty material frame 5 is transported in reverse to the receiving platform 33 via the transmission belt 331;

[0059] Step 2: The connecting conveyor device 3 delivers the material frame 5 to the front of the shelf 1;

[0060] Step 3: The adsorption device 2 accurately places the empty material frame 5 back to the shelf 1.

[0061] Step 1 in the backfeed phase also includes:

[0062] After the material in the material frame 5 is taken out, the lifting plate 416 returns to the initial position, the conveyor belt 3331 starts to rotate counterclockwise, the material frame 5 is transported to the receiving platform 33, the material frame 5 leaves the detection area of ​​the positioning sensor 333, the conveyor belt 3331 stops rotating, the transmission belt 331 starts to rotate counterclockwise, the material frame 5 first enters the detection area of ​​the first in-place sensor 334, and then enters the detection area of ​​the second in-place sensor 335. When the material frame 5 leaves the detection area of ​​the second in-place sensor 335, the transmission belt 331 stops rotating.

[0063] Step 2 in the backfeed phase also includes:

[0064] The connecting conveyor device 3 delivers the material frame 5 to the front of the shelf 1, the lifting platform 31 lifts the receiving platform 33 to the height of the target shelf 1, and the transverse platform 32 moves horizontally to the position of the target shelf 1;

[0065] Step 3 in the backfeed phase also includes:

[0066] The adsorption device 2 moves the adsorption plate 22 downward to the front of the material frame 5 through the upper and lower modules 23 , and the adsorption plate 22 adsorbs the material frame 5 . The slide module 21 drives the adsorption device 2 to transport the material frame 5 into the shelf 1 .

[0067] Workflow: Positive feeding:

[0068] The unmanned vehicle navigates to the target shelf 1 according to the location mark of shelf 1;

[0069] The adsorption device 2 grabs the material frame 5, and the servo motor 210 drives the adsorption plate 22 to move forward and backward through the spur gear 213 and the spur rack 212. After the adsorption plate 22 contacts the surface of the material frame 5, the vacuum system is started, and the adsorption stability is ensured by the pressure sensor. If the adsorption fails, the system automatically retries or alarms. After the material frame 5 is adsorbed on the receiving platform 33, the adsorption device 2 moves upward through the upper and lower modules 23;

[0070] The docking device uses sensors to align the positioning jacking slot. After the oblique sensor 3341 detects that the material frame 5 enters the docking area, the transmission belt 331 is automatically started to avoid idling. The first in-place sensor 334 and the first in-place sensor 334 determine whether the material frame 5 has completely entered the receiving platform 33 to ensure the safety triggering of subsequent actions. When the receiving platform 33 moves to the positioning jacking working slot 41, high-precision positioning is achieved through the signal matching between the docking sensor 337 and the docking reflector 3371;

[0071] After the positioning sensor 333 detects that the material frame 5 has completely entered the working groove, it triggers the conveyor belt 3331 to stop to avoid excessive movement. The cylinder drives the lifting plate 416 to pass through the through hole 413 at the bottom of the material frame 5 to smoothly push the material out, and the clamping device 8 fixes the material frame 5 at the same time.

[0072] Reverse recycling:

[0073] The empty material box 5 is conveyed in reverse by the belt. The position of the material box 5 is detected by the positioning sensor 333 to ensure that the empty material box 5 is accurately conveyed back to the receiving platform 33. Then, the empty material box 5 moves on the receiving platform 33 to move out of the detection area of the first in-place sensor 334;

[0074] The transfer device transmits the coordinates of the storage rack 1. The lifting platform 31 and the transverse movement platform 32 cooperate to adjust the receiving platform 33 to the height and position of the target storage rack 1;

[0075] The adsorption device 2 moves downward to the front end of the material box 5 through the upper and lower modules 23. After the adsorption disc 22 contacts the surface of the material box 5, the vacuum system is started. The adsorption device 2 pushes the empty material box 5 into the interior of the storage rack 1 through the sliding table module 21, and the flared discharge port assists the material box 5 to slide into the storage rack 1.

[0076] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A storage system based on AMHS, characterized in that: include: A shelf, the shelf is used to store material frames; The adsorption device comprises a slide module and an adsorption plate. The slide module consists of a servo motor, a spur rack, a spur gear, a mounting plate, a motor mounting plate, a slide rail, and a slider. The upper end of the mounting plate is fixedly connected to the slide rail, a slider is mounted above the slide rail, a motor mounting plate is fixedly connected to the slider, a servo motor is arranged on the motor mounting plate, a spur gear is arranged at the output end of the servo motor, a spur gear is engaged with a spur rack at the lower end of the spur gear, and the spur rack is fixedly connected to the mounting plate. The slide module is used to drive the adsorption plate to move forward and backward to grab or release the material frame. A docking and conveying device, the docking and conveying device includes a lifting platform, a transverse moving platform and a receiving platform, the lifting platform controls the lifting and lowering of the receiving platform, the transverse moving platform controls the transverse movement of the receiving platform, the receiving platform conveys the material frame through a transmission belt, the receiving platform is equipped with an in-place detector, a first in-place sensor, a second in-place sensor and a docking sensor; the first in-place sensor includes an oblique sensor and an oblique reflector, the material frame enters and exits the oblique sensor detection area, the oblique sensor controls the operation of the transmission belt on the receiving platform, the material frame enters and exits the second in-place sensor detection area, the second in-place sensor is responsible for closing the adsorption plate, a docking sensor is arranged on one side of the receiving platform, and a docking reflector is arranged in the positioning and jacking working groove corresponding to the docking sensor; the receiving platform is connected to the adsorption device through upper and lower modules. The workstation comprises a positioning and lifting working groove, in which a shooting sensor, a third in-position sensor, a positioning sensor and a conveying belt are arranged. The conveying belt is responsible for moving the position of the material frame. The shooting sensor, the third in-position sensor and the positioning sensor cooperate to limit the position of the material frame. The workstation is behind a docking and conveying device, and the docking and conveying device is behind a shelf.

2. A warehousing system based on AMHS according to claim 1, characterized in that: The material frame enters the positioning and lifting working groove, and the material frame enters the positioning sensor detection area, and the conveyor belt starts to work until the material frame completely enters the positioning and lifting working groove. After the material frame leaves the positioning sensor detection area, the conveyor belt stops moving.

3. A warehousing system based on AMHS according to claim 2, characterized in that: The through-shooting sensor, the third in-position sensor and the positioning sensor do not detect the material frame, and when the through-shooting sensor detects the material frame, the material frame reaches the center position of the positioning jacking working slot.

4. The AMHS-based storage system according to claim 3, characterized in that: Clamping devices are arranged on both sides of the conveyor belt, a cross-shaped through hole is arranged through the bottom of the material frame, a lifting component is arranged at the lower end of the material frame, the lifting component includes a lifting plate and a lifting cylinder, and the lifting plate and the cross-shaped through hole are clearance-matched.

5. The AMHS-based warehousing system according to claim 1, characterized in that: The material frame is provided with a nameplate, and the receiving platform further comprises a code reading component, the code reading component comprises a code reader and a laser sensor, and the code reading component is responsible for identifying the nameplate information on the material frame.

6. The AMHS-based warehousing system according to claim 1, characterized in that: The upper and lower ends of the lifting platform are provided with lifting limit blocks, on which high-strength rubber is provided, and the left and right ends of the transverse platform are provided with anti-collision buffer parts, on which high-strength rubber is provided.

7. A storage method based on the system according to any one of claims 1 to 6, characterized in that: Forward feeding stage: Step 1: The suction device grabs the material frame from the shelf; Step 2: The connecting conveying device delivers the material frame to the positioning and lifting working tank; Step 3: Lift the components to eject the material; Reverse recycling phase: Step 1: The empty material frame is transported to the receiving platform in reverse direction via the transmission belt; Step 2: The connecting conveyor device delivers the material frame to the shelf; Step 3: The suction device puts the empty material frame back to the shelf accurately.

8. A storage method based on AMHS according to claim 7, characterized in that: Step 1 in the reverse feeding phase also includes: After the material in the material frame is taken out, the lifting plate returns to the initial position, the conveyor belt starts to rotate counterclockwise, the material frame is transported to the receiving platform, the material frame leaves the detection area of ​​the positioning sensor, the conveyor belt stops rotating, the transmission belt starts to rotate counterclockwise, the material frame first enters the first in-place sensor detection area, and then enters the second in-place sensor detection area. When the material frame leaves the second in-place sensor detection area, the transmission belt stops rotating.

9. A storage method based on AMHS according to claim 8, characterized in that: Step 3 in the backfeed phase also includes: The adsorption device moves the adsorption plate downward to the front of the material frame through the upper and lower modules, and the adsorption plate adsorbs the material frame. The slide module drives the adsorption device to transport the material frame into the shelf.

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