Slab warehouse-entry control method and slab warehousing system

Abstract

A slab warehouse-entry control method and a slab warehousing system. The slab warehouse-entry control method comprises the following steps: A. acquiring warehouse-entry information of a slab that is to enter a warehouse, and on the basis of the warehouse-entry information, determining a vertical rack (100) for storing slabs as a warehouse-entry rack; B. using a slab moving device (200) to adjust the slab to a first orientation, and moving the slab in the first orientation to one side of the warehouse-entry rack; C. using the slab moving device (200) to adjust the slab to a second orientation, and simultaneously moving the slab to a position above the warehouse-entry rack; and D. using the slab moving device (200) to adjust the slab to a third orientation, and storing the slab on a storage surface of the warehouse-entry rack. In the slab warehouse-entry control method, by optimizing the orientation of the slab during movement, the space required for movement can be effectively reduced and the movement speed can be increased, thereby improving the slab warehouse-entry efficiency.

Description

A method for controlling board entry and a board storage system

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202510120247.5, filed on January 25, 2025, entitled "A Method for Controlling Board Entry and Board Storage System", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to the field of sheet metal storage technology, and in particular to a sheet metal warehousing control method and a sheet metal storage system. Background Technology

[0004] After production, artificial stone slabs need to be stored in warehouses. To facilitate subsequent processing, information such as the pattern, size, and weight of the slabs must be collected, registered, and sorted before being put into storage. This allows for quick selection of slabs of the appropriate size for processing upon delivery. However, due to the wide variety of specifications, models, processing techniques, and types of artificial stone slabs, and the limited storage space in the warehouse, it is impossible to lay entire slabs flat on the floor. Therefore, the vertical space of the warehouse must be utilized for storage, i.e., the slabs are stored vertically using mobile shelving.

[0005] In the sorting process of artificial stone slabs, due to their large size and heavy weight, gantry sorting equipment is often used for classification. However, traditional gantry sorting equipment requires a gantry frame that spans the entire storage area, which occupies a large space and limits its application in some space-constrained locations, resulting in poor versatility. In addition, some factories at home and abroad have height restrictions, which greatly limits the flexibility of gantry sorting equipment.

[0006] Furthermore, to facilitate the warehousing of sheet materials, their moving posture during transport and their storage posture within the mobile shelving are generally kept consistent. This means the sheet materials maintain a fixed posture throughout the warehousing process, as illustrated by European patent publication EP3275810A1 and Italian patent publication IT201900016463A1. Because the sheet material's posture remains unchanged, space must be reserved in the warehouse for its movement, significantly reducing the proportion of usable storage space and hindering warehouse space utilization. Additionally, during the warehousing process, the sheet material's surface may become perpendicular to the direction of movement. This can cause significant swaying, necessitating a reduction in the moving speed to ensure stable transport, thus decreasing warehousing efficiency. Summary of the Invention

[0007] The purpose of this invention is to propose a board material warehousing control method. By optimizing the board material's moving posture, the required space for movement can be effectively reduced and the moving speed can be increased, thereby improving the board material warehousing efficiency.

[0008] Another objective of this invention is to propose a board storage system using the above-mentioned board warehousing control method, which can effectively reduce the floor space occupied by the storage system, improve the utilization rate of storage space, and overcome the shortcomings of the prior art.

[0009] To achieve this objective, the present invention adopts the following technical solution:

[0010] A board material receiving control method is applicable to a board material storage system. The board material storage system includes one or more vertical racks and a board material moving device. The multiple vertical racks are arranged side by side at intervals along the moving direction of the board material moving device, and the moving direction of the board material moving device intersects with the plane where the storage surface of the vertical rack is located.

[0011] The method for controlling the warehousing of sheet metal includes the following steps:

[0012] A. Obtain the warehousing information of the boards to be put into storage, and determine the vertical rack used to store the boards as the warehousing rack based on the warehousing information;

[0013] B. Use the board moving device to adjust the board to a first posture, and move it to a position close to the warehouse shelf in the first posture;

[0014] C. Use the board moving device to adjust the board to the second posture, and at the same time move the board to the top of the warehouse rack;

[0015] D. Using the board moving device, adjust the board to the third posture and store the board on the storage surface of the warehouse rack;

[0016] Wherein, the first posture is that the surface of the plate is parallel to the moving direction of the plate moving device;

[0017] The second posture is that the plate is set horizontally;

[0018] The third posture is when the surface of the board is parallel to the storage surface of the vertical shelf.

[0019] 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.

[0020] Preferably, in the first posture, the plate is vertically arranged.

[0021] 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.

[0022] Preferably, the vertical rack moves relative to the board moving device, and the direction of movement of the vertical rack is parallel to the direction of movement of the board moving device;

[0023] The board material warehousing control method further includes step E, which is located between steps A and B, or between steps B and C, or between steps C and D.

[0024] E. Adjust the distance between the receiving shelf and the vertical shelf adjacent to the storage surface of the receiving shelf as the receiving distance.

[0025] Preferably, step D specifically includes:

[0026] The second storage path is calculated based on the posture information of the board in the second posture, the posture information of the board in the third posture, the storage information of the board, the storage distance, and the orientation information between the board in the second posture and the storage shelf.

[0027] Using the board moving device, the board is adjusted to a third position according to the second storage path, and the board is stored on the storage surface of the storage shelf.

[0028] Preferably, step C specifically includes:

[0029] The first storage path is calculated based on the posture information of the board in the first posture, the posture information of the board in the second posture, the storage information of the board, the width of the board moving device, and the accommodating height above the storage shelf.

[0030] Using the board moving device, the board is adjusted to a second posture according to the first storage path and moved to the top of the storage shelf.

[0031] Preferably, step A specifically includes:

[0032] A. Obtain the warehousing information of the boards to be put into storage. Based on the warehousing information and the storage information of multiple vertical shelves, designate the vertical shelf whose storage information matches the warehousing information as the warehousing shelf for the boards.

[0033] A sheet metal storage system for executing the above-mentioned sheet metal warehousing control method includes one or more vertical racks, a sheet metal moving device, and a control module; the multiple vertical racks are arranged side by side along the moving direction of the sheet metal moving device, and the moving direction of the sheet metal moving device intersects with the plane where the storage surface of the vertical racks is located; both the vertical racks and the sheet metal moving device are communicatively connected to the control module.

[0034] The sheet material moving device includes a mounting base, a column, a cantilever, and a material picking component, wherein the material picking component is used to pick up the sheet material;

[0035] The column is mounted on the top of the mounting base, and the column rotates relative to the mounting base along its own axis.

[0036] The cantilever extends horizontally and protrudes from one side of the column. The cantilever can move up and down relative to the column and rotates relative to the column along its own axis.

[0037] The material handling assembly is mounted on the cantilever and moves horizontally relative to the cantilever; the material handling assembly rotates relative to the cantilever along its own axis, and the rotation axis of the material handling assembly is perpendicular to the extension direction of the cantilever.

[0038] Preferably, the sheet material moving device further includes a support assembly, which is mounted on the top of the mounting base and is used to support the material handling assembly.

[0039] The technical solution provided by this invention may include the following beneficial effects:

[0040] 1. This solution replaces the traditional gantry-type mounting base of the sorting equipment with a column-type base, which can greatly reduce the footprint of the sorting equipment and enable the sheet metal moving device to be used in more application scenarios, especially in factories with limited space and / or height restrictions.

[0041] 2. This solution utilizes a sheet material moving device to enable the sheet material to sequentially change from a first posture to a second posture and then to a third posture during the moving and storage process. This effectively reduces the space required for movement and increases the moving speed, thereby improving the efficiency of sheet material storage.

[0042] 3. This solution also optimizes the structure of the sheet material moving device, so that the material picking component has five different relative displacements relative to the mounting base, thereby making the material picking component more free and better able to meet the transformation of the sheet material in different postures. Attached Figure Description

[0043] Figure 1 is a structural schematic diagram of a sheet material storage system according to the present invention.

[0044] Figure 2 is a schematic diagram of the posture of the plate in the first posture in this invention.

[0045] Figure 3 is a schematic diagram of the posture of the plate in the second posture in this invention.

[0046] Figure 4 is a schematic diagram of the posture of the plate in the third posture in this invention.

[0047] Figure 5 is a schematic diagram of the plate moving device in this invention.

[0048] The components include: 100 vertical racks, 200 sheet material moving devices, and 300 sheets; 1 mounting base, 2 uprights, 3 cantilever, 4 material picking components, 8 support components, 81 fixed bases, 82 support frames, and 83 support drivers. Detailed Implementation

[0049] The technical solution of the present invention will be further illustrated below through specific embodiments.

[0050] A board material warehousing control method is applicable to a board material storage system. The board material storage system includes one or more vertical racks 100 and board material moving devices 200. The multiple vertical racks 100 are arranged side by side at intervals along the moving direction of the board material moving devices 200, and the moving direction of the board material moving devices 200 intersects with the plane where the storage surface of the vertical racks 100 is located.

[0051] The method for controlling the warehousing of sheet metal includes the following steps:

[0052] A. Obtain the warehousing information of the board material 300 to be put into storage, and determine the vertical shelf 100 used to store the board material 300 as the warehousing shelf based on the warehousing information.

[0053] B. Use the board moving device 200 to adjust the board 300 to a first posture, and move it to a position close to the warehouse shelf in the first posture;

[0054] C. Using the board moving device 200, adjust the board 300 to the second posture, and at the same time move the board 300 to the top of the warehouse rack;

[0055] D. Using the board moving device 200, adjust the board 300 to the third posture and store the board 300 on the storage surface of the warehouse rack;

[0056] Wherein, the first posture is that the 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 set horizontally;

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

[0059] In the sorting process of artificial stone slabs, due to their large size and heavy weight, gantry sorting equipment is often used for classification. However, traditional gantry sorting equipment requires a gantry frame that spans the entire storage area, which occupies a large space and limits its application in some space-constrained locations, resulting in poor versatility. In addition, some factories at home and abroad have height restrictions, which greatly limits the flexibility of gantry sorting equipment.

[0060] Therefore, to overcome the technical shortcomings of traditional gantry sorting equipment, such as large footprint and poor versatility and flexibility, this technical solution proposes using a sheet metal moving device 200 to replace the traditional gantry sorting equipment in the sheet metal storage system, as shown in Figure 1. This means replacing the traditional gantry-type mounting base with a column-type base, which significantly reduces the footprint of the sorting equipment and allows the sheet metal moving device to be used in more scenarios, especially in factories with limited space and / or height restrictions. It should be noted that in this sheet metal storage system, the intersection of the moving direction of the sheet metal moving device 200 and the plane containing the storage surface of the vertical rack 100 means that, in the vertical projection direction (i.e., from a top-down visual perspective), there is an angle between the moving direction of the sheet metal moving device 200 and the extension direction of the storage surface of the vertical rack 100.

[0061] Furthermore, based on the use of the sheet material moving device 200, this technical solution proposes a sheet material warehousing control method. By using the sheet material moving device 200, the sheet material 300 can sequentially change from a first posture to a second posture and a third posture during the moving and warehousing process. This can effectively reduce the space required for movement and increase the movement speed, thereby improving the efficiency of sheet material warehousing.

[0062] Specifically, the board material warehousing control method of this solution first requires obtaining the warehousing information of the board material 300 to be warehoused, including but not limited to the pattern, size, weight, and type of the board material 300; then, based on the above warehousing information, the vertical rack 100 used to store the board material 300 is determined as the warehousing rack. It should be noted that the determination of the warehousing rack can be based on the pre-setting of storage information for each vertical rack 100, and the warehousing rack can be determined according to whether the storage information and the warehousing information match, or it can be manually designated through human-computer interaction, which is not limited here. In addition, the warehousing information can be obtained by scanning with an existing scanner, or it can be obtained through an identification system composed of a camera mechanism and a weighing mechanism.

[0063] In one specific embodiment, the warehousing information in this solution is obtained by scanning with a scanner. Specifically, the scanner in this solution is fixedly positioned above the sheet material conveying mechanism (such as a conveyor belt) to scan the sheets conveyed by the conveying mechanism and feeds back the obtained warehousing information to the control template. In another embodiment, the scanner can also be movable.

[0064] After the receiving shelf is determined, the first transfer of board material 300 is performed, which involves adjusting board material 300 to its first posture and moving it to one side of the receiving shelf. In this solution, the first posture refers to the posture when the surface of board material 300 is parallel to the moving direction of the board material moving device 200, as shown in Figure 2. This posture can greatly reduce the resistance of board material 300 during movement, preventing significant swaying and effectively increasing the moving speed, thereby improving receiving efficiency.

[0065] After board 300 is moved close to the receiving shelf, it undergoes a second transfer, adjusting to a second posture and moving it above the receiving shelf. In this solution, the second posture refers to board 300 being horizontally positioned, meaning its surface is parallel to the horizontal plane, as shown in Figure 3. This posture reduces the height space required for movement during the board 300's posture change, thereby lowering the proportion of storage space needed for movement and improving storage space utilization.

[0066] Finally, the board 300 is transferred for the third time, that is, the board 300 is adjusted to the third posture and moved to the storage surface of the warehouse rack. The third posture in this solution refers to the posture when the board surface of the board 300 is parallel to the storage surface of the vertical rack 100, as shown in Figure 4. Using the above posture to retrieve the board 300 can effectively prevent damage to the board 300 and achieve safe storage of the board 300.

[0067] It should be noted that the board warehousing control method in this scheme is not only applicable to the storage of finished boards, but also to the temporary storage of semi-finished boards to facilitate subsequent deep processing; furthermore, it can also be applied to the classified storage of board scraps to facilitate their recycling.

[0068] To further explain, 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] Given that the board 300 is in its first orientation, it can be set horizontally (i.e., the surface of the board 300 is parallel to the horizontal plane) or vertically (i.e., the surface of the board 300 is parallel to the vertical plane). However, in order to further reduce the space occupied by the board 300 during the first transfer process, and also to prevent the board 300 from colliding with equipment, walls, etc. in the storage space during the movement, this solution also optimizes the first orientation of the board 300.

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

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

[0072] As a preferred embodiment, the plate 300 is vertically positioned 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 explain, 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 around the vertical axis can be omitted during the process of changing the plate 300 to the third posture, thereby shortening the transformation path during the posture transformation process and improving the warehousing efficiency.

[0075] It should be noted that the bottom edge of the board 300 refers to the edge where the board 300 and the vertical shelf 100 meet when the board 300 is stored on the storage surface of the vertical shelf 100.

[0076] To further explain, the vertical rack 100 moves relative to the board moving device 200, and the direction of movement of the vertical rack 100 is parallel to the direction of movement of the board moving device 200.

[0077] The board material warehousing control method further includes step E, which is located between steps A and B, or between steps B and C, or between steps C and D.

[0078] E. Adjust the distance between the warehouse rack and the vertical rack 100 adjacent to the storage surface of the warehouse rack as the warehouse distance.

[0079] In a preferred embodiment of this technical solution, the vertical rack 100 is a mobile rack. When the rack for storing the board 300 to be stored is determined, the distance between the storage rack and the vertical rack 100 in the board placement direction (i.e., the vertical rack 100 adjacent to the storage surface of the storage rack) is increased, thereby providing sufficient space for storing the board 300. When the storage rack is not determined or storage is not required, adjacent vertical racks 100 can be placed close together or kept at a narrow distance to further improve the utilization rate of storage space.

[0080] It should be noted that the storage distance in this solution can be determined based on the storage information of the sheet material 300, or manually input through human-computer interaction; no restrictions are imposed here. Furthermore, the mobile vertical rack 100 in this solution is a commonly used structure in the field of sheet material storage technology, and its specific structure will not be described in detail here.

[0081] To elaborate further, step D specifically involves:

[0082] The second storage path is calculated based on the posture information of the board 300 in the second posture, the posture information of the board 300 in the third posture, the storage information of the board 300, the storage distance, and the orientation information between the board 300 in the second posture and the storage shelf.

[0083] Using the board moving device 200, the board 300 is adjusted to a third posture according to the second storage path, and the board 300 is stored on the storage surface of the storage shelf.

[0084] To elaborate further, step C specifically involves:

[0085] The first storage path is calculated based on the posture information of the board 300 in the first posture, the posture information of the board 300 in the second posture, the storage information of the board 300, the width of the board moving device 200, and the accommodating height above the storage shelf.

[0086] Using the board moving device 200, the board 300 is adjusted to a second posture according to the first storage path and moved to the top of the storage shelf.

[0087] In another preferred embodiment of this technical solution, the attitude transformation paths (i.e., the corresponding first and second entry paths) of the second and third transfer processes of the sheet material 300 can be calculated using relevant parameter information to shorten the transformation path during the attitude transformation process, improve entry efficiency, and prevent collisions of the sheet material 300. More preferably, both the first and second entry paths in this solution are arc segment paths.

[0088] It should be noted that the first and second entry paths in this solution can both be calculated using existing algorithms, and the specific calculation process will not be elaborated here.

[0089] To elaborate further, step A specifically involves:

[0090] A. Obtain the warehousing information of the board material 300 to be put into storage. Based on the warehousing information and the storage information of multiple vertical shelves 100, designate the vertical shelf 100 whose storage information matches the warehousing information as the warehousing shelf for the board material 300.

[0091] It should be noted that the storage information corresponding to the vertical rack 100 can be randomly assigned by the system or manually specified through human-computer interaction, and no limitation is made here.

[0092] A sheet metal storage system for executing the above-described sheet metal receiving control method includes one or more vertical racks 100, a sheet metal moving device 200, and a control module; the multiple vertical racks 100 are arranged side by side along the moving direction of the sheet metal moving device 200, and the moving direction of the sheet metal moving device 200 intersects with the plane containing the storage surface of the vertical racks 100; both the vertical racks 100 and the sheet metal moving device 200 are communicatively connected to the control module;

[0093] The sheet material moving device 200 includes a mounting base 1, a column 2, a cantilever 3, and a material picking component 4, which is used to pick up the sheet material 300.

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

[0095] The cantilever 3 extends horizontally and protrudes from one side of the column 2. The cantilever 3 can move up and down relative to the column 2, and the cantilever 3 can rotate relative to the column 2 along its own axis.

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

[0097] To overcome the technical shortcomings of traditional gantry sorting equipment, such as large footprint and poor versatility and flexibility, this technical solution proposes using a sheet material moving device 200 to replace the traditional gantry sorting equipment in the sheet material storage system, as shown in Figure 5. This device includes a mounting base 1, a column 2, a cantilever 3, and a material-grabbing component 4 for picking up sheet materials 300. It should be noted that the material-grabbing component 4 in this solution can pick up the sheet materials 300 by suction or by clamping; neither method is limited here.

[0098] Thanks to the structural design of this solution, the material picking component 4 has five different relative displacements relative to the mounting base 1, which makes the material picking component 4 more free and better able to meet the transformation of the plate 300 in different postures.

[0099] Furthermore, the sheet material moving device 200 also includes a support component 8, which is installed on the top of the mounting base 1 and is used to support the material picking component 4.

[0100] In another preferred embodiment of this technical solution, in order to improve the walking speed of the sheet material moving device 200 within the occupied space, this solution also provides a support component 8 on the top of the mounting base 1. In addition to supporting the material picking component 4, the support component 8 can also effectively prevent the cantilever 3 from swaying during horizontal movement, thereby achieving stable movement of the sheet material moving device 200.

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

[0102] The column 2 and the fixed base 81 are respectively installed at the top two ends 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 base 81, and the support frame 82 swings about the connecting end as an axis, and the supporting end is used to abut against the material picking component 4.

[0103] Specifically, the support component 8 of this solution includes a fixed base 81 and a support frame 82, and the support frame 82 swings about the connecting end as an axis. When necessary, the support frame 82 can be extended vertically by swinging, so that the support end abuts against the material picking component 4; when not necessary, the support frame 82 can also be extended horizontally by swinging, so as to prevent the setting of the support frame 82 from obstructing the material picking component 4 from picking up and placing the plate 300.

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

[0105] The support driver 83 is mounted 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 swing of the support frame 82.

[0106] As a more preferred embodiment, the swing of the support frame 82 can be achieved by a support driver 83 (such as a support cylinder) to improve the automation level 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 merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A method for controlling the warehousing of sheet metal, characterized in that, This invention is applicable to a sheet metal storage system, which includes one or more vertical racks and a sheet metal moving device. The multiple vertical racks are arranged side by side at intervals along the moving direction of the sheet metal moving device, and the moving direction of the sheet metal moving device intersects with the plane containing the storage surface of the vertical racks. The method for controlling the warehousing of sheet metal includes the following steps: A. Obtain the warehousing information of the boards to be put into storage, and determine the vertical rack used to store the boards as the warehousing rack based on the warehousing information; B. Use the board moving device to adjust the board to a first posture, and move it to a position close to the warehouse shelf in the first posture; C. Use the board moving device to adjust the board to the second posture, and at the same time move the board to the top of the warehouse rack; D. Using the board moving device, adjust the board to the third posture and store the board on the storage surface of the warehouse rack; Wherein, the first posture is that the surface of the plate is parallel to the moving direction of the plate moving device; The second posture is that the plate is set horizontally; The third posture is when the surface of the board is parallel to the storage surface of the vertical shelf.

2. The method for controlling the warehousing of sheet metal 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. The method for controlling the warehousing of sheet metal according to claim 1, characterized in that, In the first posture, the plate is set vertically.

4. The method for controlling the warehousing of sheet metal according to claim 1, characterized in that, 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.

5. The method for controlling the warehousing of sheet metal according to claim 1, characterized in that, The vertical rack moves relative to the board moving device, and the direction of movement of the vertical rack is parallel to the direction of movement of the board moving device. The board material warehousing control method further includes step E, which is located between steps A and B, or between steps B and C, or between steps C and D. E. Adjust the distance between the receiving shelf and the vertical shelf adjacent to the storage surface of the receiving shelf as the receiving distance.

6. The method for controlling the warehousing of sheet metal according to claim 5, characterized in that, Step D specifically involves: The second storage path is calculated based on the posture information of the board in the second posture, the posture information of the board in the third posture, the storage information of the board, the storage distance, and the orientation information between the board in the second posture and the storage shelf. Using the board moving device, the board is adjusted to a third position according to the second storage path, and the board is stored on the storage surface of the storage shelf.

7. The method for controlling the warehousing of sheet metal according to claim 1, characterized in that, Step C specifically involves: The first storage path is calculated based on the posture information of the board in the first posture, the posture information of the board in the second posture, the storage information of the board, the width of the board moving device, and the accommodating height above the storage shelf. Using the board moving device, the board is adjusted to a second posture according to the first storage path and moved to the top of the storage shelf.

8. The method for controlling the warehousing of sheet metal according to claim 1, characterized in that, Step A specifically involves: A. Obtain the warehousing information of the boards to be put into storage. Based on the warehousing information and the storage information of multiple vertical shelves, designate the vertical shelf whose storage information matches the warehousing information as the warehousing shelf for the boards.

9. A sheet metal storage system, characterized in that, The method for controlling the storage of sheet metal as described in any one of claims 1 to 8 includes one or more vertical racks, a sheet metal moving device, and a control module; the multiple vertical racks are arranged side by side along the moving direction of the sheet metal moving device, and the moving direction of the sheet metal moving device intersects with the plane containing the storage surface of the vertical racks; both the vertical racks and the sheet metal moving device are communicatively connected to the control module. The sheet material moving device includes a mounting base, a column, a cantilever, and a material picking component, wherein the material picking component is used to pick up the sheet material; The column is mounted on the top of the mounting base, and the column rotates relative to the mounting base along its own axis. The cantilever extends horizontally and protrudes from one side of the column. The cantilever can move up and down relative to the column and rotates relative to the column along its own axis. The material handling assembly is mounted on the cantilever and moves horizontally relative to the cantilever; the material handling assembly rotates relative to the cantilever along its own axis, and the rotation axis of the material handling assembly is perpendicular to the extension direction of the cantilever.

10. A sheet metal storage system according to claim 9, characterized in that, The sheet material moving device also includes a support assembly, which is installed on the top of the mounting base and is used to support the material handling assembly.

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