CN110589336B

CN110589336B - Material picking device for automatic warehouse system

Info

Publication number: CN110589336B
Application number: CN201910967852.0A
Authority: CN
Inventors: 张志陆
Original assignee: Suzhou Dafengdie Intelligent Technology Co ltd
Current assignee: Suzhou Dafengdie Intelligent Technology Co ltd
Priority date: 2019-05-29
Filing date: 2019-10-12
Publication date: 2024-05-28
Anticipated expiration: 2039-10-12
Also published as: CN110589336A; TWM583442U; CN210762526U

Abstract

The invention provides a material picking device for an automatic storage system, which can correct the moving path of objects, accurately and orderly place a plurality of objects in two first material boxes on a first conveying module in the object placing positions of two second material boxes on a second conveying module, accelerate the speed of picking materials in shipment and improve the efficiency of picking materials in shipment. The invention can also enable one first material box to be refilled with objects without idle space, and the other first material box to be cleared and removed from the storage cabinet, thereby reducing the quantity of material boxes and the occupied storage space. The invention can also align the object placement position with the position without warping or slightly warping by adjusting the angle of the object, so that the object can smoothly enter the object placement position to prevent the two side edges of the object from being blocked on the two positioning plates.

Description

Material picking device for automatic warehouse system

Technical Field

The invention relates to the technical field of material picking devices, in particular to a material picking device for an automatic storage system.

Background

Warehouse management is of considerable importance to many industries. Particularly, for enterprises with various materials and huge material storage quantity, if the materials can be properly classified and placed at proper positions, the storage space can be brought into maximum benefit, and the searching time is reduced.

Taking the surface mount technology (also called SMT, surface Mount Technology) as an example, the surface mount technology is a basic industry in the field of electronic manufacturing, and warehouse management is a very important part of the surface mount technology in the process, and mainly includes the steps of feeding, discharging, returning, feeding and the like.

However, most of existing warehouse material sending systems adopt paper material sheets and manual identification searching methods, so that the work efficiency is low, the error rate is high, the real-time updating performance is poor, the requirements on the operation skills of operators are great, and the operators can effectively carry out processes such as feeding and discharging only by training a skilled person for a long time.

Furthermore, in order to effectively and accurately store the materials in a classified manner, the storage positions of the materials in different types are mostly fixedly arranged, and in order to skillfully and accurately perform process operations such as feeding, discharging and the like, the technical requirements on operators are further improved.

Moreover, due to the characteristics of mass, multiple varieties and the like in the electronic product production industry, more materials are used; if the material management and transfer are performed manually, the searching is difficult and the time is wasted. Therefore, automation of material storage, transmission and transportation is considered, so that the time for searching and acquiring materials is shortened, the logistics speed is improved, and the production efficiency is improved.

At present, there is a storage and transportation device for automatic warehouse in the market, which comprises a warehouse cabinet, a guide rail, an access device, a first transportation module, a second transportation module and a clamping module. The storage device takes out the articles from the storage cabinet, and then the articles are conveyed to the conveying module through the guide rail so as to finish the action of taking the articles. The storage device can also take out the object from the first conveying module, and then carry the object to the storage cabinet through the guide rail so as to finish the storage action. The clamping module clamps a plurality of objects in a certain material box on the first conveying module and places the objects in the certain material box on the second conveying module.

However, in the process of picking materials out, because the gripping module often shifts the moving path of the objects when the gripping module moves the objects, the gripping module cannot accurately place the objects in one or more material boxes on the first conveying module in the plurality of object placement positions of the plurality of material boxes on the second conveying module in sequence, so before the objects are placed in the plurality of object placement positions of the plurality of material boxes on the second conveying module, the positions of the objects must be manually adjusted to accurately place the objects in the plurality of object placement positions of the plurality of material boxes on the second conveying module. Further, after a certain bin of the second transport module is filled with items, the second transport module must move the next bin to the fixed point so that the pick-up module continues to place the remaining items in the certain bin on the first transport module in the next bin of the second transport module. The operation mode has low material picking speed and poor efficiency.

After all the material boxes on the second conveying module are filled with the articles for shipment, the rest articles in the plurality of material boxes on the first conveying module become stock articles. The problem is that the plurality of material boxes on the first conveying module are not filled with the objects, and because the clamping module cannot place the plurality of objects in one of the two material boxes of the first conveying module in the other one, the plurality of material boxes which are not filled with the objects still have a plurality of idle spaces, and the problem that the excessive storage spaces are occupied by the excessive material boxes is also derived, so that the warehouse management efficiency is reduced.

In addition, when the article is used for a long time, two side edges of the article are inevitably warped at a certain position. If the area of the warping portion is larger than the allowable area of the two positioning plates, the width of the warping portion is larger than the distance between the two positioning plates. Unfortunately, if the clamping module clamps the object, the warpage portions of the two sides of the object are just at the bottom end, the warpage portions of the two sides of the object will be clamped on the two positioning plates, and cannot smoothly enter the object placement position between the two positioning plates.

Disclosure of Invention

The invention mainly aims to provide a material picking device for an automatic storage system, which can correct the moving path of objects, accurately place a plurality of objects in one or more material boxes on a first conveying module at a plurality of object placement positions in a plurality of material boxes on a second conveying module in sequence, accelerate the speed of picking materials in shipment and improve the efficiency of picking materials in shipment.

Another object of the present invention is to provide a sorting device for an automatic warehouse system, which can correct the moving path of objects, and accurately place a plurality of objects in one of two material boxes of a first conveying module in a plurality of object placement positions of the other one, so that some material boxes of the first conveying module can be refilled with objects without idle space, and the remaining material boxes of the first conveying module are cleared and removed from the warehouse, thereby reducing the number of material boxes, reducing occupied storage space and improving warehouse management efficiency.

Still another object of the present invention is to provide a material picking device for an automatic warehouse system, even if a certain portion of two sides of an object is severely warped, the angle of the object can be adjusted, so that the portion without warpage or slight warpage can be aligned to the object placement position, and the object can smoothly enter the object placement position, so as to prevent the two sides of the object from being blocked on two positioning plates.

In order to achieve the above-mentioned objects, the present invention provides a material picking device for an automatic warehouse system, comprising: the device comprises a first conveying module, a second conveying module, two first material boxes, two second material boxes, a plurality of positioning plates, a clamping module, an optical reader, a correction module and a control unit, wherein the two first material boxes are arranged on the first conveying module, the two second material boxes are arranged on the second conveying module, the positioning plates are respectively arranged in the two first material boxes and the two second material boxes at intervals, a first identification reflecting part is arranged at the top of each positioning plate, an object is arranged between the two positioning plates of one first material box, the optical reader is arranged on the clamping module, and the control unit is electrically connected with the first conveying module, the second conveying module, the clamping module, the optical reader and the correction module;

The control unit controls the clamping module to move to the upper part of the other first material box or the two locating plates of the other second material box, the optical reader optically reads the first identification reflecting parts of the other first material box or the two locating plates of the one second material box so as to obtain a first optical locating signal and transmit the first optical locating signal to the control unit, the control unit calculates the correct orientation of the object placement position according to the first optical locating signal, then the control unit controls the clamping module to move to the upper part of the two locating plates of the first material box, the optical reader optically reads the first identification reflecting parts of the two locating plates of the first material box so as to obtain a second optical locating signal and transmit the second optical locating signal to the control unit, the control unit precisely controls the clamping module to take out the object according to the calculated correct orientation of the object, then the control unit controls the clamping module to move to the correct orientation of the object placement position, and calculate whether the measured value deviates from the correct orientation of the object placement position of the object placement module to the correct orientation of the object placement module, and the measured value is precisely calculated from the correct orientation of the object placement position of the object placement module to the correct orientation of the object placement position by the control unit.

Preferably, the correction module is disposed between the first conveying module and the second conveying module, is located at one side of the clamping module, and is separated from the clamping module by a distance, the correction module includes a first distance meter and a second distance meter, the first distance meter and the second distance meter are respectively electrically connected to the control unit, a measurement space is provided between the first distance meter and the second distance meter, the first distance meter includes a first distance meter module, the first distance meter includes a first distance meter range, the second distance meter includes a second distance meter module, and the second distance meter module includes a second distance meter range;

When the object is moved to the measurement space, the object is located in the first distance measurement range and the second distance measurement range, the first distance measurement module measures the distance between the object and the first distance measurement instrument to obtain a first measurement value and transmits the first measurement value to the control unit, the second distance measurement module measures the distance between the object and the second distance measurement instrument to obtain a second measurement value and transmits the second measurement value to the control unit, and the control unit calculates the deviation value according to the first measurement value and the second measurement value, wherein the deviation value is one half of the absolute value of the difference value between the first measurement value and the second measurement value.

Preferably, the top of each positioning plate is provided with two first identification reflecting parts, the optical reader optically reads the first identification reflecting parts of two positioning plates of the other first material box or the one second material box, and the control unit calculates the area of the space between the first identification reflecting parts of two positioning plates of the other first material box or the one second material box according to the first optical positioning signal, and accordingly defines an allowable area;

The first distance measuring device is provided with a third distance measuring module, the third distance measuring module is provided with a third distance measuring range, the second distance measuring device is provided with a fourth distance measuring module, the fourth distance measuring module is provided with a fourth distance measuring range, the distance between the first distance measuring module and the third distance measuring module and the distance between the second distance measuring module and the fourth distance measuring module are equal to the distance between the two first identification reflecting parts of the positioning plates, and the distance between the first distance measuring device and the second distance measuring device is equal to the distance between the two positioning plates;

When the object is moved to the measurement space, the bottom end of the object is located in the first ranging range to the fourth ranging range, the third ranging module measures the distance between the object and the first range finder to obtain a third measured value and transmits the third measured value to the control unit, the fourth ranging module measures the distance between the object and the second range finder to obtain a fourth measured value and transmits the fourth measured value to the control unit, and the control unit calculates the actual area of the bottom ends of the two sides of the object according to the first measured value to the fourth measured value;

When the actual area of the bottom ends of the two sides of the object is larger than the allowable area, the control unit controls the clamping module to rotate the object so as to adjust the angle of the object, so that the area of the bottom ends of the two sides of the rotated object is equal to or smaller than the allowable area.

Preferably, the first ranging module is an infrared ranging module or a laser ranging module, the second ranging module is an infrared ranging module or a laser ranging module, the third ranging module is an infrared ranging module or a laser ranging module, and the fourth ranging module is an infrared ranging module or a laser ranging module.

Preferably, the correction module is provided with a second identification reflection part, when the clamping module moves the object to the correction module, the optical reader optically reads the second identification reflection part of the correction module to obtain a third optical positioning signal and transmits the third optical positioning signal to the control unit, and the control unit records that the clamping module does move the object to the correction module according to the third optical positioning signal.

Preferably, the optical reader includes a light emitting portion and a light receiving portion, the light emitting portion emits light when the optical reader performs the optical reading operation, and the second identifying and reflecting portion of the calibration module reflects the light back to the light receiving portion to obtain the third optical positioning signal.

Preferably, the optical reader includes a light emitting portion and a light receiving portion, the light emitting portion and the light receiving portion are respectively electrically connected to the control unit, and the light emitting portion emits light when the optical reader performs the optical reading operation, wherein the first identifying and reflecting portion of the two positioning plates reflects the light back to the light receiving portion, so as to obtain the first optical positioning signal or the second optical positioning signal.

Preferably, a plurality of sensing positioning structures are respectively arranged on the outer sides of the two first material boxes and the two second material boxes, the sensing positioning structures are convex columns or grooves, a third identification reflecting part is respectively arranged on the sensing positioning structures, the optical reader optically reads the first identification reflecting parts of the two positioning plates of the other first material box or the one second material box, and simultaneously the optical reader optically reads the third identification reflecting parts of the sensing positioning structures so as to obtain the first optical positioning signals and transmit the first optical positioning signals to the control unit.

Preferably, the clamping module comprises a base, a mechanical arm and a chuck, wherein the base is arranged between the first conveying module and the second conveying module, a first end of the mechanical arm is rotatably arranged on the base, the mechanical arm is electrically connected with the control unit, the chuck is arranged at a second end of the mechanical arm, is electrically connected with the control unit and can clamp the object, and the optical reader is arranged on the chuck.

Preferably, the first conveying module comprises a first horizontal conveying part and two first material picking parts, the first horizontal conveying part is arranged adjacent to one side of a storage cabinet, is separated by a certain distance, and is electrically connected with the control unit, the two first material picking parts are arranged at one side of the first horizontal conveying part far away from the storage cabinet at intervals and are electrically connected with the control unit, the two first material boxes are conveyed to the first horizontal conveying part from the storage cabinet, and the two first material boxes are respectively translated to the two first material picking parts from the first horizontal conveying part;

The second conveying module comprises a second horizontal conveying part and two second material picking parts, the second horizontal conveying part is arranged on one side, far away from the storage cabinet, of the first conveying module and is electrically connected with the control unit, the two second material picking parts are arranged on one side, close to the first conveying module, of the second horizontal conveying part at intervals and are electrically connected with the control unit, the two second material boxes are conveyed to the second horizontal conveying part from another storage cabinet, and the two second material boxes are respectively translated from the second horizontal conveying part to the two second material picking parts.

The invention has the technical effects that the moving path of the objects can be corrected, and a plurality of objects in two first material boxes on the first conveying module are accurately and orderly placed in the object placement positions of two second material boxes on the second conveying module, so that the speed of delivering and picking materials is increased, and the efficiency of delivering and picking materials is improved.

Moreover, the invention can correct the moving path of the objects, and accurately place a plurality of objects of one first material box of the first conveying module in the object placement position of the other first material box in sequence, so that one first material box can be refilled with the objects without idle space, and the other first material box is cleared and removed from the storage cabinet, thereby reducing the quantity of the material boxes, reducing the occupied storage space and improving the storage management efficiency.

In addition, even if a certain part of the two sides of the object generates serious warpage, the invention can align the object placement position with the part without warpage or slight warpage by adjusting the angle of the object, so that the object can smoothly enter the object placement position to prevent the two sides of the object from being blocked on the two positioning plates.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram illustrating the overall operation of an automatic warehousing system according to a first embodiment of the invention;

FIG. 2 is a perspective view of a first embodiment of the present invention;

FIG. 3 is a block diagram of a first embodiment of the present invention;

FIG. 4 is a perspective view of the material box, positioning plate and object according to the first embodiment of the present invention;

fig. 5 is a perspective view of a positioning plate according to a first embodiment of the present invention;

FIG. 6 is a schematic view of the clamping module moving to the second bin above two of the positioning plates according to the first embodiment of the invention;

FIG. 7 is a block diagram showing a first optical positioning signal transmitted from an optical reader to a control unit according to a first embodiment of the present invention;

FIG. 8 is a schematic view of the clamping module moving to the upper side of two of the positioning plates of the first material tank according to the first embodiment of the present invention;

FIG. 9 is a block diagram showing a first embodiment of an optical reader transmitting a second optical positioning signal to a control unit;

FIG. 10 is a schematic view of a clamping module according to a first embodiment of the present invention;

FIG. 11 is a schematic diagram of the gripping module moving an object to the calibration module according to the first embodiment of the present invention;

FIG. 12 is a block diagram showing a first embodiment of an optical reader transmitting a third optical positioning signal to a control unit;

FIG. 13 is a schematic diagram of an object offset according to a first embodiment of the present invention;

FIG. 14 is a block diagram of a first range finder and a second range finder according to a first embodiment of the present invention transmitting first measurement values and second measurement values to a control unit, respectively;

FIG. 15 is a schematic view of the gripping module according to the first embodiment of the present invention for moving an object to a position above the object placement position through a correct moving path;

FIG. 16 is a schematic view of the gripping module of the first embodiment of the present invention accurately placing an object at the object placement site;

FIG. 17 is a schematic view of the moving path of the object in all operation modes according to the first embodiment of the present invention;

Fig. 18 is a perspective view of a second embodiment of the present invention;

FIG. 19 is a block diagram of a calibration module and a control unit according to a second embodiment of the present invention;

FIG. 20 is a schematic diagram of the allowable area between two positioning plates according to the second embodiment of the present invention;

FIG. 21 is a top view of first through fourth ranging modules measuring distances between an object and first and second rangefinders according to a second embodiment of the present invention;

FIG. 22 is a side view of first through fourth ranging modules measuring the distance of an object from a first rangefinder and a second rangefinder in accordance with a second embodiment of the invention;

FIG. 23 is a schematic view of the object of the present invention lying in a first material box;

FIG. 24 is a schematic view of a part of the object of the present invention in a cylindrical or rectangular box;

Fig. 25 is a perspective view of a third embodiment of the present invention;

FIG. 26 is a schematic diagram illustrating the overall operation of another automated warehouse system according to a fourth embodiment of the present invention;

FIG. 27 is a perspective view of a gripping module according to a fourth embodiment of the present invention;

fig. 28 is a perspective view of a fifth embodiment of the present invention;

fig. 29 is a perspective view of a storage structure according to a fourth embodiment of the present invention.

Wherein, in fig. 1-29:

1. 1A, a material picking device for an automatic storage system; 10. 10A first transport module; 11. 11A first horizontal conveyance section; 12. 12A, 13A first pick-up section; 20. 20A second transport module; 21. 21A second horizontal conveyance section; 22. a second picking section 23; 301 sensing a positioning structure; 302 a third identification reflection portion; 31. 32a first material tank; 33. 34a second material box; 40. 40A locating plate; 41. 41A first identification reflection section; 42A allowable area; 50. 50A, 50B clamping modules; 51. 51B, 51C base; 511. 511B base; 511C body; 512. 513 elongate columns; 512B slide rail; 514. 515 cross posts; 516. 516C fixing plate; 516B slide; 517C a mobile device; 518C standard sensor; 52. 52A robotic arm; 521A screw; 53. a 53A collet; 60. a 60A optical reader; 61 a light emitting section; 62 a light receiving section; 63 a first optical positioning signal; 64 a second optical positioning signal; 65 a third optical positioning signal; a 70 correction module; 71. 71A, 71B first rangefinder; 711 a first ranging module; 712 first measurement; 713 a third ranging module; 714 a third measurement; 72. 72A, 72B second rangefinder; 721 a second ranging module; 722 a second measurement; 723 a fourth ranging module; 724 fourth measurement; 73 measuring space; 80 a control unit; 100. 100A automatic warehousing system; 101. 101A storage cabinet; 1011. 1011A material box placement area; 1012, moving the space; 102, a guide rail; 103 accessing the device; 1031 a slide; 1032 vertical rods; 1033 handling the assembly; 10331 a vertical movement portion; 10332 a load-bearing platform; 10333 a horizontal movement section; 104. 104A material box; 105. 105A, 105B articles; 1051A, 1052A sides; 200 belt bodies; arrows a to G.

Detailed Description

Embodiments of the invention will be described in more detail below with reference to the drawings and reference numerals so that those skilled in the art will be able to practice the invention after having reviewed the description.

Referring to fig. 1, fig. 1 is a schematic diagram illustrating the overall operation of an automated warehouse system 100 according to the present invention. The present invention provides a material picking device 1 for an automatic warehouse system, which is a part of the automatic warehouse system 100. Specifically, the automated warehouse system 100 includes a plurality of warehouse cabinets 101, a plurality of guide rails 102, a plurality of storage devices 103, and a plurality of sorting devices 1 for the automated warehouse system.

The warehouse 101 is disposed in a warehouse space at intervals, and includes a plurality of material box placement areas 1011. The plurality of material box placement areas 1011 are used for storing the plurality of material boxes 104, and each material box placement area 1011 can be used for arranging a plurality of material boxes 104 in a row. A moving space 1012 is provided between two adjacent storage cabinets 101. In other words, the storage cabinet 101 is a vertical cabinet.

The guide rails 102 are respectively provided on the ground of the moving space 1012, surround the outer circumferential side of the storage cabinet 101, and are connected to each other to form a guide system.

Each access device 103 comprises a sliding base 1031, a vertical rod 1032 and a carrying assembly 1033, wherein the sliding base 1031 is slidably disposed on one of the guide rails 102, and the vertical rod 1032 is disposed on top of the sliding base 1031. The carrying assembly 1033 includes a power portion (not shown), two vertical moving portions 10331, a carrying platform 10332 and a horizontal moving portion 10333, wherein the power portion is disposed on the slide base 1031, the two vertical moving portions 10331 are disposed on one side of the vertical rod 1032 and electrically connected to the power portion, the carrying platform 10332 is disposed on the vertical moving portion 10331, and the horizontal moving portion 10333 is disposed on the carrying platform 10332 and electrically connected to the power portion.

The reclaiming process of the automated warehouse system 100 will be briefly described below. First, the carriage 1031 moves along one of the rails 102 with the pole 1032 and the carrier assembly 1033 and stays in a particular position. Next, the power unit drives the two vertical moving units 10331 to lift up along the vertical bars 1032 with the carrying platform 10332 to a certain layer of the material box placement area 1011 of one of the storage cabinets 101. Then, the power unit drives the horizontal moving unit 10333 to translate from the bearing platform 10332 to the bottom of a material box 104 in the direction of the material box placing area 1011 on a certain floor. Then, the power unit drives the horizontal movement unit 10333 to translate toward the carrying platform 10332 to the initial position. Further, the power unit drives the vertical movement unit 10331 to move down along the vertical bars 1032 with the carrying platform 10332. Further, the carriage 1031 moves along one of the rails 102 with the pole 1032 and the carrier assembly 1033 to one side of the pick device 1 for the automated warehouse system. Finally, the power part drives the horizontal moving part 10333 to translate from the bearing platform 10332 to the material picking device 1 for the automatic warehouse system, so as to convey the material box 104 to the material picking device 1 for one of the automatic warehouse systems.

The material taking process of the automatic warehouse system 100 is the material storing process of the automatic warehouse system 100 in reverse.

Referring to fig. 1,2 and 3, there are shown an overall operation schematic diagram, a perspective view and a block diagram of an automatic warehouse system 100 according to the present invention. The material picking device 1 for the automatic warehouse system comprises a first conveying module 10, a second conveying module 20, two first material boxes 31 and 32, two second material boxes 33 and 34, a plurality of positioning plates 40, a clamping module 50, an optical reader 60, a correction module 70 and a control unit 80.

The first conveying module 10 is adjacently arranged on one side of one storage cabinet 101, is separated by a distance and is electrically connected with the control unit 80; the two first material tanks 31, 32 are provided in the first transport module 10. More specifically, the first conveying module 10 includes a first horizontal conveying portion 11 and two first sorting portions 12 and 13. The first horizontal conveying part 11 is adjacent to one side of one of the storage cabinets 101, is separated by a distance, and is electrically connected to the control unit 80. The first horizontal conveying parts 11 of the first conveying modules 10 of the sorting device 1 for the automatic warehouse system are connected end to form a first conveying system. The two first picking parts 12, 13 are disposed at intervals on one side of the first horizontal conveying part 11 far away from one of the storage cabinets 101, and are electrically connected with the control unit 80. The storage and taking device 103 takes out two material boxes from the storage cabinet 101 and conveys the two material boxes to the first horizontal conveying part 11, and the two material boxes translate from the first horizontal conveying part 11 to the two first material picking parts 12 and 13 respectively. Thus, two material tanks are defined as two first material tanks 31, 32.

The second conveying module 20 is arranged at one side of the first conveying module 10 away from one of the storage cabinets 101, and is electrically connected with the control unit 80; two second material boxes 33, 34 are provided to the second conveyor module 20. More specifically, the second conveying module 20 includes a second horizontal conveying portion 21 and two second sorting portions 22, 23. The second horizontal conveying portion 21 is disposed on a side of the first conveying module 10 away from one of the storage cabinets 101, and is electrically connected to the control unit 80. The second horizontal conveying parts 21 of the second conveying modules 20 of the sorting device 1 for the automatic warehouse system are connected end to form a second conveying system. The two second picking parts 22, 23 are arranged at intervals on one side of the second horizontal conveying part 21 close to the first conveying module 10 and are electrically connected with the control unit 80. The storage and taking device 103 takes out the other two material boxes from the storage cabinet 101 to be conveyed to the second horizontal conveying part 21, and the other two material boxes are respectively translated from the second horizontal conveying part 21 to the two second material picking parts 22 and 23. Thus, two other material tanks are defined as two second material tanks 33, 34.

The first horizontal conveyance module 11 and the second horizontal conveyance module 21 may each be a conveyor belt, a roller bar, or a combination thereof.

Referring to fig. 4 and 5, fig. 4 is a perspective view of the material box, the positioning plate 40 and the object 105 according to the present invention, and fig. 5 is a perspective view of the positioning plate 40 according to the present invention. The positioning plates 40 are respectively arranged in the two first material boxes 31 and 32 and the two second material boxes 33 and 34 at intervals, and a first identification reflecting part 41 is arranged at the top of each positioning plate 40. More specifically, the first identifying and reflecting portion 41 of each positioning plate 40 is a white coating, and has good light reflection effect; however, other materials having good light reflection effects can be used as the first identification reflection portion 41 of each positioning plate 40, which is described above. An object 105 is disposed between the two positioning plates 40 of a first material box 31, 32. The object 105 shown in fig. 4 and 5 is an SMT-specific tray, but not limited thereto, as described earlier.

As shown in fig. 2 and 3, the gripping module 50 includes a base 51, a robot arm 52, and a chuck 53. The base 51 is provided between the first conveyor module 10 and the second conveyor module 20. A first end of the mechanical arm 52 is rotatably disposed on the base 51, and the mechanical arm 52 is electrically connected to the control unit 80. The chuck 53 is disposed at a second end of the robot 52, electrically connected to the control unit 80, and capable of gripping the object 105. In the first embodiment, the base 51 comprises a base 511, two elongated posts 512, 513, two transverse posts 514, 515 and a fixing plate 516. The base 511 is arranged on a ground, the two long columns 512 and 513 are fixed on the top surface of the base 511, the two transverse columns 514 and 515 are arranged between the two long columns 512 and 513, and the fixing plate 516 is arranged on the top surfaces of the two long columns 512 and 513; the robot arm 52 is rotatably disposed on the stationary plate 516. In other words, the entire base 51 is not movable, so the robot arm 52 provided on the base 51 can rotate only in situ.

As shown in fig. 2 and 3, the optical reader 60 is disposed on the chuck 53 and electrically connected to the control unit 80. Preferably, the optical reader 60 includes a light emitting portion 61 and a light receiving portion 62, and the light emitting portion 61 and the light receiving portion 62 are electrically connected to the control unit 80 respectively.

As shown in fig. 2 and 3, the correction module 70 is disposed between the first conveying module 10 and the second conveying module 20, located at one side of the gripping module 50, and spaced apart from the gripping module 50. More specifically, the calibration module 70 includes a first distance meter 71 and a second distance meter 72, the first distance meter 71 and the second distance meter 72 are electrically connected to the control unit 80, respectively, and a measurement space 73 is provided between the first distance meter 71 and the second distance meter 72. The first range finder 71 comprises a first range finder module 711, the first range finder module 711 having a first range finder; the second range finder 72 includes a second range finder module 721, and the second range finder module 721 has a second range finder. The first ranging module 711 is an infrared ranging module or a laser ranging module, and the second ranging module 721 is an infrared ranging module or a laser ranging module. Preferably, the calibration module 70 is provided with a second identification reflection portion (not shown). More specifically, the second identifying reflective portion of the calibration module 70 is a white coating, which has good light reflection effect; however, other materials with good light reflection effect can be used as the second identification reflection part of the calibration module 70, which is described above. In the present embodiment, the first distance meter 71 and the second distance meter 72 are respectively disposed on top of the two cross posts 514, 515 of the base 51.

Three modes of operation of the present invention will be described in detail below with reference to the drawings.

First mode of operation: as shown in fig. 6 and 7, the control unit 80 controls the mechanical arm 52 to move to the upper side of the two positioning plates 40 of one of the second material boxes 33, and the optical reader 60 optically reads the first identification reflective portion 41 of the two positioning plates 40 of one of the second material boxes 33 to obtain a first optical positioning signal 63 and transmit the first optical positioning signal 63 to the control unit 80. The control unit 80 calculates the correct orientation of the object placement location according to the first optical positioning signal 63. Next, as shown in fig. 8 and 9, the control unit 80 controls the mechanical arm 52 to move to a position above one of the two positioning plates 40 of the first material box 31 (the moving path thereof is shown by arrow a in fig. 17), and the optical reader 60 optically reads the first identification reflective portion 41 of one of the two positioning plates 40 of the first material box 31 to obtain a second optical positioning signal 64 and transmits the second optical positioning signal 64 to the control unit 80. The control unit 80 calculates the correct orientation of the object according to the second optical positioning signal 64. As shown in fig. 10, the control unit 80 precisely controls the robot arm 52 to align the object 105 according to the calculated correct orientation of the object, so that the collet 53 precisely extracts the object 105. As shown in fig. 11 and 12, the control unit 80 controls the robot arm 52 to move toward the calibration module 70 (the moving path is shown by arrow B in fig. 17), so that the chuck 53 moves the object 105 into the measurement space 73, the optical reader 60 optically reads the second identification reflective portion of the calibration module 70 to obtain a third optical positioning signal 65 and sends the third optical positioning signal 65 to the control unit 80, and the control unit 80 records that the clamping module 50 actually moves the object 105 to the calibration module 70 according to the third optical positioning signal 65. When the object 105 is moved to the measurement space 73, the calibration module 70 measures whether the object 105 deviates from the correct movement path to obtain a measurement value and transmits the measurement value to the control unit 80, and the control unit 80 calculates a deviation value between the object 105 and the correct movement path according to the measurement value. More specifically, as shown in fig. 13 and 14, when the object 105 is moved to the measurement space 73, the bottom end of the object 105 is located in the first ranging range and the second ranging range, the first ranging module 711 measures the distance between the object 105 and the first rangefinder 71 to obtain a first measured value 712 and sends the first measured value 712 to the control unit 80, and the second ranging module 721 measures the distance between the object 105 and the second rangefinder 72 to obtain a second measured value 722 and sends the second measured value 722 to the control unit 80. The control unit 80 calculates a deviation value according to the first measurement value 712 and the second measurement value 722, wherein the deviation value is one half of the absolute value of the difference value between the first measurement value 712 and the second measurement value 722. As shown in fig. 15 and 16, the control unit 80 controls the robot arm 52 to slightly adjust the extending distance according to the calculated deviation value and the correct orientation of the object placement position, so that the object 105 on the chuck 53 can return to the correct moving path, and then moves from the correction module 70 to above the object placement position via the correct moving path (the moving path is shown by arrow C in fig. 17) and places the object 105 precisely at the object placement position.

Second mode of operation: the control unit 80 controls the robot arm 52 to move to the upper side of the two positioning plates 40 of the other second material box 34, and the optical reader 60 optically reads the first identification reflective portion 41 of the two positioning plates 40 of the other second material box 34 to obtain the first optical positioning signal 63 and transmit the first optical positioning signal 63 to the control unit 80. The subsequent actions are similar to the first mode of operation, with the difference that: first, the control unit 80 controls the robot arm 52 to move to one of the first material boxes 31, wherein the moving paths above the two positioning plates 40 are slightly different (the moving paths are shown by arrow D in fig. 17); secondly, the object is placed between two positioning plates 40 of the other second material box 34, so that the correct moving path is longer than the first operation mode (the moving path is shown by arrows C and D in fig. 17).

The invention can correct the moving path of the object 105 through the first operation mode and the second operation mode, and accurately place a plurality of objects 105 in the two first material boxes 31 and 32 on the first conveying module 10 in the object placement positions of the two second material boxes 33 and 34 on the second conveying module 20 in sequence, thereby accelerating the speed of picking out materials and improving the efficiency of picking out materials.

Third mode of operation: the control unit 80 controls the robot arm 52 to move to the upper side of the two positioning plates 40 of the other first material box 32, and the optical reader 60 optically reads the first identification reflective portion 41 of the two positioning plates 40 of the other first material box 32 to obtain the first optical positioning signal 63 and transmits the first optical positioning signal 63 to the control unit 80. The subsequent actions are similar to the first mode of operation, with the difference that: first, the control unit 80 controls the robot arm 52 to move to one of the first material boxes 31, wherein the moving paths above the two positioning plates 40 are slightly different (the moving paths are shown by arrow F in fig. 17); secondly, the object is placed between two positioning plates 40 of the other first material box 32, so that the correct moving path is completely different from the first operation mode and the second operation mode (the moving path is shown by arrow G in fig. 17).

The present invention can correct the moving path of the objects 105 through the third operation mode, and accurately place the plurality of objects 105 of one first material box 31 of the first conveying module 10 in the object placement position of the other first material box 32 in sequence, so that one first material box 31 can be refilled with objects 105 without idle space, and the other first material box 32 is cleared to be removed from the warehouse 101, thereby reducing the number of material boxes, reducing the occupied storage space and improving the warehouse management efficiency.

It should be noted that, when the optical reader 60 performs the optical reading operation, the light emitting portion 61 emits light, wherein the first identifying reflective portion 41 of the two positioning plates 40 or the second identifying reflective portion of the calibration module 70 reflects the light back to the light receiving portion 62 to obtain the first optical positioning signal 63, the second optical positioning signal 64 or the third optical positioning signal 65. Preferably, the light emitting part 61 is a flash lamp, and only when the optical reading operation is performed, the light can be emitted for a short time to achieve the optical reading effect, so that the power consumption is reduced.

Preferably, as shown in fig. 4, a plurality of sensing positioning structures 301 are respectively disposed outside the two first material boxes 31, 32 and the two second material boxes 33, 34, the sensing positioning structures 301 are convex columns or grooves, and a third identification reflecting portion 302 is respectively disposed on the sensing positioning structures 301.

In the first operation mode, as shown in fig. 6 and 7, the control unit 80 controls the robot arm 52 to move to the upper side of the two positioning plates 40 of one of the second material boxes 33, the optical reader 60 optically reads the first identification reflective portion 41 of the two positioning plates 40 of one of the second material boxes 33, and the optical reader 60 also optically reads the third identification reflective portion 302 of the sensing positioning structure 301 of one of the second material boxes 33 to obtain the first optical positioning signal 63 and transmit the first optical positioning signal 63 to the control unit 80. In other words, the first optical positioning signal 63 includes the reading result of the optical reader 60 optically reading the first identification reflective portion 41 of the two positioning plates 40 of one of the second material boxes 33 and the third identification reflective portion 302 of the sensing positioning structure 301 of one of the second material boxes 33. Therefore, the control unit 80 can more precisely calculate the correct orientation of the object placement position according to the first optical positioning signal 63. Next, as shown in fig. 8 and 9, the control unit 80 controls the mechanical arm 52 to move to a position above two positioning plates 40 of one of the first material boxes 31 (the moving path is shown by arrow a in fig. 17), the optical reader 60 optically reads the first identification reflective portion 41 of two positioning plates 40 of one of the first material boxes 31, and the optical reader 60 also optically reads the third identification reflective portion 302 of the sensing positioning structure 301 of one of the first material boxes 31 to obtain the second optical positioning signal 64 and transmit to the control unit 80. In other words, the second optical positioning signal 64 includes the optical reader 60 optically reading the reading result of the first identification reflective portion 41 of the two positioning plates 40 of one of the first material boxes 31 and the third identification reflective portion 302 of the sensing positioning structure 301 of one of the first material boxes 31. The control unit 80 can more precisely calculate the correct orientation of the object according to the second optical positioning signal 64.

In the second operation mode, the control unit 80 controls the robot arm 52 to move to the upper side of the two positioning plates 40 of the other second material box 34, the optical reader 60 optically reads the first identification reflective portion 41 of the two positioning plates 40 of the other second material box 34, and the optical reader 60 optically reads the third identification reflective portion 302 of the sensing positioning structure 301 of the other second material box 34 to obtain the first optical positioning signal 63 and transmit the first optical positioning signal 63 to the control unit 80. In other words, the first optical positioning signal 63 includes the reading result of the optical reader 60 optically reading the first identification reflective portion 41 of the two positioning plates 40 of the other second material box 34 and the third identification reflective portion 302 of the sensing positioning structure 301 of the other second material box 34. Therefore, the control unit 80 can more precisely calculate the correct orientation of the object placement position according to the first optical positioning signal 63.

In the third operation mode, the control unit 80 controls the robot arm 52 to move to the upper side of the two positioning plates 40 of the other first material box 32, the optical reader 60 optically reads the first identification reflective portion 41 of the two positioning plates 40 of the other first material box 32, and the optical reader 60 optically reads the third identification reflective portion 302 of the sensing positioning structure 301 of the other first material box 32 to obtain the first optical positioning signal 63 and transmit to the control unit 80. In other words, the first optical positioning signal 63 includes the optical reader 60 optically reading the reading result of the first identification reflective portion 41 of the two positioning plates 40 of the other first material box 32 and the third identification reflective portion 302 of the sensing positioning structure 301 of the other first material box 32. Therefore, the control unit 80 can more precisely calculate the correct orientation of the object placement position according to the first optical positioning signal 63.

Preferably, the control unit 80 is capable of controlling the robot 52 to correct any five coordinates of the X-axis, Y-axis, Z-axis, a-axis, B-axis, and C-axis of the object 105 (i.e., five-axis correction), thereby more finely adjusting the angle of the object 105 such that the area of the bottom ends of the two sides 1051A, 1052A of the rotated object 105A is completely equal to the allowable area 42A.

As shown in fig. 18, 19 and 20, in the second embodiment, two first identifying and reflecting portions 41A are disposed on top of each positioning plate 40A, the optical reader 60A optically reads the first identifying and reflecting portions 41A of the other first material box 32 or one of the second material boxes 33, 34, the control unit 80 calculates the area of the space between the first identifying and reflecting portions 41A of the other first material box 32 or one of the second material boxes 33, 34 according to the first optical positioning signal 63, and defines a tolerable area 42A accordingly; the first distance meter 71A has a third distance measuring module 713, the third distance measuring module 713 having a third distance measuring range; the second rangefinder 72A has a fourth range module 723, and the fourth range module 723 has a fourth range. The distance between the first ranging module 711 and the third ranging module 713 and the distance between the second ranging module 721 and the fourth ranging module 723 are equal to the distance between the two first identification reflective portions 41A of each positioning plate 40A, and the distance between the first ranging instrument 71A and the second ranging instrument 72A is equal to the distance between two positioning plates 40A. The third ranging module 713 is an infrared ranging module or a laser ranging module, and the fourth ranging module 723 is an infrared ranging module or a laser ranging module.

As shown in fig. 21 and 22, when the object 105A is moved to the measurement space 73, the bottom end of the object 105A is located in the first to fourth ranging ranges, the third ranging module 713 measures the distance between the object 105A and the first rangefinder 71A to obtain a third measured value 714 and transmits the third measured value 714 to the control unit 80, the fourth ranging module 723 measures the distance between the object 105A and the second rangefinder 72A to obtain a fourth measured value 724 and transmits the fourth measured value 724 to the control unit 80, and the control unit 80 calculates the actual area of the bottom ends of the two sides 1051A, 1052A of the object 105A according to the first to fourth measured values 712, 722, 714, 724. When the actual area of the bottom ends of the two sides 1051A, 1052A of the object 105A is larger than the allowable area 42A, the bottom ends of the two sides 1051A, 1052A of the object 105A are severely warped, so that the bottom width of the two sides 1051A, 1052A of the object 105A is larger than the spacing distance of the two positioning plates 40A of the other first material box 32 or one second material box 33, 34. The control unit 80 controls the robot arm 52 to rotate the object 105A, thereby adjusting the angle of the object 105 such that the area of the bottom ends of the two sides 1051A, 1052A of the rotated object 105A is equal to or smaller than the allowable area 42A. At this time, the width of the bottom ends of the two sides 1051A, 1052A of the rotated object 105 is equal to or smaller than the spacing distance of the two positioning plates 40A of the other first material box 32 or one second material box 33, 34. Even if a certain portion of the two sides 1051A, 1052A of the object 105 is severely warped, the present invention can align the object placement position with the portion having no warpage or little warpage by adjusting the angle of the object 105, so that the object 105 can smoothly enter the object placement position to prevent the two sides 1051A, 1052A of the object 105A from being stuck on the two positioning plates 40A.

In addition, as shown in fig. 23, when the object 105 is an SMT-specific tray, the object 105 may also be laid flat in the first material box 31.

Also, as shown in fig. 24, in the first material box 31, one row of objects 105 is a material tray dedicated to SMT, and another row of objects 105B may be a cylindrical, rectangular or other box.

Referring to fig. 25, fig. 25 is a perspective view of a third embodiment of the present invention. The third embodiment of the present invention is different from the first embodiment in the structure: the gripping module 50A uses a conventional four-axis robot arm 52A; a screw 521A rotatably disposed at the second end of the four-axis robot arm 52A and penetrating the top and bottom thereof and electrically connected to the control unit 80; collet 53A is disposed at the bottom end of screw 521A; the first and second rangefinders 71B and 72B are fixed to the sides of the second end of the four-axis robot arm 52A.

The difference between the three operation modes of the third embodiment and the three operation modes of the first embodiment is that: control unit 80 controls downward movement of screw 521A such that collet 53A precisely retrieves article 105; the control unit 80 controls the screw 521A to move upward so that the collet 53A moves the object 105 into the measurement space. As for the rest of the three operation modes of the third embodiment are the same as those of the first embodiment, and will not be described here again. Accordingly, the third embodiment achieves all the effects of the first embodiment.

Referring to fig. 26 and 27, fig. 26 is a schematic diagram illustrating the overall operation of another automatic warehouse system according to the fourth embodiment of the present invention, and fig. 27 is a perspective view of a pick module 50B according to the fourth embodiment of the present invention. Another automated warehouse system 100A includes only a plurality of warehouse cabinets 101A and a plurality of sorting devices 1A for the automated warehouse system, and does not include the guide rail 102 and the access device 103. The storage cabinet 101A is a box-type cabinet body and comprises a layer of material box placement area 1011A. The area of the layer bin placement area 1011A is relatively large, and a plurality of bins 104A may be arranged in a plurality of rows, each row having a plurality of bins 104A.

The overall structure of the material pickup device 1A for an automatic warehouse system of the fourth embodiment and the overall structure of the material pickup device 1 for an automatic warehouse system of the first embodiment have at least the following three differences.

First, the first horizontal conveying sections 11A of the first conveying modules 10A of the fourth embodiment are gapped and not connected to each other, so that a first conveying system is not generated. Thus, the first horizontal conveyor portion 11A functions to convey two bins 104A directly from the bin 101A to the two first picking portions 12A, 13A. That is, the first horizontal conveying portion 11A of the fourth embodiment is identical to the access device 103 of the automatic warehouse system 100 of the first embodiment, or is a storage structure with a recognition transmitting portion D on a partition, as shown in fig. 29.

Second, the second conveying module 20A of the fourth embodiment does not include a second culling section. Therefore, in addition to maintaining the end-to-end connection of the second horizontal conveying portions 21A of the second conveying modules 20A to form the second conveying system, when the second horizontal conveying portions 21A convey the two material boxes 104A to the side of the gripping module 50B, the second horizontal conveying portions 21A immediately stop operation, so that the gripping module 50B accurately places the plurality of objects 105 in the two first material boxes 31, 32 on the first conveying module 10A at the object placement positions of the two second material boxes 33, 34 on the second conveying module 20A. After the above-described operation is completed, the second horizontal conveyance unit 21A can be restarted. The second horizontal conveying section 21A of the fourth embodiment is a roller bar.

Further, the overall structure of the base 51B of the fourth embodiment is greatly different from that of the base 51 of the first embodiment. More specifically, the base 51B of the fourth embodiment includes a plurality of bases 511B, a sliding rail 517B and a sliding seat 518B. The base 511B is disposed on a floor. The sliding rail 517B is disposed on the base 511B. The sliding seat 518B is slidably disposed on the sliding rail 517B, and the four-axis robot arm 52A is rotatably disposed on the sliding seat 518B. The four-axis robot 52A is horizontally movable along the slide rails 517B by the slide 518B.

Referring to fig. 28, fig. 28 is a perspective view of a fifth embodiment of the present invention. The base 51C of the fifth embodiment is significantly different in structure from the base 51 of the first embodiment. More specifically, the base 51C of the fifth embodiment includes a body 511C, a fixed plate 516C, a moving device 517C and a standard sensor 518C. The fixing plate 516C is disposed on top of the vehicle body 511C, and the four-axis robot arm 52A is disposed on the fixing plate 516C. The moving device 517C is provided at the bottom of the vehicle body 511C. The standard sensor 518C is disposed on one side of the vehicle body 511C, extends to the bottom of the vehicle body 511C, and is electrically connected to the control unit 80. The standard sensor 518C is capable of sensing a belt 200 on the ground and obtaining a sensing result. The standard sensor 518C returns the sensing result to the control unit 80, and the control unit 80 controls the movement device 517C to operate by the sensing result so that the vehicle body 511C can move along the extending direction of the belt body 200. Preferably, the belt body 200 is a magnetic strip or a colored strip, the standard sensor 518C is a magnetic strip standard sensor 518C or a color standard sensor 518C, and the moving device 517C is a track or a roller.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A material picking device for an automatic warehouse system, comprising: the device comprises a first conveying module, a second conveying module, two first material boxes, two second material boxes, a plurality of positioning plates, a clamping module, an optical reader, a correction module and a control unit, wherein the two first material boxes are arranged on the first conveying module, the two second material boxes are arranged on the second conveying module, the positioning plates are respectively arranged in the two first material boxes and the two second material boxes at intervals, a first identification reflecting part is arranged at the top of each positioning plate, an object is arranged between the two positioning plates of one first material box, the optical reader is arranged on the clamping module, and the control unit is electrically connected with the first conveying module, the second conveying module, the clamping module, the optical reader and the correction module;

2. The material picking device for the automatic warehouse system according to claim 1, wherein the correction module is disposed between the first conveying module and the second conveying module, is located at one side of the clamping module, and is separated from the clamping module by a distance, the correction module comprises a first distance meter and a second distance meter, the first distance meter and the second distance meter are respectively electrically connected to the control unit, a measurement space is provided between the first distance meter and the second distance meter, the first distance meter comprises a first distance meter module, the first distance meter comprises a first distance meter range, the second distance meter comprises a second distance meter module, and the second distance meter comprises a second distance meter range;

3. The material picking device for automatic warehouse system as claimed in claim 2, wherein the top of each positioning plate is provided with two first identification reflecting parts, the optical reader optically reads the first identification reflecting parts of two positioning plates of the other first material box or the one second material box, the control unit calculates the area of the space between the first identification reflecting parts of two positioning plates of the other first material box or the one second material box according to the first optical positioning signal, and defines an allowable area accordingly;

4. The material picking device for the automatic warehouse system according to claim 3, wherein the first ranging module is an infrared ranging module or a laser ranging module, the second ranging module is an infrared ranging module or a laser ranging module, the third ranging module is an infrared ranging module or a laser ranging module, and the fourth ranging module is an infrared ranging module or a laser ranging module.

5. The sorting device for the automatic warehouse system according to claim 1, wherein the calibration module is provided with a second identification reflecting portion, and when the clamping module moves the object to the calibration module, the optical reader optically reads the second identification reflecting portion of the calibration module to obtain a third optical positioning signal and transmits the third optical positioning signal to the control unit, and the control unit records that the clamping module does move the object to the calibration module according to the third optical positioning signal.

6. The device of claim 5, wherein the optical reader comprises a light emitting portion and a light receiving portion, wherein the light emitting portion emits light when the optical reader performs the optical reading operation, and the second identifying and reflecting portion of the calibration module reflects the light back to the light receiving portion to obtain the third optical positioning signal.

7. The material picking device for automatic warehouse system as claimed in claim 1, wherein the optical reader comprises a light emitting part and a light receiving part, the light emitting part and the light receiving part are respectively electrically connected with the control unit, the light emitting part emits light when the optical reader performs the action of optical reading, wherein the first identification reflecting part of the two positioning plates reflects the light back to the light receiving part to obtain the first optical positioning signal or the second optical positioning signal.

8. The material picking device for automatic warehouse system according to claim 1, wherein a plurality of sensing location structures are respectively arranged on the outer sides of the two first material boxes and the two second material boxes, the sensing location structures are convex columns or grooves, a third identification reflection part is respectively arranged on the sensing location structures, the optical reader optically reads the first identification reflection part of the two positioning plates of the other first material box or the one second material box, and simultaneously the optical reader optically reads the third identification reflection part of the sensing location structures to obtain the first optical positioning signal and transmit the first optical positioning signal to the control unit.

9. The device of claim 1, wherein the clamping module comprises a base, a mechanical arm and a chuck, the base is disposed between the first conveying module and the second conveying module, a first end of the mechanical arm is rotatably disposed on the base, the mechanical arm is electrically connected to the control unit, the chuck is disposed at a second end of the mechanical arm, is electrically connected to the control unit, and is capable of clamping the object, and the optical reader is disposed on the chuck.

10. The material picking device for the automatic storage system according to claim 1, wherein the first conveying module comprises a first horizontal conveying part and two first material picking parts, the first horizontal conveying part is used for being adjacently arranged on one side of a storage cabinet, a distance is reserved between the first horizontal conveying part and the first material picking parts, the first material picking parts are electrically connected with the control unit, the second material picking parts are arranged on one side of the first horizontal conveying part far away from the storage cabinet and are electrically connected with the control unit, the two first material boxes are conveyed to the first horizontal conveying part from the storage cabinet, and the two first material boxes are respectively translated to the two first material picking parts from the first horizontal conveying part;