TW202043114A - Picking device for automated storage and retrieval system capable of correcting the moving path of objects - Google Patents

Picking device for automated storage and retrieval system capable of correcting the moving path of objects Download PDF

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TW202043114A
TW202043114A TW108118647A TW108118647A TW202043114A TW 202043114 A TW202043114 A TW 202043114A TW 108118647 A TW108118647 A TW 108118647A TW 108118647 A TW108118647 A TW 108118647A TW 202043114 A TW202043114 A TW 202043114A
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module
control unit
distance
conveying
optical
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TWI682885B (en
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張志陸
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張志陸
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Abstract

A picking device for an automated storage and retrieval system is capable of correcting the moving path of objects, and accurately and sequentially place a plurality of objects in the two first material bins on the first conveying module to the two second material bins on the second conveying module, so as to increase the speed of shipment picking and improve the efficiency of shipment picking. In the present invention, one of the first material bins can be refilled with objects without having spare space, and the other first material bin is cleared and removed from the storage cabinet, thereby reducing the number of material bins and the occupied storage space. With the present invention, the angle of the object can be adjusted to make the portion of the object that has no warpage or slight warpage aligned with the object placing position, so that the object can be smoothly placed into the object placing position thereby preventing the two sides of the object from being stuck by two positioning plates.

Description

自動倉儲系統用的揀料裝置Material picking device for automatic storage system

本發明係有關一種揀料裝置，尤其是一種用以校正物件的移動路徑的自動倉儲系統用的揀料裝置。The invention relates to a picking device, in particular to a picking device used in an automatic storage system for correcting the movement path of an object.

倉儲管理對於許多行業來說相當重要。特別是對於物料種類繁多和物料存放量龐大的企業來說，如果能夠妥善地將物料分門別類，並且放置在適當的位置，可將倉儲空間發揮至最大效益，減少查找時間。Warehouse management is very important for many industries. Especially for companies with a large variety of materials and a large amount of material storage, if the materials can be properly classified and placed in an appropriate location, the storage space can be maximized and the search time can be reduced.

以表面黏著技術(又稱為SMT，Surface Mount Technology)為例，表面黏著技術是電子製造領域的基礎性產業，倉儲管理為表面黏著技術的製程中相當重要的一部分，主要包括入料、出料、退料、補料等步驟。Take surface mount technology (also known as SMT, Surface Mount Technology) as an example. Surface mount technology is a basic industry in the field of electronics manufacturing. Warehouse management is a very important part of the process of surface mount technology, including feeding and discharging. , Return, replenishment and other steps.

然而，現有的倉儲發料系統大多採用紙質料單和人工辨認查找的方法，工作效率低，錯誤率高，即時更新性差，對作業人員的作業技能要求很多，需要訓練較長時間的熟練人員才能有效地進行入料、出料等流程。However, the existing warehousing and issuing systems mostly use paper bills of materials and manual identification and search methods, which have low work efficiency, high error rate, and poor real-time update. They require a lot of operating skills for operators and require skilled personnel to train for a long time. Efficiently carry out the feeding and discharging processes.

進一步地說，為了能夠有效、準確地對物料進行分類存放，不同類型的物料存儲位置多為固定設置，為了熟練準確地進行入料、出料等流程操作，又進一步提高了對操作人員的技能要求。Furthermore, in order to be able to classify and store materials effectively and accurately, the storage locations of different types of materials are mostly fixed settings. In order to proficiently and accurately perform process operations such as feeding and discharging, the skills of operators are further improved. Claim.

再者，由於電子產品生產行業大批量多品種等特性，所用物料較多；若用人工進行物料管理和傳遞，則會存在查找困難，耗費時間的問題。因此，要考慮物料存儲和傳遞運輸的自動化，以縮短物料查找和獲取的時間，提高物流速度，提高生產效率。Furthermore, due to the characteristics of large quantities and multiple varieties in the electronic product production industry, more materials are used; if manual material management and delivery are used, it will be difficult to find and time-consuming. Therefore, it is necessary to consider the automation of material storage and delivery to shorten the time for material search and acquisition, increase logistics speed, and increase production efficiency.

目前在市面上有一種用於自動倉儲的儲存及運送裝置可解決上述問題，其包含倉儲櫃、導軌、存取裝置、第一輸送模組、第二輸送模組及夾取模組。存取裝置從倉儲櫃上將物件取出，然後藉由導軌引導將物件搬運至輸送模組，以完成取料的動作。存取裝置亦可從第一輸送模組上將物件取出，然後藉由導軌將物件搬運至倉儲櫃上，以完成存料的動作。夾取模組夾取第一輸送模組上的某一物料箱中的多個物件放置在第二輸送模組上的某一物料箱中。At present, there is a storage and transportation device for automatic storage on the market that can solve the above problems, which includes a storage cabinet, a guide rail, an access device, a first conveying module, a second conveying module, and a clamping module. The access device takes out the object from the storage cabinet, and then uses the guide rail to guide the object to the conveying module to complete the reclaiming action. The access device can also take out the object from the first conveying module, and then transport the object to the storage cabinet by the guide rail to complete the storage action. The clamping module clamps a plurality of objects in a certain material box on the first conveying module and places them in a certain material box on the second conveying module.

然而，在出貨揀料的過程中，因為夾取模組在移動物件的時候，物件的移動路徑經常性發生偏移的問題，所以夾取模組無法將第一輸送模組上的一或多個物料箱中的多個物件精準地依序放置在第二輸送模組上的多個物料箱的複數物件放置處中，所以在物件放置在第二輸送模組上的多個物料箱的複數物件放置處以前，必須手動調整物件的位置，才能夠精準地放置在第二輸送模組上的多個物料箱的複數物件放置處中。更且，在第二輸送模組的某一物料箱裝滿物件以後，第二輸送模組就必須將下一個物料箱移動至定點，使得夾取模組繼續將第一輸送模組上的某一物料箱中的其餘物件放置在第二輸送模組的下一個物料箱中。此種運作模式的出貨揀料速度慢，效率差。However, in the process of shipping and picking, because the gripping module is moving objects, the movement path of the object often shifts, so the gripping module cannot remove one or the other on the first conveying module. The multiple objects in the multiple material boxes are accurately and sequentially placed in the multiple object placement positions of the multiple material boxes on the second conveying module. Therefore, the objects are placed in the multiple material boxes on the second conveying module. Before placing the plural objects, the position of the objects must be manually adjusted to be able to accurately place them in the plural object placement positions of the multiple material bins on the second conveying module. Moreover, after a certain material box of the second conveying module is filled with objects, the second conveying module must move the next material box to a fixed point, so that the clamping module continues to move a certain material on the first conveying module The remaining objects in one material box are placed in the next material box of the second conveying module. In this mode of operation, the speed of picking materials is slow and the efficiency is poor.

再者，在第二輸送模組上的全部物料箱裝滿物件出貨以後，第一輸送模組上的多個物料箱中的剩餘的物件成為庫存品。問題在於，第一輸送模組上的多個物料箱中沒有裝滿物件，又因為夾取模組無法將第一輸送模組的二物料箱的其中一者中的多個物件放置在另一者中，所以沒有裝滿物件的多個物料箱仍有許多閒置空間，還衍生出物料箱過多而佔據過多儲存空間的問題，降低倉儲管理效率。Furthermore, after all the material bins on the second conveying module are filled with objects and shipped, the remaining items in the multiple material bins on the first conveying module become inventory. The problem is that the multiple material bins on the first conveying module are not filled with objects, and because the clamping module cannot place multiple objects in one of the two material bins of the first conveying module on the other Among them, there is still a lot of unused space in multiple material bins that are not full of objects, and the problem of too many material bins occupying too much storage space is also derived, which reduces the efficiency of warehouse management.

此外，長期使用下，物件的二側邊難免會有某一部位產生翹曲。如果翹曲部位的面積大於二定位板的可容許面積，代表翹曲部位的寬度大於二定位板的間距。不幸的是，如果夾取模組夾取物件時，物件的二側邊的翹曲部位恰好是在底端，則物件的二側邊的翹曲部位會卡在二定位板上，無法平順地進入二定位板之間的物件放置處。In addition, under long-term use, it is inevitable that a certain part of the two sides of the object will warp. If the area of the warped part is greater than the allowable area of the two positioning plates, it means that the width of the warped part is greater than the distance between the two positioning plates. Unfortunately, if the object is clamped by the clamping module, the warped parts of the two sides of the object happen to be at the bottom end, the warped parts of the two sides of the object will be stuck on the second positioning plate and cannot be smoothly Enter the object placement place between the two positioning boards.

本發明的主要目的在於提供一種自動倉儲系統用的揀料裝置，可校正物件的移動路徑，並且將第一輸送模組上的一或多個物料箱中的多個物件精準地依序放置在第二輸送模組上的多個物料箱中的複數物件放置處，加快出貨揀料的速度，提高出貨揀料的效率。The main purpose of the present invention is to provide a picking device for an automatic storage system, which can correct the movement path of objects and accurately place multiple objects in one or more material boxes on the first conveying module in sequence The placement of multiple objects in multiple material bins on the second conveying module speeds up the speed of outbound material picking and improves the efficiency of outbound material picking.

本發明的另一目的在於提供一種自動倉儲系統用的揀料裝置，可校正物件的移動路徑，並且將第一輸送模組的二物料箱的其中一者中的多個物件精準地依序放置在另一者的複數物件放置處中，使得第一輸送模組中的一些物料箱可重新裝滿物件而無閒置空間，第一輸送模組中的其餘物料箱則被淨空而從倉儲櫃中移出，降低物料箱數量，減少所佔據的儲存空間，提升倉儲管理效率。Another object of the present invention is to provide a picking device for an automatic storage system, which can correct the movement path of objects and accurately place multiple objects in one of the two material bins of the first conveying module in sequence In the place where the plural objects are placed in the other, some material bins in the first conveying module can be refilled with objects without empty space, and the remaining material bins in the first conveying module are cleared and removed from the storage cabinet. Move out, reduce the number of material boxes, reduce the storage space occupied, and improve the efficiency of warehouse management.

本發明的再一目的在於提供一種自動倉儲系統用的揀料裝置，即使物件的二側邊的某一部位產生嚴重翹曲，本發明也能夠藉由調整物件的角度，以沒有翹曲或些微翹曲的部位對準物件放置處，使得物件能夠平順地進入物件放置處，防止物件的二側邊卡在二定位板上。Another object of the present invention is to provide a sorting device for an automatic storage system. Even if a certain part of the two sides of an object is severely warped, the present invention can adjust the angle of the object to avoid warpage or slight The warped part is aligned with the place where the object is placed, so that the object can enter the place where the object is placed smoothly, and prevent the two sides of the object from being stuck on the second positioning plate.

為了達成前述的目的，本發明將提供一種自動倉儲系統用的揀料裝置，包括一第一輸送模組、一第二輸送模組、二第一物料箱、二第二物料箱、複數定位板、一夾取模組、一光學讀取器、一校正模組以及一控制單元，該二第一物料箱設於第一輸送模組，該二第二物料箱設於第二輸送模組，該等定位板分別間隔設置於該二第一物料箱中以及該二第二物料箱中，各定位板的頂部設有一第一辨識反射部，其中一第一物料箱的二定位板之間設有一物件，光學讀取器設於夾取模組上，控制單元電性連接第一輸送模組、第二輸送模組、夾取模組、光學讀取器以及校正模組。In order to achieve the foregoing objective, the present invention provides a material picking device for an automatic storage system, including a first conveying module, a second conveying module, two first material boxes, two second material boxes, and a plurality of positioning plates , A clamping module, an optical reader, a calibration module and a control unit, the two first material boxes are arranged in the first conveying module, and the two second material boxes are arranged in the second conveying module, The positioning plates are respectively arranged in the two first material boxes and the two second material boxes at intervals. The top of each positioning plate is provided with a first identifying reflection part, and the two positioning plates of one of the first material boxes are arranged between the two positioning plates. There is an object, the optical reader is arranged on the clamping module, and the control unit is electrically connected to the first conveying module, the second conveying module, the clamping module, the optical reader and the calibration module.

其中，控制單元控制夾取模組先移動至另一第一物料箱或其中一第二物料箱的其中二定位板的上方，光學讀取器光學讀取另一第一物料箱或其中一第二物料箱的其中二定位板的第一辨識反射部，以獲得一第一光學定位訊號並且傳送至控制單元，控制單元依據第一光學定位訊號計算出物件放置處的正確方位，接著控制單元控制夾取模組移動至其中一第一物料箱的其中二定位板的上方，光學讀取器光學讀取其中一第一物料箱的其中二定位板的第一辨識反射部，以獲得一第二光學定位訊號並且傳送至控制單元，控制單元依據第二光學訊號計算出物件正確方位，控制單元依據所計算出的物件正確方位精準地控制夾取模組取出物件，接著控制單元控制夾取模組將物件移動至校正模組，校正模組測量出物件是否偏離正確的移動路徑，以獲得一測量值並且傳送至控制單元，控制單元依據測量值計算出物件與正確的移動路徑的一偏差值，控制單元依據所計算出的偏差值以及物件放置處的正確方位控制夾取模組將物件從校正模組經由正確的移動路徑移動至物件放置處的上方並且將物件精準地放置在物件放置處。Wherein, the control unit controls the clamping module to move to the top of the second positioning plate of the other first material box or one of the second material boxes, and the optical reader optically reads the other first material box or one of the second material boxes. The first identification reflector of two of the positioning plates of the two material boxes obtains a first optical positioning signal and transmits it to the control unit. The control unit calculates the correct position of the object according to the first optical positioning signal, and then the control unit controls The clamping module moves to the top of two of the positioning plates of one of the first material boxes, and the optical reader optically reads the first identifying and reflecting parts of the two positioning plates of one of the first material boxes to obtain a second The optical positioning signal is sent to the control unit. The control unit calculates the correct orientation of the object according to the second optical signal. The control unit accurately controls the gripping module to take out the object according to the calculated correct orientation of the object, and then the control unit controls the gripping module The object is moved to the calibration module. The calibration module measures whether the object deviates from the correct moving path to obtain a measurement value and send it to the control unit. The control unit calculates a deviation value of the object from the correct moving path according to the measured value. The control unit controls the gripping module to move the object from the calibration module to the top of the object placement location via the correct movement path according to the calculated deviation value and the correct orientation of the object placement location and accurately place the object at the object placement location.

較佳地，校正模組設於第一輸送模組與第二輸送模組之間，位於夾取模組的一側，並且與夾取模組相隔一段距離，校正模組包含一第一測距儀及一第二測距儀，第一測距儀與第二測距儀分別電性連接控制單元，第一測距儀與第二測距儀之間具有一測量空間，第一側距儀包含一第一測距模組，第一側距模組具有一第一測距範圍，第二測距儀包含一第二測距模組，第二測距模組具有一第二測距範圍；其中，當物件被移動至測量空間時，物件位於第一測距範圍與第二測距範圍中，第一測距模組測量出物件與第一測距儀的距離，以獲得一第一測量值並且傳送至控制單元，第二測距模組測量出物件與第二測距儀的距離，以獲得一第二測量值並且傳送至控制單元，控制單元依據第一測量值與第二測量值計算出偏差值，偏差值為第一測量值與第二測量值的差值的絕對值的二分之一。Preferably, the calibration module is arranged between the first conveying module and the second conveying module, on one side of the clamping module, and separated from the clamping module at a distance. The calibration module includes a first measuring module. A distance meter and a second distance meter. The first distance meter and the second distance meter are respectively electrically connected to the control unit. There is a measurement space between the first distance meter and the second distance meter. The instrument includes a first ranging module, the first side ranging module has a first ranging range, the second ranging device includes a second ranging module, and the second ranging module has a second ranging Range; where, when the object is moved to the measurement space, the object is located in the first ranging range and the second ranging range, the first ranging module measures the distance between the object and the first rangefinder to obtain a first A measurement value is sent to the control unit. The second distance measurement module measures the distance between the object and the second distance meter to obtain a second measurement value and send it to the control unit. The control unit is based on the first measurement value and the second measurement value. The measured value calculates a deviation value, and the deviation value is one-half of the absolute value of the difference between the first measurement value and the second measurement value.

較佳地，各定位板的頂部設有二第一辨識反射部，光學讀取器光學讀取另一第一物料箱或其中一第二物料箱的其中二定位板的該等第一辨識反射部，控制單元依據第一光學定位訊號計算出另一第一物料箱或其中一第二物料箱的其中二定位板的該等第一辨識反射部之間的空間的面積，並依此界定出一可容許面積；其中，第一測距儀具有一第三測距模組，第三測距模組具有一第三測距範圍，第二測距儀具有一第四測距模組，第四測距模組具有一第四測距範圍，第一測距模組與第三測距模組的間隔距離以及第二測距模組與第四測距模組的間隔距離均等於各定位板的該二第一辨識反射部的間隔距離，第一測距儀與第二測距儀的間隔距離等於其中二定位板的間隔距離；其中，當物件被移動至測量空間時，物件的底端位於第一至第四測距範圍中，第三測距模組測量出物件與第一測距儀的距離，以獲得一第三測量值並且傳送至控制單元，第四測距模組測量出物件與第二測距儀的距離，以獲得一第四測量值並且傳送至控制單元，控制單元依據第一至第四測量值計算出物件的二側邊的底端的實際面積；其中，當物件的二側邊的底端的實際面積大於可容許面積時，控制單元控制夾取模組旋轉物件，藉以調整物件的角度，使得旋轉後的物件的二側邊的底端的面積等於或小於可容許面積。Preferably, the top of each positioning plate is provided with two first identification reflection parts, and the optical reader optically reads the first identification reflections of two positioning plates of another first material box or one of the second material boxes According to the first optical positioning signal, the control unit calculates the area of the space between the first identification reflecting parts of the second positioning plate of another first material box or one of the second material boxes, and defines it accordingly An allowable area; wherein the first rangefinder has a third rangefinder module, the third rangefinder module has a third rangefinder range, the second rangefinder has a fourth rangefinder module, and the The four ranging modules have a fourth ranging range, and the separation distance between the first ranging module and the third ranging module and the separation distance between the second ranging module and the fourth ranging module are equal to each location The separation distance between the two first identification reflection parts of the plate, the separation distance between the first rangefinder and the second rangefinder is equal to the separation distance between the two positioning plates; wherein, when the object is moved to the measurement space, the bottom of the object The end is located in the first to fourth ranging range. The third ranging module measures the distance between the object and the first rangefinder to obtain a third measurement value and send it to the control unit. The fourth ranging module measures The distance between the object and the second rangefinder is obtained to obtain a fourth measurement value and sent 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 to fourth measurement values; When the actual area of the bottom of the two sides of the object is greater than the allowable area, the control unit controls the gripping module to rotate the object to adjust the angle of the object so that the area of the bottom of the two sides of the rotated object is equal to or less than the allowable area area.

較佳地，第一測距模組為紅外線測距模組或雷射測距模組，第二測距模組為紅外線測距模組或雷射測距模組，第三測距模組為紅外線測距模組或雷射測距模組，第四測距模組為紅外線測距模組或雷射測距模組。Preferably, the first distance measurement module is an infrared distance measurement module or a laser distance measurement module, the second distance measurement module is an infrared distance measurement module or a laser distance measurement module, and the third distance measurement module is It 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.

較佳地，校正模組設有一第二辨識反射部，當夾取模組將物件移動至校正模組時，光學讀取器光學讀取校正模組的第二辨識反射部，以獲得一第三光學定位訊號並且傳送至控制單元，控制單元依據第三光學定位訊號紀錄夾取模組確實將物件移動至校正模組。Preferably, the calibration module is provided with a second identification reflection part. When the gripping module moves the object to the calibration module, the optical reader optically reads the second identification reflection part of the calibration module to obtain a second identification reflection part. The three optical positioning signals are transmitted to the control unit, and the control unit actually moves the object to the calibration module according to the third optical positioning signal to record the clamping module.

較佳地，光學讀取器包含一光線發射部及一光線接收部，光學讀取器在執行光學讀取的動作的時候，光線發射部發射光線，校正模組的第二辨識反射部反射光線回到光線接收部，以獲得第三光學定位訊號。Preferably, the optical reader includes a light emitting part and a light receiving part. When the optical reader performs an optical reading action, the light emitting part emits light, and the second identifying reflection part of the correction module reflects the light. Return to the light receiving part to obtain the third optical positioning signal.

較佳地，光學讀取器包含一光線發射部及一光線接收部，光線發射部及光線接收部分別電性連接控制單元，光學讀取器在執行光學讀取的動作的時候，光線發射部發射光線，其中二定位板的第一辨識反射部反射光線回到光線接收部，以獲得第一光學定位訊號或第二光學定位訊號。Preferably, the optical reader includes a light emitting part and a light receiving part. The light emitting part and the light receiving part are respectively electrically connected to the control unit. When the optical reader performs the optical reading action, the light emitting part The light is emitted, and 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.

較佳地，該二第一物料箱和該二第二物料箱外側分別設有複數感測定位結構，該等感測定位結構為凸柱或凹槽，該等感測定位結構上分別設有一第三辨識反射部，光學讀取器光學讀取另一第一物料箱或其中一第二物料箱的其中二定位板的第一辨識反射部，同時光學讀取器光學讀取該等感測定位結構的第三辨識反射部，以獲得第一光學定位訊號並且傳送至控制單元。Preferably, the outer sides of the two first material boxes and the two second material boxes are respectively provided with a plurality of sensing position structures, the sensing position structures are convex posts or grooves, and the sensing position structures are respectively provided with a The third recognizing and reflecting part, the optical reader optically reads the first recognizing and reflecting part of two of the positioning plates of the other first material box or one of the second material boxes, and the optical reader optically reads the sensory measurements The third identifying and reflecting part of the bit structure obtains the first optical positioning signal and transmits it to the control unit.

較佳地，夾取模組包括一基座、一機械手臂以及一夾頭，基座設於第一輸送模組與第二輸送模組之間，機械手臂的一第一端可旋轉地設於基座上，機械手臂電性連接控制單元，夾頭設於機械手臂的一第二端，電性連接控制單元，並且能夠夾取物件，光學讀取器設於夾頭上。Preferably, the clamping module includes a base, a robotic arm and a chuck. The base is arranged between the first conveying module and the second conveying module. A first end of the robotic arm is rotatably arranged. On the base, the robot arm is electrically connected to the control unit, the chuck is arranged at a second end of the robot arm, and is electrically connected to the control unit, and can clamp objects, and the optical reader is arranged on the chuck.

較佳地，第一輸送模組包含一第一水平輸送部及二第一揀料部，第一水平輸送部用以鄰設於一倉儲櫃的一側，相隔一段距離，並且電性連接控制單元，該二第一揀料部間隔設置於第一水平輸送部遠離倉儲櫃的一側並且電性連接控制單元，該二第一物料箱從倉儲櫃上被搬運至第一水平輸送部，該二第一物料箱分別從第一水平輸送部平移至該二第一揀料部；其中，第二輸送模組包含一第二水平輸送部及二第二揀料部，第二水平輸送部設於第一輸送模組遠離倉儲櫃的一側，並且電性連接控制單元，該二第二揀料部間隔設置於第二水平輸送部靠近第一輸送模組的一側並且電性連接控制單元，該二第二物料箱從另一倉儲櫃上被搬運至第二水平輸送部，該二第二物料箱分別從第二水平輸送部平移至該二第二揀料部。Preferably, the first conveying module includes a first horizontal conveying part and two first picking parts. The first horizontal conveying part is used for being adjacent to one side of a storage cabinet, separated by a distance, and electrically connected to control The two first picking parts are arranged at intervals on the side of the first horizontal conveying part away from the storage cabinet and are electrically connected to the control unit. The two first material bins are transported from the storage cabinet to the first horizontal conveying part. The two first material boxes are respectively translated from the first horizontal conveying part to the two first picking parts; among them, the second conveying module includes a second horizontal conveying part and two second picking parts, and the second horizontal conveying part is provided with On the side of the first conveying module away from the storage cabinet and electrically connected to the control unit, the two second picking parts are arranged at intervals on the side of the second horizontal conveying part close to the first conveying module and are electrically connected to the control unit , The two second material boxes are transported from another storage cabinet to the second horizontal conveying part, and the two second material boxes are respectively translated from the second horizontal conveying part to the two second picking parts.

本發明的功效在於，可校正物件的移動路徑，並且將第一輸送模組上的該二第一物料箱中的複數個物件精準地依序放置在第二輸送模組上的該二第二物料箱的該等物件放置處中，加快出貨揀料的速度，提高出貨揀料的效率。The effect of the present invention is that the moving path of the object can be corrected, and a plurality of objects in the two first material boxes on the first conveying module are accurately and sequentially placed on the two second material boxes on the second conveying module. In the place where these objects are placed in the material box, the speed of outgoing picking is accelerated, and the efficiency of outgoing picking is improved.

再者，本發明可校正物件的移動路徑，並且將第一輸送模組的其中一第一物料箱的複數個物件精準地依序放置在另一第一物料箱的該等物件放置處中，使得其中一第一物料箱可重新裝滿物件而無閒置空間，另一第一物料箱則被淨空而從倉儲櫃中移出，降低物料箱數量，減少所佔據的儲存空間，提升倉儲管理效率。Furthermore, the present invention can calibrate the movement path of the object, and accurately place a plurality of objects in one of the first material bins of the first conveying module in the placement positions of the objects in the other first material bin. One of the first material bins can be refilled with objects without empty space, and the other first material bin is cleared and removed from the storage cabinet, reducing the number of material bins, reducing the storage space occupied, and improving storage management efficiency.

此外，即使物件的二側邊的某一部位產生嚴重翹曲，本發明也能夠藉由調整物件的角度，以沒有翹曲或些微翹曲的部位對準物件放置處，使得物件能夠平順地進入物件放置處，防止物件的二側邊卡在二定位板上。In addition, even if a certain part of the two sides of the object is severely warped, the present invention can also adjust the angle of the object to align the object with a non-warped or slightly warped part, so that the object can enter smoothly Place the object to prevent the two sides of the object from getting stuck on the second positioning plate.

以下配合圖式及元件符號對本發明的實施方式做更詳細的說明，俾使熟習該項技藝者在研讀本說明書後能據以實施。The following describes the embodiments of the present invention in more detail in conjunction with the drawings and component symbols, so that those who are familiar with the art can implement it after studying this specification.

請參閱圖1，圖1為包含本發明的自動倉儲系統100的整體運作示意圖。本發明係提供一種自動倉儲系統用的揀料裝置1，為自動倉儲系統100的一部分。具體來說，自動倉儲系統100包含複數倉儲櫃101、複數導軌102、複數存取裝置103以及複數自動倉儲系統用的揀料裝置1。Please refer to FIG. 1. FIG. 1 is a schematic diagram of the overall operation of the automatic storage system 100 including the present invention. The present invention provides a picking device 1 for an automatic storage system, which is a part of the automatic storage system 100. Specifically, the automatic storage system 100 includes a plurality of storage cabinets 101, a plurality of guide rails 102, a plurality of access devices 103, and a plurality of picking devices 1 for the automatic storage system.

該等倉儲櫃101間隔設置於一倉儲空間中，並且包含複數層物料箱放置區1011。該複數層物料箱放置區1011用以供複數物料箱104存放，每一層物料箱放置區1011可供數個物料箱104排成一排。相鄰的二倉儲櫃101之間具有一移動空間1012。換言之，該等倉儲櫃101為立式櫃體。The storage cabinets 101 are arranged in a storage space at intervals, and include a plurality of layers of material box placement areas 1011. The multiple-layer material box placement area 1011 is used for storing the multiple material boxes 104, and each layer of the material box placement area 1011 can accommodate multiple material boxes 104 in a row. There is a moving space 1012 between two adjacent storage cabinets 101. In other words, the storage cabinets 101 are vertical cabinets.

該等導軌102分別設於該等移動空間1012的地面，環繞該等倉儲櫃101的外周側，並且互相連接而形成一個導引系統。The guide rails 102 are respectively arranged on the ground of the moving spaces 1012, surround the outer periphery of the storage cabinets 101, and are connected to each other to form a guiding system.

各存取裝置103包含一滑座1031、一立桿1032以及一搬運組件1033，滑座1031滑設於其中一導軌102上，立桿1032設於滑座1031的頂部。搬運組件1033包含一動力部(圖未示)、二垂直移動部10331、一承載平台10332以及一水平移動部10333，動力部設於滑座1031，該二垂直移動部10331設於立桿1032的一側並且電性連接動力部，承載平台10332設於垂直移動部10331，水平移動部10333設於承載平台10332並且電性連接動力部。Each access device 103 includes a sliding base 1031, a vertical rod 1032, and a transport assembly 1033. The sliding base 1031 is slidably disposed on one of the guide rails 102, and the vertical rod 1032 is disposed on the top of the sliding base 1031. The transport assembly 1033 includes a power part (not shown), two vertical moving parts 10331, a carrying platform 10332, and a horizontal moving part 10333. The power part is arranged on the sliding seat 1031, and the two vertical moving parts 10331 are arranged on the pole 1032. One side is also electrically connected to the power part, the bearing platform 10332 is provided on the vertical moving part 10331, and the horizontal moving part 10333 is provided on the bearing platform 10332 and electrically connected to the power part.

以下將簡單說明自動倉儲系統100的取料程序。首先，滑座1031帶著立桿1032和搬運組件1033沿著其中一導軌102移動，並且停留在一特定位置上。其次，動力部驅動該二垂直移動部10331帶著承載平台10332沿著立桿1032上升至其中一倉儲櫃101的某一層物料箱放置區1011。接著，動力部驅動水平移動部10333從承載平台10332往某一層物料箱放置區1011的方向平移至一物料箱104的底部。然後，動力部驅動水平移動部10333往承載平台10332的方向平移至初始位置。再來，動力部驅動垂直移動部10331帶著承載平台10332沿著立桿1032下降。又，滑座1031帶著立桿1032和搬運組件1033沿著其中一導軌102移動至自動倉儲系統用的揀料裝置1的一側。最後，動力部驅動水平移動部10333從承載平台10332往自動倉儲系統用的揀料裝置1平移，藉以將物料箱104搬運至其中一自動倉儲系統用的揀料裝置1上。The following will briefly describe the reclaiming procedure of the automatic storage system 100. First, the sliding seat 1031 moves along one of the guide rails 102 with the pole 1032 and the transport assembly 1033, and stays at a specific position. Secondly, the power part drives the two vertical moving parts 10331 to bring the carrying platform 10332 up along the pole 1032 to 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 carrying platform 10332 to the material box placement area 1011 of a certain layer to the bottom of a material box 104. Then, the power part drives the horizontal moving part 10333 to translate in the direction of the carrying platform 10332 to the initial position. Then, the power unit drives the vertical moving unit 10331 to bring the carrying platform 10332 down along the pole 1032. In addition, the sliding seat 1031 moves along one of the guide rails 102 to the side of the picking device 1 for the automatic storage system with the vertical rod 1032 and the conveying assembly 1033. Finally, the power unit drives the horizontal moving unit 10333 to move from the carrying platform 10332 to the picking device 1 for the automatic storage system, so as to transport the material box 104 to one of the picking devices 1 for the automatic storage system.

自動倉儲系統100的取料程序反過來運作即為自動倉儲系統100的存料程序。The retrieving procedure of the automatic storage system 100 is the storage procedure of the automatic storage system 100 in reverse operation.

請參閱圖1、圖2及圖3，分別為包含本發明的自動倉儲系統100的整體運作示意圖、本發明的立體圖及方塊圖。自動倉儲系統用的揀料裝置1包括一第一輸送模組10、一第二輸送模組20、二第一物料箱31、32、二第二物料箱33、34、複數定位板40、一夾取模組50、一光學讀取器60、一校正模組70以及一控制單元80。Please refer to FIG. 1, FIG. 2 and FIG. 3, which are respectively a schematic diagram of the overall operation of the automatic storage system 100 of the present invention, a three-dimensional diagram and a block diagram of the present invention. The picking device 1 for the automatic storage system includes a first conveying module 10, a second conveying module 20, two first material boxes 31, 32, two second material boxes 33, 34, and a plurality of positioning plates 40, one The clamping module 50, an optical reader 60, a calibration module 70 and a control unit 80.

第一輸送模組10鄰設於其中一倉儲櫃101的一側，相隔一段距離，並且電性連接控制單元80；該二第一物料箱31、32設於第一輸送模組10。更清楚地說，第一輸送模組10包含一第一水平輸送部11及二第一揀料部12、13。第一水平輸送部11鄰設於其中一倉儲櫃101的一側，相隔一段距離，並且電性連接控制單元80。複數自動倉儲系統用的揀料裝置1的複數第一輸送模組10的複數第一水平輸送部11彼此頭尾相接而形成一第一輸送系統。該二第一揀料部12、13間隔設置於第一水平輸送部11遠離其中一倉儲櫃101的一側，並且電性連接控制單元80。存取裝置103從倉儲櫃101上取出其中二物料箱搬運至第一水平輸送部11，該其中二物料箱分別從第一水平輸送部11平移至該二第一揀料部12、13。因此，該其中二物料箱被界定為該二第一物料箱31、32。The first conveying module 10 is arranged adjacent to one side of one of the storage cabinets 101, separated by a certain distance, and is electrically connected to the control unit 80; the two first material bins 31 and 32 are arranged on the first conveying module 10. More clearly, the first conveying module 10 includes a first horizontal conveying part 11 and two first picking parts 12 and 13. The first horizontal conveying part 11 is adjacent to one side of one of the storage cabinets 101, separated by a certain distance, and is electrically connected to the control unit 80. The plural first horizontal conveying parts 11 of the plural first conveying modules 10 of the picking device 1 for plural automatic storage systems are connected end to end to form a first conveying system. The two first picking parts 12 and 13 are arranged at intervals on a side of the first horizontal conveying part 11 away from one of the storage cabinets 101, and are electrically connected to the control unit 80. The access device 103 removes two of the material bins from the storage cabinet 101 and transports them to the first horizontal conveying part 11, and the two of the material bins are translated from the first horizontal conveying part 11 to the two first picking parts 12 and 13 respectively. Therefore, the two of the material bins are defined as the two first material bins 31 and 32.

第二輸送模組20設於第一輸送模組10遠離其中一倉儲櫃101的一側，並且電性連接控制單元80；該二第二物料箱33、34設於第二輸送模組20。更清楚地說，第二輸送模組20包含一第二水平輸送部21及二第二揀料部22、23。第二水平輸送部21設於第一輸送模組10遠離其中一倉儲櫃101的一側，並且電性連接控制單元80。複數自動倉儲系統用的揀料裝置1的複數第二輸送模組20的複數第二水平輸送部21彼此頭尾相接而形成一第二輸送系統。該二第二揀料部22、23間隔設置於第二水平輸送部21靠近第一輸送模組10的一側並且電性連接控制單元80。存取裝置103從倉儲櫃101上取出另二物料箱搬運至第二水平輸送部21，該另二物料箱分別從第二水平輸送部21平移至該二第二揀料部22、23。因此，該另二物料箱被界定為該二第二物料箱33、34。The second conveying module 20 is arranged 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 two second material bins 33 and 34 are arranged on the second conveying module 20. More clearly, the second conveying module 20 includes a second horizontal conveying part 21 and two second picking parts 22 and 23. The second horizontal conveying part 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 plural second horizontal conveying parts 21 of the plural second conveying modules 20 of the picking device 1 for plural automatic storage systems are connected end to end to form a second conveying system. The two second picking parts 22 and 23 are arranged at intervals on the side of the second horizontal conveying part 21 close to the first conveying module 10 and are electrically connected to the control unit 80. The access device 103 removes the other two material boxes from the storage cabinet 101 and transports them to the second horizontal conveying part 21, and the other two material boxes are translated from the second horizontal conveying part 21 to the two second picking parts 22 and 23 respectively. Therefore, the other two material bins are defined as the two second material bins 33 and 34.

第一水平輸送模組11和第二水平輸送模組21均可為輸送帶、滾桿或其組合。Both the first horizontal conveying module 11 and the second horizontal conveying module 21 can be a conveyor belt, a roller rod or a combination thereof.

請參閱圖4及圖5，圖4為本發明的物料箱、定位板40及物件105的立體圖，圖5為本發明的定位板40的立體圖。該等定位板40分別間隔設置於該二第一物料箱31、32中及該二第二物料箱33、34中，各該定位板40的頂部設有一第一辨識反射部41。更明確地說，各該定位板40的第一辨識反射部41為白色塗層，具有良好的光線反射效果；然不以此為限，其他具有良好的光線反射效果的材料均可作為各該定位板40的第一辨識反射部41，先予敘明。其中一第一物料箱31、32的二定位板40之間設有一物件105。圖4及圖5所顯示的物件105為SMT專用的物料盤，然不以此為限，先予敘明。Please refer to FIGS. 4 and 5. FIG. 4 is a perspective view of the material box, the positioning plate 40 and the object 105 of the present invention, and FIG. 5 is a perspective view of the positioning plate 40 of the present invention. The positioning plates 40 are respectively arranged in the two first material bins 31 and 32 and the two second material bins 33 and 34 at intervals, and the top of each positioning plate 40 is provided with a first identifying reflection part 41. More specifically, the first identification reflection portion 41 of each positioning plate 40 is a white coating, which has a good light reflection effect; however, it is not limited to this, and other materials with good light reflection effect can be used as each The first identification reflection portion 41 of the positioning plate 40 is described first. An object 105 is provided between the two positioning plates 40 of one of the first material bins 31 and 32. The object 105 shown in FIG. 4 and FIG. 5 is a special material tray for SMT, but it is not limited to this, it will be described first.

如圖2及圖3所示，夾取模組50包括一基座51、一機械手臂52以及一夾頭53。基座51設於第一輸送模組10與第二輸送模組20之間。機械手臂52的一第一端可旋轉地設於基座51上，機械手臂52電性連接控制單元80。夾頭53設於機械手臂52的一第二端，電性連接控制單元80，並且能夠夾取物件105。在第一實施例中，基座51包含一底座511、二長條柱512、513、二橫柱514、515及一固定板516。底座511設置在一地面上，該二長條柱512、513固定在底座511的頂面，該二橫柱514、515設置於該二長條柱512、513之間，固定板516設置於該二長條柱512、513的頂面；機械手臂52可旋轉地設置在固定板516上。換句話說，整個基座51是不可移動的，所以設置在基座51上的機械手臂52只能原地旋轉。As shown in FIGS. 2 and 3, the clamping module 50 includes a base 51, a robot arm 52 and a chuck 53. The base 51 is provided between the first conveying module 10 and the second conveying module 20. A first end of the robot arm 52 is rotatably disposed on the base 51, and the robot arm 52 is electrically connected to the control unit 80. The chuck 53 is provided at a second end of the robot arm 52, is electrically connected to the control unit 80, and can clamp the object 105. In the first embodiment, the base 51 includes a base 511, two long columns 512 and 513, two horizontal columns 514 and 515 and a fixing plate 516. The base 511 is set on a ground, the two long columns 512, 513 are fixed on the top surface of the base 511, the two horizontal columns 514, 515 are set between the two long columns 512, 513, and the fixing plate 516 is set on the The top surface of the two long columns 512 and 513; the mechanical arm 52 is rotatably arranged on the fixed plate 516. In other words, the entire base 51 is not movable, so the mechanical arm 52 provided on the base 51 can only rotate in place.

如圖2及圖3所示，光學讀取器60設於夾頭53上，並且電性連接控制單元80。較佳地，光學讀取器60包含一光線發射部61及一光線接收部62，光線發射部61及光線接收部62分別電性連接控制單元80。As shown in FIGS. 2 and 3, the optical reader 60 is disposed on the chuck 53 and is 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.

如圖2及圖3所示，校正模組70設於第一輸送模組10與第二輸送模組20之間，位於夾取模組50的一側，並且與夾取模組50相隔一段距離。更明確地說，校正模組70包含一第一測距儀71及一第二測距儀72，第一測距儀71與第二測距儀72分別電性連接控制單元80，第一測距儀71與第二測距儀72之間具有一測量空間73。第一測距儀71包含一第一測距模組711，第一測距模組711具有一第一測距範圍；第二測距儀72包含一第二測距模組721，第二測距模組721具有一第二測距範圍。第一測距模組711為紅外線測距模組或雷射測距模組，第二測距模組721為紅外線測距模組或雷射測距模組。較佳地，校正模組70設有一第二辨識反射部(圖未示)。更明確地說，校正模組70的第二辨識反射部為白色塗層，具有良好的光線反射效果；然不以此為限，其他具有良好的光線反射效果的材料均可作為校正模組70的第二辨識反射部，先予敘明。在本實施例中，第一測距儀71和第二測距儀72分別設置在基座51的該二橫柱514、515的頂面。As shown in FIGS. 2 and 3, the calibration module 70 is disposed between the first conveying module 10 and the second conveying module 20, on one side of the clamping module 50, and is separated from the clamping module 50 by a section distance. More specifically, the calibration module 70 includes a first rangefinder 71 and a second rangefinder 72. The first rangefinder 71 and the second rangefinder 72 are electrically connected to the control unit 80, respectively. There is a measuring space 73 between the distance meter 71 and the second distance meter 72. The first rangefinder 71 includes a first rangefinder module 711, the first rangefinder module 711 has a first rangefinder range; the second rangefinder 72 includes a second rangefinder module 721, the second rangefinder module 711 The distance module 721 has a second distance measurement range. The first distance measurement module 711 is an infrared distance measurement module or a laser distance measurement module, and the second distance measurement module 721 is an infrared distance measurement module or a laser distance measurement module. Preferably, the calibration module 70 is provided with a second identification reflector (not shown). More specifically, the second identification reflection part of the calibration module 70 is a white coating, which has a good light reflection effect; however, it is not limited to this, and other materials with good light reflection effects can be used as the calibration module 70 The second discerning reflection part of, I shall state first. In this embodiment, the first rangefinder 71 and the second rangefinder 72 are respectively arranged on the top surfaces of the two horizontal columns 514 and 515 of the base 51.

以下將配合圖式詳細解說說本發明的三種運作模式。The three operating modes of the present invention will be explained in detail below in conjunction with the drawings.

第一種運作模式：如圖6及圖7所示，控制單元80控制機械手臂52先移動至其中一第二物料箱33的其中二定位板40的上方，光學讀取器60光學讀取其中一第二物料箱33的其中二定位板40的第一辨識反射部41，以獲得一第一光學定位訊號63並且傳送至控制單元80。控制單元80依據第一光學定位訊號63計算出物件放置處的正確方位。接著，如圖8及圖9所示，控制單元80控制機械手臂52移動至其中一第一物料箱31的其中二定位板40的上方(其移動路徑如圖17的箭頭A所示)，光學讀取器60光學讀取其中一第一物料箱31的其中二定位板40的第一辨識反射部41，以獲得一第二光學定位訊號64並且傳送至控制單元80。控制單元80依據第二光學定位訊號64計算出物件正確方位。如圖10所示，控制單元80依據所計算出的物件正確方位精準地控制機械手臂52對準物件105，使得夾頭53精準地取出物件105。如圖11及圖12所示，控制單元80控制機械手臂52往校正模組70的方向移動(其移動路徑如圖17的箭頭B所示)，使得夾頭53將物件105移動至測量空間73中，光學讀取器60光學讀取校正模組70的 第二辨識反射部，以獲得一第三光學定位訊號65並且傳送至控制單元80，控制單元80依據第三光學定位訊號65紀錄夾取模組50確實將物件105移動至校正模組70。當物件105被移動至測量空間73時，校正模組70測量出物件105是否偏離正確的移動路徑，以獲得一測量值並且傳送至控制單元80，控制單元80依據測量值計算出物件105與正確的移動路徑的一偏差值。更明確地說，如圖13及圖14所示，當物件105被移動至測量空間73時，物件105的底端位於第一測距範圍與第二測距範圍中，第一測距模組711測量出物件105與第一測距儀71的距離，以獲得一第一測量值712並且傳送至控制單元80，第二測距模組721測量出物件105與第二測距儀72的距離，以獲得一第二測量值722並且傳送至控制單元80。控制單元80依據第一測量值712與第二測量值722計算出該偏差值，該偏差值為第一測量值712與第二測量值722的差值的絕對值的二分之一。如圖15及圖16所示，控制單元80依據所計算出的偏差值以及物件放置處的正確方位控制機械手臂52略為調整其延伸的距離，使得夾頭53上的物件105能夠回歸到正確的移動路徑上，然後從校正模組70經由正確的移動路徑(其移動路徑如圖17的箭頭C所示)移動至物件放置處的上方並且將物件105精確地放置在物件放置處。The first mode of operation: As shown in FIGS. 6 and 7, the control unit 80 controls the robotic arm 52 to move to the top of the two positioning plates 40 of one of the second material bins 33, and the optical reader 60 optically reads them. The first identification reflector 41 of two of the positioning plates 40 of a second material box 33 obtains a first optical positioning signal 63 and transmits it to the control unit 80. The control unit 80 calculates the correct location of the object according to the first optical positioning signal 63. Next, as shown in Figures 8 and 9, the control unit 80 controls the robot arm 52 to move to the top of the two positioning plates 40 of one of the first material boxes 31 (the moving path is shown by arrow A in Figure 17), and the optical The reader 60 optically reads the first identification reflection portion 41 of the two positioning plates 40 of one of the first material boxes 31 to obtain a second optical positioning signal 64 and transmit it 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 accurately controls the robot arm 52 to align with the object 105 according to the calculated correct orientation of the object, so that the chuck 53 accurately takes out the object 105. As shown in FIGS. 11 and 12, the control unit 80 controls the robot arm 52 to move in the direction of the calibration module 70 (the moving path is shown by arrow B in FIG. 17), so that the chuck 53 moves the object 105 to the measurement space 73 Wherein, the optical reader 60 optically reads the second identifying reflection part of the correction module 70 to obtain a third optical positioning signal 65 and send it to the control unit 80, and the control unit 80 records and captures according to the third optical positioning signal 65 The module 50 does move the object 105 to the calibration module 70. When the object 105 is moved to the measurement space 73, the calibration module 70 measures whether the object 105 deviates from the correct moving path to obtain a measurement value and send it to the control unit 80. The control unit 80 calculates the correctness of the object 105 based on the measurement value. A deviation value of the moving path of. More specifically, as shown in FIGS. 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, and the first ranging module 711 measures the distance between the object 105 and the first distance meter 71 to obtain a first measurement value 712 and transmits it to the control unit 80, and the second distance measurement module 721 measures the distance between the object 105 and the second distance meter 72 , To obtain a second measured value 722 and send it to the control unit 80. The control unit 80 calculates the deviation value according to the first measurement value 712 and the second measurement value 722, and the deviation value is one half of the absolute value of the difference between the first measurement value 712 and the second measurement value 722. As shown in Figures 15 and 16, the control unit 80 controls the robot arm 52 to slightly adjust the extension distance according to the calculated deviation value and the correct orientation of the object placement, so that the object 105 on the chuck 53 can return to the correct Then, it moves from the calibration module 70 through the correct moving path (the moving path is shown by arrow C in FIG. 17) to the top of the object placement location and accurately places the object 105 at the object placement location.

第二種運作模式：控制單元80控制機械手臂52先移動至另一第二物料箱34的其中二定位板40的上方，光學讀取器60光學讀取另一第二物料箱34的其中二定位板40的第一辨識反射部41，以獲得第一光學定位訊號63並且傳送至控制單元80。後續動作則與第一種運作模式相似，差別在於：其一，控制單元80控制機械手臂52移動至其中一第一物料箱31的其中二定位板40的上方的移動路徑略為不同(其移動路徑如圖17的箭頭D所示)；其二，物件放置處是在另一第二物料箱34的其中二定位板40之間，所以正確的移動路徑較第一運作模式長(其移動路徑如圖17的箭頭C加D所示)。The second mode of operation: the control unit 80 controls the robot arm 52 to move to the top of two of the positioning plates 40 of the other second material box 34, and the optical reader 60 optically reads two of the other second material boxes 34 The first identification reflection portion 41 of the positioning plate 40 obtains the first optical positioning signal 63 and transmits it to the control unit 80. The subsequent actions are similar to the first mode of operation. The difference is: First, the control unit 80 controls the robot arm 52 to move to one of the first material bins 31. The moving paths above the two positioning plates 40 are slightly different (the moving path As shown by arrow D in Figure 17); Second, the object is placed between the two positioning plates 40 of the second material box 34, so the correct moving path is longer than the first operating mode (the moving path is as The arrow C plus D in FIG. 17 is shown).

藉此，本發明可藉由第一種運作模式和第二種運作模式校正物件105的移動路徑，並且將第一輸送模組10上的該二第一物料箱31、32中的複數個物件105精準地依序放置在第二輸送模組20上的該二第二物料箱33、34的該等物件放置處中，加快出貨揀料的速度，提高出貨揀料的效率。In this way, the present invention can correct the movement path of the object 105 by the first operation mode and the second operation mode, and transfer the plurality of objects in the two first material bins 31 and 32 on the first conveying module 10 105 is accurately and sequentially placed in the object placement positions of the two second material boxes 33 and 34 on the second conveying module 20 to speed up the outgoing picking speed and improve the outgoing picking efficiency.

第三種運作模式：控制單元80控制機械手臂52先移動至另一第一物料箱32的其中二定位板40的上方，光學讀取器60光學讀取另一第一物料箱32的其中二定位板40的第一辨識反射部41，以獲得第一光學定位訊號63並且傳送至控制單元80。後續動作則與第一種運作模式相似，差別在於：其一，控制單元80控制機械手臂52移動至其中一第一物料箱31的其中二定位板40的上方的移動路徑略為不同(其移動路徑如圖17的箭頭F所示)；其二，物件放置處是在另一第一物料箱32的其中二定位板40之間，所以正確的移動路徑與第一運作模式和第二運作模式完全不同(其移動路徑如圖17的箭頭G所示)。The third mode of operation: the control unit 80 controls the robot arm 52 to first move to the top of the two positioning plates 40 of the other first material box 32, and the optical reader 60 optically reads two of the other first material boxes 32 The first identification reflection portion 41 of the positioning plate 40 obtains the first optical positioning signal 63 and transmits it to the control unit 80. The subsequent actions are similar to the first mode of operation. The difference is: First, the control unit 80 controls the robot arm 52 to move to one of the first material bins 31. The moving paths above the two positioning plates 40 are slightly different (the moving path As shown by arrow F in Figure 17); Second, the object is placed between the two positioning plates 40 of the other first material box 32, so the correct movement path is completely consistent with the first and second operating modes. Different (the moving path is shown by arrow G in Fig. 17).

藉此，本發明可藉由第三種運作模式校正物件105的移動路徑，並且將第一輸送模組10的其中一第一物料箱31的複數個物件105精準地依序放置在另一第一物料箱32的該等物件放置處中，使得其中一第一物料箱31可重新裝滿物件105而無閒置空間，另一第一物料箱32則被淨空而從倉儲櫃101中移出，降低物料箱數量，減少所佔據的儲存空間，提升倉儲管理效率。In this way, the present invention can calibrate the movement path of the object 105 through the third operation mode, and accurately place the objects 105 in one of the first material boxes 31 of the first conveying module 10 in the other one in sequence. A material box 32 is placed in the place where the objects are placed, so that one of the first material boxes 31 can be refilled with objects 105 without empty space, and the other first material box 32 is cleared and removed from the storage cabinet 101, lowering The number of material bins reduces the storage space occupied and improves the efficiency of warehouse management.

值得一提的是，光學讀取器60在執行光學讀取動作的時候，光線發射部61發射光線，其中二定位板40的第一辨識反射部41或校正模組70的第二辨識反射部反射光線回到光線接收部62，以獲得第一光學定位訊號63、一第二光學定位訊號64或一第三光學定位訊號65。較佳地，光線發射部61為一閃光燈，只有在執行光學讀取動作，短暫發射光線即可達到光學讀取的作用，減少電力的消耗。It is worth mentioning that when the optical reader 60 performs an optical reading action, the light emitting part 61 emits light, wherein the first identifying reflection part 41 of the two positioning plate 40 or the second identifying reflecting part of the correction module 70 The reflected light returns to the light receiving portion 62 to obtain a first optical positioning signal 63, a second optical positioning signal 64 or a third optical positioning signal 65. Preferably, the light emitting part 61 is a flashlight, and only when the optical reading action is performed, the light can be emitted for a short time to achieve the optical reading function, thereby reducing power consumption.

較佳地，如圖4所示，該二第一物料箱31、32及該二第二物料箱33、34外側分別設有複數感測定位結構301，該等感測定位結構301為凸柱或凹槽，且該等感測定位結構301上分別設有一第三辨識反射部302。Preferably, as shown in FIG. 4, the two first material boxes 31, 32 and the two second material boxes 33, 34 are respectively provided with a plurality of sensing position structures 301, and the sensing position structures 301 are convex columns. Or grooves, and a third identification reflection portion 302 is respectively provided on the sensing location structures 301.

在第一種運作模式中，如圖6及圖7所示，控制單元80控制機械手臂52先移動至其中一第二物料箱33的其中二定位板40的上方，光學讀取器60光學讀取其中一第二物料箱33的其中二定位板40的第一辨識反射部41，同時光學讀取器60也會光學讀取其中一第二物料箱33的該等感測定位結構301的第三辨識反射部302，以獲得第一光學定位訊號63並且傳送至控制單元80。換言之，第一光學定位訊號63包含光學讀取器60光學讀取其中一第二物料箱33的其中二定位板40的第一辨識反射部41和其中一第二物料箱33的該等感測定位結構301的第三辨識反射部302的讀取結果。藉此，控制單元80能夠依據第一光學定位訊號63更精準地計算出物件放置處的正確方位。接著，如圖8及圖9所示，控制單元80控制機械手臂52移動至其中一第一物料箱31的其中二定位板40的上方(其移動路徑如圖17的箭頭A所示)，光學讀取器60光學讀取其中一第一物料箱31的其中二定位板40的第一辨識反射部41，同時光學讀取器60也會光學讀取其中一第一物料箱31的該等感測定位結構301的第三辨識反射部302，以獲得第二光學定位訊號64並且傳送至控制單元80。換言之，第二光學定位訊號64包含光學讀取器60光學讀取其中一第一物料箱31的其中二定位板40的第一辨識反射部41和其中一第一物料箱31的該等感測定位結構301的第三辨識反射部302的讀取結果。藉此，控制單元80能夠依據第二光學定位訊號64更精準地計算出物件正確方位。In the first mode of operation, as shown in FIGS. 6 and 7, the control unit 80 controls the robot arm 52 to move to above the two positioning plates 40 of one of the second material bins 33, and the optical reader 60 optically reads Take the first identification reflection portion 41 of the two positioning plates 40 of one of the second material boxes 33, and at the same time, the optical reader 60 will also optically read the first identification of the sensing position structure 301 of one of the second material boxes 33 The three-identification reflection part 302 obtains the first optical positioning signal 63 and transmits it to the control unit 80. In other words, the first optical positioning signal 63 includes the optical reader 60 to optically read the first identification reflection portion 41 of the second positioning plate 40 of one of the second material boxes 33 and the sensory measurement of one of the second material boxes 33 The reading result of the third identification reflector 302 of the bit structure 301. In this way, the control unit 80 can more accurately calculate the correct position of the object according to the first optical positioning signal 63. Next, as shown in Figures 8 and 9, the control unit 80 controls the robot arm 52 to move to the top of the two positioning plates 40 of one of the first material boxes 31 (the moving path is shown by arrow A in Figure 17), and the optical The reader 60 optically reads the first identification reflection portion 41 of the two positioning plates 40 of one of the first material boxes 31, and at the same time, the optical reader 60 will also optically read the feelings of one of the first material boxes 31 The third identification reflection part 302 of the positioning structure 301 is determined to obtain the second optical positioning signal 64 and transmit it to the control unit 80. In other words, the second optical positioning signal 64 includes the optical reader 60 optically reading the first identification reflection portion 41 of the second positioning plate 40 of one of the first material boxes 31 and the sensing measurement of one of the first material boxes 31 The reading result of the third identification reflector 302 of the bit structure 301. Thereby, the control unit 80 can calculate the correct orientation of the object more accurately according to the second optical positioning signal 64.

在第二種運作模式中，控制單元80控制機械手臂52先移動至另一第二物料箱34的其中二定位板40的上方，光學讀取器60光學讀取另一第二物料箱34的其中二定位板40的第一辨識反射部41，同時光學讀取器60光學讀取另一第二物料箱34的該等感測定位結構301的第三辨識反射部302，以獲得第一光學定位訊號63並且傳送至控制單元80。換言之，第一光學定位訊號63包含光學讀取器60光學讀取另一第二物料箱34的其中二定位板40的第一辨識反射部41和另一第二物料箱34的該等感測定位結構301的第三辨識反射部302的讀取結果。藉此，控制單元80能夠依據第一光學定位訊號63更精準地計算出物件放置處的正確方位。In the second mode of operation, the control unit 80 controls the robot arm 52 to first move above two of the positioning plates 40 of the other second material box 34, and the optical reader 60 optically reads the second material box 34 The first identification reflection portion 41 of the two positioning plates 40, while the optical reader 60 optically reads the third identification reflection portion 302 of the sensing positioning structure 301 of the other second material box 34 to obtain the first optical The positioning signal 63 is sent to the control unit 80. In other words, the first optical positioning signal 63 includes the optical reader 60 optically reading the first identification reflection portion 41 of the second positioning plate 40 of the other second material box 34 and the sensing measurement of the other second material box 34 The reading result of the third identification reflector 302 of the bit structure 301. In this way, the control unit 80 can more accurately calculate the correct position of the object according to the first optical positioning signal 63.

在第三種運作模式中，控制單元80控制機械手臂52先移動至另一第一物料箱32的其中二定位板40的上方，光學讀取器60光學讀取另一第一物料箱32的其中二定位板40的第一辨識反射部41，同時光學讀取器60光學讀取另一第一物料箱32的該等感測定位結構301的第三辨識反射部302，以獲得第一光學定位訊號63並且傳送至控制單元80。換言之，第一光學定位訊號63包含光學讀取器60光學讀取另一第一物料箱32的其中二定位板40的第一辨識反射部41和另一第一物料箱32的該等感測定位結構301的第三辨識反射部302的讀取結果。藉此，控制單元80能夠依據第一光學定位訊號63更精準地計算出物件放置處的正確方位。In the third mode of operation, the control unit 80 controls the robot arm 52 to move above the two positioning plates 40 of the other first material box 32, and the optical reader 60 optically reads the position of the other first material box 32. The first identification reflection portion 41 of the two positioning plates 40, while the optical reader 60 optically reads the third identification reflection portion 302 of the sensing positioning structure 301 of the other first material box 32 to obtain the first optical The positioning signal 63 is sent to the control unit 80. In other words, the first optical positioning signal 63 includes the optical reader 60 optically reading the first identification reflection portion 41 of the second positioning plate 40 of the other first material box 32 and the sensing measurement of the other first material box 32 The reading result of the third identification reflector 302 of the bit structure 301. In this way, the control unit 80 can more accurately calculate the correct position of the object according to the first optical positioning signal 63.

較佳地，控制單元80能夠控制機械手臂52對物件105的X軸、Y軸、Z軸、A軸、B軸、C軸中任意五個座標進行修正（即，五軸修正），藉以更細微地調整物件105的角度，使得旋轉後的物件105A的二側邊1051A、1052A的底端的面積完全等於可容許面積42A。Preferably, the control unit 80 can control the robotic arm 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 (that is, five-axis correction). The angle of the object 105 is finely adjusted so that the area of the bottom ends of the two sides 1051A and 1052A of the rotated object 105A is completely equal to the allowable area 42A.

如圖18、圖19及圖20所示，在第二實施例中，各該定位板40A的頂部設有二第一辨識反射部41A，光學讀取器60A光學讀取另一第一物料箱32或其中一第二物料箱33、34的其中二定位板40A的該等第一辨識反射部41A，控制單元80依據第一光學定位訊號63計算出另一第一物料箱32或其中一第二物料箱33、34的其中二定位板40A的該等第一辨識反射部41A之間的空間的面積，並依此界定出一可容許面積42A；第一測距儀71A具有一第三測距模組713，第三測距模組713具有一第三測距範圍；第二測距儀72A具有一第四測距模組723，第四測距模組723具有一第四測距範圍。第一測距模組711與第三測距模組713的間隔距離以及第二測距模組721與第四測距模組723的間隔距離均等於各該定位板40A的該二第一辨識反射部41A的間隔距離，第一測距儀71A與第二測距儀72A的間隔距離等於其中二定位板40A的間隔距離。第三測距模組713為紅外線測距模組或雷射測距模組，第四測距模組723為紅外線測距模組或雷射測距模組。As shown in Figure 18, Figure 19 and Figure 20, in the second embodiment, the top of each positioning plate 40A is provided with two first identification reflection parts 41A, and the optical reader 60A optically reads the other first material box 32 or one of the second material boxes 33, 34 of the first identification reflecting parts 41A of the two positioning plates 40A, the control unit 80 calculates the other first material box 32 or one of the first materials according to the first optical positioning signal 63 The area of the space between the first identification reflection portions 41A of the two positioning plates 40A of the two material bins 33 and 34, and thereby defines an allowable area 42A; the first rangefinder 71A has a third The distance module 713, the third distance measurement module 713 has a third distance measurement range; the second distance meter 72A has a fourth distance measurement module 723, and the fourth distance measurement module 723 has a fourth distance measurement range . The separation distance between the first distance measurement module 711 and the third distance measurement module 713 and the separation distance between the second distance measurement module 721 and the fourth distance measurement module 723 are equal to the two first identifications of each positioning plate 40A. The separation distance of the reflecting portion 41A, the separation distance between the first rangefinder 71A and the second rangefinder 72A is equal to the separation distance between the 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.

如圖21及圖22所示，當物件105A被移動至測量空間73時，物件105A的底端位於第一至第四測距範圍中，第三測距模組713測量出物件105A與第一測距儀71A的距離，以獲得一第三測量值714並且傳送至控制單元80，第四測距模組723測量出物件105A與第二測距儀72A的距離，以獲得一第四測量值724並且傳送至控制單元80，控制單元80依據第一至第四測量值712、722、714、724計算出物件105A的二側邊1051A、1052A的底端的實際面積。當物件105A的二側邊1051A、1052A的底端的實際面積大於可容許面積42A時，代表物件105A的二側邊1051A、1052A的底端產生嚴重翹曲，所以物件105A的二側邊1051A、1052A的底端寬度大於另一第一物料箱32或其中一第二物料箱33、34的其中二定位板40A的間隔距離。控制單元80控制機械手臂52旋轉物件105A，藉以調整物件105的角度，使得旋轉後的物件105A的二側邊1051A、1052A的底端的面積等於或小於可容許面積42A。此時，旋轉後的物件105的二側邊1051A、1052A的底端的寬度等於或小於另一第一物料箱32或其中一第二物料箱33、34的其中二定位板40A的間隔距離。藉此，即使物件105的二側邊1051A、1052A的某一部位產生嚴重翹曲，本發明也能夠藉由調整物件105的角度，以沒有翹曲或些微翹曲的部位對準物件放置處，使得物件105能夠平順地進入物件放置處，防止物件105A的二側邊1051A、1052A卡在該二定位板40A上。As shown in Figures 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, and the third ranging module 713 measures the object 105A and the first The distance of the distance meter 71A is obtained to obtain a third measurement value 714 and transmitted to the control unit 80. The fourth distance measurement module 723 measures the distance between the object 105A and the second distance meter 72A to obtain a fourth measurement value 724 is sent to the control unit 80, and the control unit 80 calculates the actual area of the bottom end 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 greater than the allowable area 42A, it means that the bottom ends of the two sides 1051A, 1052A of the object 105A are seriously warped, so the two sides 1051A, 1052A of the object 105A The width of the bottom end is greater than the distance between the second positioning plates 40A of the other first material box 32 or one of the second material boxes 33, 34. The control unit 80 controls the robotic arm 52 to rotate the object 105A to adjust the angle of the object 105 so that the bottom area 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 side edges 1051A, 1052A of the rotated object 105 is equal to or less than the distance between the two positioning plates 40A of the other first material box 32 or one of the second material boxes 33, 34. In this way, even if a certain part of the two sides 1051A, 1052A of the object 105 is severely warped, the present invention can also adjust the angle of the object 105 to align the object placement position with no warpage or slight warpage. This enables the object 105 to enter the object placement place smoothly, and prevents the two sides 1051A and 1052A of the object 105A from being stuck on the two positioning plates 40A.

另外，如圖23所示，當該等物件105為SMT專用的物料盤時，該等物件105也可平放在第一物料箱31中。In addition, as shown in FIG. 23, when the objects 105 are SMT dedicated material trays, the objects 105 can also be placed flat in the first material box 31.

還有，如圖24所示，在第一物料箱31中，其中一排物件105為SMT專用的物料盤，另一排物件105B亦可為筒狀、矩形或其他形狀的盒體。Furthermore, as shown in FIG. 24, in the first material box 31, one row of objects 105 is a material tray dedicated to SMT, and the other row of objects 105B can also be cylindrical, rectangular or other shaped boxes.

請參閱圖25，圖25為本發明的第三實施例的立體圖。本發明的第三實施例與第一實施例的結構差異在於：夾取模組50A使用傳統的四軸式的機械手臂52A；一螺桿521A可旋轉地設於四軸式的機械手臂52A的第二端並且貫穿其頂部和底部並且電性連接控制單元80；夾頭53A設於螺桿521A的底端；第一測距儀71B和第二測距儀72B固設在四軸式的機械手臂52A的第二端的二側。Please refer to FIG. 25, which is a perspective view of the third embodiment of the present invention. The structural difference between the third embodiment of the present invention and the first embodiment is: the clamping module 50A uses a traditional four-axis robot arm 52A; a screw 521A is rotatably arranged on the fourth axis of the four-axis robot arm 52A The two ends pass through the top and bottom of the control unit 80 and are electrically connected to the control unit 80; the chuck 53A is located at the bottom end of the screw 521A; the first rangefinder 71B and the second rangefinder 72B are fixed on the four-axis robotic arm 52A On both sides of the second end.

第三實施例的三種運作模式與第一實施例的三種運作模式的差異在於：控制單元80控制螺桿521A向下移動，使得夾頭53A精準地取出物件105；控制單元80控制螺桿521A向上移動，使得夾頭53A將物件105移動至測量空間中。至於，第三實施例的三種運作模式的其餘部分和第一實施例三種運作模式相同，在此不予贅述。是以，第三實施例可達成第一實施例的全部功效。The difference between the three operation modes of the third embodiment and the three operation modes of the first embodiment is that the control unit 80 controls the screw 521A to move downward, so that the chuck 53A accurately takes out the object 105; the control unit 80 controls the screw 521A to move upward, The chuck 53A moves the object 105 into the measurement space. As for the remaining parts of the three operating modes of the third embodiment are the same as the three operating modes of the first embodiment, it will not be repeated here. Therefore, the third embodiment can achieve all the effects of the first embodiment.

請參閱圖26及圖27，圖26為包含本發明的第四實施例的另一種自動倉儲系統的整體運作示意圖，圖27為本發明的第四實施例的夾取模組50B的立體圖。另一種自動倉儲系統100A僅包含複數倉儲櫃101A以及複數自動倉儲系統用的揀料裝置1A，並沒有包含導軌102和存取裝置103。倉儲櫃101A為箱型櫃體，包含一層物料箱放置區1011A。該層物料箱放置區1011A的面積較為廣大，可供多個物料箱104A排列成數排，每排有數個物料箱104A。Please refer to FIGS. 26 and 27. FIG. 26 is a schematic diagram of the overall operation of another automatic storage system including the fourth embodiment of the present invention. FIG. 27 is a perspective view of the clamping module 50B of the fourth embodiment of the present invention. Another automatic storage system 100A only includes a plurality of storage cabinets 101A and a plurality of picking devices 1A for the automatic storage system, and does not include the guide rail 102 and the access device 103. The storage cabinet 101A is a box-shaped cabinet and includes a layer of material box placement area 1011A. The material box placement area 1011A of this layer has a relatively large area, which allows multiple material boxes 104A to be arranged in several rows, and each row has several material boxes 104A.

第四實施例的自動倉儲系統用的撿料裝置1A的整體結構和第一實施例的自動倉儲系統用的撿料裝置1的整體結構至少有下列三種差異。There are at least the following three differences between the overall structure of the picking device 1A for the automatic storage system of the fourth embodiment and the overall structure of the picking device 1 for the automatic storage system of the first embodiment.

首先，第四實施例的複數第一輸送模組10A的複數第一水平輸送部11A彼此之間是有縫隙的，並沒有相互連接，所以沒有產生一第一輸送系統。因此，第一水平輸送部11A的功能是直接從倉儲櫃101A中輸送二物料箱104A至該二第一揀料部12A、13A。也就是說，第四實施例的第一水平輸送部11A等同於第一實施例自動倉儲系統100的存取裝置103。First, the first horizontal conveying parts 11A of the plural first conveying modules 10A of the fourth embodiment have gaps between each other and are not connected to each other, so a first conveying system is not produced. Therefore, the function of the first horizontal conveying part 11A is to directly convey the two material boxes 104A from the storage cabinet 101A to the two first picking parts 12A, 13A. In other words, the first horizontal conveying unit 11A of the fourth embodiment is equivalent to the access device 103 of the automatic storage system 100 of the first embodiment.

其次，第四實施例的第二輸送模組20A並沒有包含第二揀料部。因此，複數第二輸送模組20A的複數第二水平輸送部21A除了維持彼此頭尾相接而形成第二輸送系統之外，當第二水平輸送部21A將令二物料箱104A輸送至夾取模組50B一旁時，第二水平輸送部21A立刻暫停運作，俾利夾取模組50B將第一輸送模組10A上的該二第一物料箱31、32中的複數個物件105精準地依序放置在第二輸送模組20A上的該二第二物料箱33、34的該等物件放置處。上述動作完成以後，第二水平輸送部21A可重新啟動。其中，第四實施例的第二水平輸送部21A為滾桿。Secondly, the second conveying module 20A of the fourth embodiment does not include a second picking part. Therefore, the plurality of second horizontal conveying parts 21A of the plurality of second conveying modules 20A maintains that they are connected end to end to form a second conveying system. When the second horizontal conveying part 21A will transport the second material box 104A to the clamping die When the group 50B is aside, the second horizontal conveying part 21A immediately suspends operation, and the clamping and picking module 50B accurately sequentially sequentially arranges the plural objects 105 in the two first material boxes 31 and 32 on the first conveying module 10A Place the objects in the two second material bins 33 and 34 placed on the second conveying module 20A. After the above actions are completed, the second horizontal conveying unit 21A can be restarted. Among them, the second horizontal conveying portion 21A of the fourth embodiment is a roller rod.

此外，第四實施例的基座51B的整體結構和第一實施例的基座51的整體結構大不相同。更明確地說，第四實施例的基座51B包含複數個底座511B、一滑軌517B及一滑座518B。該等底座511B設置在一地面上。滑軌517B設置在該等底座511B上。滑座518B滑設於滑軌517B上，四軸式的機械手臂52A可旋轉地設置在滑座518B上。藉此，四軸式的機械手臂52A可藉由滑座518B沿著滑軌517B水平移動。In addition, the overall structure of the base 51B of the fourth embodiment is quite different from the overall structure 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 bases 511B are set on a ground. The sliding rails 517B are arranged on the bases 511B. The sliding seat 518B is slidably arranged on the sliding rail 517B, and the four-axis mechanical arm 52A is rotatably arranged on the sliding seat 518B. Thereby, the four-axis robot arm 52A can move horizontally along the sliding rail 517B by the sliding seat 518B.

請參閱圖28，圖28為本發明的第五實施例的立體圖。第五實施例的基座51C和第一實施例的基座51在結構上明顯不同。更詳而言之，第五實施例的基座51C包括一車體511C、一固定板516C、一移動裝置517C及一標準感測器518C。固定板516C設於車體511C的頂部，四軸式的機械手臂52A設置在固定板516C上。移動裝置517C設於車體511C的底部。標準感測器518C設於車體511C的一側，延伸至車體511C的底部，並且電性連接控制單元80。標準感測器518C能夠感測到地面上的一個帶體200，並且獲得一感測結果。標準感測器518C將感測結果傳回控制單元80，控制單元80藉由感測結果控制移動裝置517C運轉，使得車體511C能夠沿著帶體200的延伸方向移動。較佳地，帶體200為帶有磁性的磁條或有顏色的條狀物，標準感測器518C為磁條標準感測器518C或顏色標準感測器518C，移動裝置517C為履帶或者滾輪。Please refer to FIG. 28, which is a perspective view of a fifth embodiment of the present invention. The base 51C of the fifth embodiment and the base 51 of the first embodiment are significantly different in structure. In more detail, the base 51C of the fifth embodiment includes a vehicle body 511C, a fixed plate 516C, a mobile device 517C, and a standard sensor 518C. The fixed plate 516C is provided on the top of the vehicle body 511C, and the four-axis robot arm 52A is provided on the fixed plate 516C. The moving device 517C is provided at the bottom of the vehicle body 511C. The standard sensor 518C is arranged 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 can sense a belt 200 on the ground and obtain a sensing result. The standard sensor 518C transmits the sensing result back to the control unit 80, and the control unit 80 controls the operation of the mobile device 517C based on the sensing result, so that the vehicle body 511C can move along the extension direction of the belt 200. Preferably, the belt 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 mobile device 517C is a crawler belt or a roller .

以上所述者僅為用以解釋本發明的較佳實施例，並非企圖據以對本發明做任何形式上的限制，是以，凡有在相同的發明精神下所作有關本發明的任何修飾或變更，皆仍應包括在本發明意圖保護的範疇。The above descriptions are only used to explain the preferred embodiments of the present invention, and are not intended to limit the present invention in any form. Therefore, any modification or change related to the present invention made under the same inventive spirit , Should still be included in the scope of the present invention.

1、1A:自動倉儲系統用的揀料裝置 10、10A:第一輸送模組 11、11A:第一水平輸送部 12、12A、13、13A:第一揀料部 20、20A:第二輸送模組 21、21A:第二水平輸送部 22、23:第二揀料部 301:感測定位結構 302:第三辨識反射部 31、32:第一物料箱 33、34:第二物料箱 40、40A:定位板 41、41A:第一辨識反射部 42A:可容許面積 50、50A、50B:夾取模組 51、51B、51C:基座 511、511B:底座 511C:車體 512、513:長條柱 512B:滑軌 514、515:橫柱 516、516C:固定板 516B:滑座 517C:移動裝置 518C:標準感測器 52、52A:機械手臂 521A:螺桿 53、53A:夾頭 60、60A:光學讀取器 61:光線發射部 62:光線接收部 63:第一光學定位訊號 64:第二光學定位訊號 65:第三光學定位訊號 70:校正模組 71、71A、71B:第一測距儀 711:第一測距模組 712:第一測量值 713:第三測距模組 714:第三測量值 72、72A、72B:第二測距儀 721:第二測距模組 722:第二測量值 723:第四測距模組 724:第四測量值 73:測量空間 80:控制單元 100、100A:自動倉儲系統 101、101A:倉儲櫃 1011、1011A:物料箱放置區 1012:移動空間 102:導軌 103:存取裝置 1031:滑座 1032:立桿 1033:搬運組件 10331:垂直移動部 10332:承載平台 10333:水平移動部 104、104A:物料箱 105、105A、105B:物件 1051A、1052A:側邊 200:帶體 A~G:箭頭 1. 1A: Picking device for automatic storage system 10.10A: The first conveying module 11.11A: The first horizontal conveying part 12, 12A, 13, 13A: the first picking department 20, 20A: second conveying module 21, 21A: The second horizontal conveying part 22, 23: The second picking department 301: Sensing position structure 302: Third Recognition Reflector 31, 32: the first material box 33, 34: second material box 40, 40A: positioning plate 41, 41A: the first recognition reflection part 42A: Allowable area 50, 50A, 50B: clamping module 51, 51B, 51C: base 511, 511B: base 511C: car body 512, 513: Long column 512B: Slide rail 514, 515: horizontal column 516, 516C: fixed plate 516B: Slide 517C: mobile device 518C: Standard sensor 52, 52A: Robotic arm 521A: Screw 53, 53A: Chuck 60, 60A: optical reader 61: Light emission part 62: Light receiving part 63: The first optical positioning signal 64: Second optical positioning signal 65: third optical positioning signal 70: Calibration module 71, 71A, 71B: the first rangefinder 711: The first ranging module 712: first measured value 713: The third ranging module 714: third measurement 72, 72A, 72B: second rangefinder 721: The second ranging module 722: second measured value 723: The fourth ranging module 724: fourth measurement 73: measuring space 80: control unit 100, 100A: automatic storage system 101, 101A: storage cabinet 1011, 1011A: Material box placement area 1012: mobile space 102: Rail 103: Access device 1031: Slide 1032: pole 1033: handling components 10331: Vertical moving part 10332: bearing platform 10333: Horizontal moving part 104, 104A: Material box 105, 105A, 105B: objects 1051A, 1052A: side 200: belt body A~G: Arrow

圖1為包含本發明的第一實施例的自動倉儲系統的整體運作示意圖。 圖2為本發明的第一實施例的立體圖。 圖3為本發明的第一實施例的方塊圖。 圖4為本發明的第一實施例的物料箱、定位板及物件的立體圖。 圖5為本發明的第一實施例的定位板的立體圖。 圖6為本發明的第一實施例的夾取模組移動至第二物料箱的其中二定位板的上方的示意圖。 圖7為本發明的第一實施例的光學讀取器傳送第一光學定位訊號至控制單元的方塊圖。 圖8為本發明的第一實施例的夾取模組移動至第一物料箱的其中二定位板的上方的示意圖。 圖9為本發明的第一實施例的光學讀取器傳送第二光學定位訊號至控制單元的方塊圖。 圖10為本發明的第一實施例的夾取模組取出物件的示意圖。 圖11為本發明的第一實施例的夾取模組將物件移動至校正模組的示意圖。 圖12為本發明的第一實施例的光學讀取器傳送第三光學定位訊號至控制單元的方塊圖。 圖13為本發明的第一實施例的物件偏移的示意圖。 圖14為本發明的第一實施例的第一測距儀和第二測距儀分別傳送第一測量值和第二測量值至控制單元的方塊圖。 圖15為本發明的第一實施例的夾取模組將物件經由正確的移動路徑移動至物件放置處的上方的示意圖。 圖16為本發明的第一實施例的夾取模組將物件精準地放置在物件放置處的示意圖。 圖17為本發明的第一實施例的全部運作模式的物件的移動路徑示意圖。 圖18為本發明的第二實施例的立體圖。 圖19為本發明的第二實施例的校正模組與控制單元的方塊圖。 圖20為本發明的第二實施例的二定位板之間的可容許面積的示意圖。 圖21為本發明的第二實施例的第一至第四測距模組測量物件與第一測距儀和第二測距儀的距離的俯視圖。 圖22為本發明的第二實施例的第一至第四測距模組測量物件與第一測距儀和第二測距儀的距離的側視圖。 圖23為本發明的物件平放在第一物料箱中的示意圖。 圖24為本發明的部分物件為筒狀或矩形的盒體的示意圖。 圖25為本發明的第三實施例的立體圖。 圖26為包含本發明的第四實施例的另一種自動倉儲系統的整體運作示意圖。 圖27為本發明的第四實施例的夾取模組的立體圖。 圖28為本發明的第五實施例的立體圖。FIG. 1 is a schematic diagram of the overall operation of the automatic storage system including the first embodiment of the present invention. Fig. 2 is a perspective view of the first embodiment of the present invention. Fig. 3 is a block diagram of the first embodiment of the present invention. Fig. 4 is a perspective view of the material box, the positioning plate and the object according to the first embodiment of the present invention. Fig. 5 is a perspective view of the positioning plate of the first embodiment of the present invention. 6 is a schematic diagram of the clamping module of the first embodiment of the present invention moving to above two of the positioning plates of the second material box. FIG. 7 is a block diagram of the optical pickup transmitting the first optical positioning signal to the control unit according to the first embodiment of the present invention. Fig. 8 is a schematic diagram of the clamping module of the first embodiment of the present invention moving to above two of the positioning plates of the first material box. 9 is a block diagram of the optical pickup transmitting the second optical positioning signal to the control unit according to the first embodiment of the present invention. FIG. 10 is a schematic diagram of the clamping module taking out an object according to the first embodiment of the present invention. 11 is a schematic diagram of the gripping module of the first embodiment of the present invention moving an object to the calibration module. FIG. 12 is a block diagram of the optical pickup transmitting the third optical positioning signal to the control unit according to the first embodiment of the present invention. FIG. 13 is a schematic diagram of the object shift according to the first embodiment of the present invention. 14 is a block diagram of the first rangefinder and the second rangefinder respectively transmitting the first measurement value and the second measurement value to the control unit according to the first embodiment of the present invention. 15 is a schematic diagram of the gripping module according to the first embodiment of the present invention moving the object to above the object placement place through the correct moving path. 16 is a schematic diagram of the clamping module according to the first embodiment of the present invention accurately placing the object at the object placement position. FIG. 17 is a schematic diagram of movement paths of objects in all operation modes according to the first embodiment of the present invention. Fig. 18 is a perspective view of the second embodiment of the present invention. FIG. 19 is a block diagram of the calibration module and the control unit of the second embodiment of the invention. 20 is a schematic diagram of the allowable area between two positioning plates of the second embodiment of the present invention. 21 is a top view of the distance between the first to fourth distance measuring modules measuring the object and the first distance meter and the second distance meter according to the second embodiment of the present invention. FIG. 22 is a side view of the distance between the first to fourth distance measuring modules measuring the object and the first distance meter and the second distance meter according to the second embodiment of the present invention. Figure 23 is a schematic diagram of the object of the present invention lying flat in the first material box. Figure 24 is a schematic diagram of a cylindrical or rectangular box with part of the objects of the present invention. Fig. 25 is a perspective view of the third embodiment of the present invention. 26 is a schematic diagram of the overall operation of another automatic storage system including the fourth embodiment of the present invention. FIG. 27 is a perspective view of the clamping module according to the fourth embodiment of the present invention. Fig. 28 is a perspective view of the fifth embodiment of the present invention.

1:自動倉儲系統用的揀料裝置 1: Picking device for automatic storage system

10:第一輸送模組 10: The first conveying module

11:第一水平輸送部 11: The first horizontal conveyor

12、13:第一揀料部 12, 13: The first picking department

20:第二輸送模組 20: The second conveying module

21:第二水平輸送部 21: The second horizontal conveyor

22、23:第二揀料部 22, 23: The second picking department

31、32:第一物料箱 31, 32: the first material box

33、34:第二物料箱 33, 34: second material box

50:夾取模組 50: Clamping module

51:基座 51: Pedestal

511:底座 511: Base

512、513:長條柱 512, 513: Long column

514、515:橫柱 514, 515: horizontal column

516:固定板 516: fixed plate

52:機械手臂 52: mechanical arm

53:夾頭 53: Chuck

60:光學讀取器 60: Optical reader

70:校正模組 70: Calibration module

71:第一測距儀 71: The first rangefinder

711:第一測距模組 711: The first ranging module

72:第二測距儀 72: second rangefinder

721:第二測距模組 721: The second ranging module

73:測量空間 73: measuring space

Claims (10)

一種自動倉儲系統用的揀料裝置，包括：一第一輸送模組、一第二輸送模組、二第一物料箱、二第二物料箱、複數定位板、一夾取模組、一光學讀取器、一校正模組以及一控制單元，該二第一物料箱設於該第一輸送模組，該二第二物料箱設於該第二輸送模組，該等定位板分別間隔設置於該二第一物料箱中以及該二第二物料箱中，各該定位板的頂部設有一第一辨識反射部，其中一第一物料箱的二定位板之間設有一物件，該光學讀取器設於該夾取模組上，該控制單元電性連接該第一輸送模組、該第二輸送模組、該夾取模組、該光學讀取器以及該校正模組； 其中，該控制單元控制該夾取模組先移動至另一第一物料箱或其中一第二物料箱的其中二定位板的上方，該光學讀取器光學讀取該另一第一物料箱或該其中一第二物料箱的其中二定位板的第一辨識反射部，以獲得一第一光學定位訊號並且傳送至該控制單元，該控制單元依據該第一光學定位訊號計算出物件放置處的正確方位，接著該控制單元控制該夾取模組移動至該其中一第一物料箱的其中二定位板的上方，該光學讀取器光學讀取該其中一第一物料箱的其中二定位板的第一辨識反射部，以獲得一第二光學定位訊號並且傳送至該控制單元，該控制單元依據該第二光學訊號計算出物件正確方位，該控制單元依據所計算出的物件正確方位精準地控制該夾取模組取出該物件，接著該控制單元控制該夾取模組將該物件移動至該校正模組，該校正模組測量出該物件是否偏離正確的移動路徑，以獲得一測量值並且傳送至該控制單元，該控制單元依據該測量值計算出該物件與正確的移動路徑的一偏差值，該控制單元依據所計算出的偏差值以及物件放置處的正確方位控制該夾取模組將該物件從該校正模組經由正確的移動路徑移動至該物件放置處的上方並且將該物件精準地放置在該物件放置處。A picking device for an automatic storage system, comprising: a first conveying module, a second conveying module, two first material boxes, two second material boxes, multiple positioning plates, a clamping module, and an optical The reader, a calibration module and a control unit, the two first material boxes are arranged in the first conveying module, the two second material boxes are arranged in the second conveying module, and the positioning plates are respectively arranged at intervals In the two first material boxes and the two second material boxes, the top of each positioning plate is provided with a first identifying reflection part, and an object is arranged between the two positioning plates of a first material box. The optical reading The picker is arranged on the clamping module, and the control unit is electrically connected to the first conveying module, the second conveying module, the clamping module, the optical reader, and the calibration module; Wherein, the control unit controls the clamping module to first move to the top of two positioning plates of another first material box or one of the second material boxes, and the optical reader optically reads the other first material box Or the first identification reflection part of two positioning plates of one of the second material boxes to obtain a first optical positioning signal and send it to the control unit, which calculates where the object is placed according to the first optical positioning signal Then, the control unit controls the gripping module to move above the two positioning plates of one of the first material boxes, and the optical reader optically reads the two positions of the one of the first material boxes The first identifying and reflecting part of the board obtains a second optical positioning signal and transmits it to the control unit. The control unit calculates the correct orientation of the object according to the second optical signal, and the control unit calculates the correct orientation of the object accurately according to the calculated The gripping module is controlled to take out the object, and then the control unit controls the gripping module to move the object to the calibration module. The calibration module measures whether the object deviates from the correct moving path to obtain a measurement The value is sent to the control unit. The control unit calculates a deviation between the object and the correct path of movement based on the measured value. The control unit controls the gripping based on the calculated deviation and the correct orientation of the object. The module moves the object from the calibration module to the top of the object placement location through the correct movement path and accurately places the object at the object placement location. 如申請專利範圍第1項所述的自動倉儲系統用的揀料裝置，其中，該校正模組設於該第一輸送模組與該第二輸送模組之間，位於該夾取模組的一側，並且與該夾取模組相隔一段距離，該校正模組包含一第一測距儀及一第二測距儀，該第一測距儀與該第二測距儀分別電性連接該控制單元，該第一測距儀與該第二測距儀之間具有一測量空間，該第一側距儀包含一第一測距模組，該第一側距模組具有一第一測距範圍，該第二測距儀包含一第二測距模組，該第二測距模組具有一第二測距範圍；其中，當該物件被移動至該測量空間時，該物件位於該第一測距範圍與該第二測距範圍中，該第一測距模組測量出該物件與該第一測距儀的距離，以獲得一第一測量值並且傳送至該控制單元，該第二測距模組測量出該物件與該第二測距儀的距離，以獲得一第二測量值並且傳送至該控制單元，該控制單元依據該第一測量值與該第二測量值計算出該偏差值，該偏差值為該第一測量值與該第二測量值的差值的絕對值的二分之一。For the picking device for the automatic storage system described in item 1 of the scope of patent application, wherein the correction module is arranged between the first conveying module and the second conveying module, and is located at the end of the clamping module One side, and a distance from the clamping module, the calibration module includes a first rangefinder and a second rangefinder, the first rangefinder and the second rangefinder are electrically connected The control unit has a measurement space between the first distance meter and the second distance meter, the first side distance meter includes a first distance measuring module, and the first side distance module has a first Ranging range, the second rangefinder includes a second ranging module, the second ranging module has a second ranging range; wherein, when the object is moved to the measurement space, the object is located In the first ranging range and the second ranging range, the first ranging module measures the distance between the object and the first rangefinder to obtain a first measurement value and transmit it to the control unit, The second distance measuring module measures the distance between the object and the second distance meter to obtain a second measurement value and send it to the control unit, which is based on the first measurement value and the second measurement value The deviation value is calculated, and the deviation value is one half of the absolute value of the difference between the first measurement value and the second measurement value. 如申請專利範圍第2項所述的自動倉儲系統用的揀料裝置，其中，各該定位板的頂部設有二第一辨識反射部，該光學讀取器光學讀取該另一第一物料箱或該其中一第二物料箱的其中二定位板的該等第一辨識反射部，該控制單元依據該第一光學定位訊號計算出該另一第一物料箱或該其中一第二物料箱的其中二定位板的該等第一辨識反射部之間的空間的面積，並依此界定出一可容許面積；其中，該第一測距儀具有一第三測距模組，該第三測距模組具有一第三測距範圍，該第二測距儀具有一第四測距模組，該第四測距模組具有一第四測距範圍，該第一測距模組與該第三測距模組的間隔距離以及該第二測距模組與該第四測距模組的間隔距離均等於各該定位板的該二第一辨識反射部的間隔距離，該第一測距儀與該第二測距儀的間隔距離等於該其中二定位板的間隔距離；其中，當該物件被移動至該測量空間時，該物件的底端位於該第一至第四測距範圍中，該第三測距模組測量出該物件與該第一測距儀的距離，以獲得一第三測量值並且傳送至該控制單元，該第四測距模組測量出該物件與該第二測距儀的距離，以獲得一第四測量值並且傳送至該控制單元，該控制單元依據該第一至第四測量值計算出該物件的二側邊的底端的實際面積；其中，當該物件的二側邊的底端的實際面積大於該可容許面積時，該控制單元控制該夾取模組旋轉該物件，藉以調整該物件的角度，使得旋轉後的該物件的二側邊的底端的面積等於或小於該可容許面積。For the material picking device used in the automatic storage system described in item 2 of the scope of patent application, wherein the top of each positioning plate is provided with two first identification reflection parts, and the optical reader optically reads the other first material For the first identifying and reflecting parts of two positioning plates of the box or one of the second material boxes, the control unit calculates the other first material box or one of the second material boxes according to the first optical positioning signal The area of the space between the first identifying reflection portions of two of the positioning plates, and an allowable area is defined accordingly; wherein, the first rangefinder has a third ranging module, and the third The distance measurement module has a third distance measurement range, the second distance measurement device has a fourth distance measurement module, the fourth distance measurement module has a fourth distance measurement range, and the first distance measurement module is connected to The separation distance between the third ranging module and the separation distance between the second ranging module and the fourth ranging module are both equal to the separation distance between the two first identifying reflection portions of each positioning plate, and the first The distance between the distance meter and the second distance meter is equal to the distance between the two positioning plates; wherein, when the object is moved to the measurement space, the bottom end of the object is located at the first to fourth distance measurement In the range, the third distance measuring module measures the distance between the object and the first distance meter to obtain a third measurement value and transmits it to the control unit, and the fourth distance measuring module measures the distance between the object and the first distance meter. The distance of the second rangefinder obtains a fourth measurement value and transmits it 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 to fourth measurement values; When the actual area of the bottom ends of the two sides of the object is greater than the allowable area, the control unit controls the gripping module to rotate the object so as to adjust the angle of the object so that the rotated two sides of the object The area of the bottom end is equal to or smaller than the allowable area. 如申請專利範圍第3項所述的自動倉儲系統用的揀料裝置，其中，該第一測距模組為紅外線測距模組或雷射測距模組，該第二測距模組為紅外線測距模組或雷射測距模組，該第三測距模組為紅外線測距模組或雷射測距模組，該第四測距模組為紅外線測距模組或雷射測距模組。For example, the material picking device for the automatic storage system described in the scope of the patent application, wherein the first ranging module is an infrared ranging module or a laser ranging module, and 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. 如申請專利範圍第1項所述的自動倉儲系統用的揀料裝置，其中，該校正模組設有一第二辨識反射部，當該夾取模組將該物件移動至該校正模組時，該光學讀取器光學讀取該校正模組的第二辨識反射部，以獲得一第三光學定位訊號並且傳送至該控制單元，該控制單元依據該第三光學定位訊號紀錄該夾取模組確實將該物件移動至該校正模組。For example, the material picking device for an automatic storage system described in item 1 of the scope of patent application, wherein the calibration module is provided with a second identification reflection part, and when the gripping module moves the object to the calibration module, The optical reader optically reads the second identification reflection part of the calibration module to obtain a third optical positioning signal and transmit it to the control unit, which records the clamping module according to the third optical positioning signal Move the object to the calibration module. 如申請專利範圍第5項所述的自動倉儲系統用的揀料裝置，其中，該光學讀取器包含一光線發射部及一光線接收部，該光學讀取器在執行光學讀取的動作的時候，該光線發射部發射光線，該校正模組的第二辨識反射部反射光線回到該光線接收部，以獲得該第三光學定位訊號。For the picking device for the automatic storage system described in item 5 of the scope of patent application, wherein the optical reader includes a light emitting part and a light receiving part, and the optical reader is performing the optical reading action At this time, the light emitting part emits light, and the second identifying reflection part of the correction module reflects the light back to the light receiving part to obtain the third optical positioning signal. 如申請專利範圍第1項所述的自動倉儲系統用的揀料裝置，其中，該光學讀取器包含一光線發射部及一光線接收部，該光線發射部及該光線接收部分別電性連接該控制單元，該光學讀取器在執行光學讀取的動作的時候，該光線發射部發射光線，其中二定位板的第一辨識反射部反射光線回到該光線接收部，以獲得該第一光學定位訊號或該第二光學定位訊號。The picking device for an automatic storage system according to the first item of the scope of patent application, wherein the optical reader includes a light emitting part and a light receiving part, the light emitting part and the light receiving part are electrically connected respectively In the control unit, when the optical reader is performing an optical reading action, the light emitting part emits light, and the first identifying reflection part of the two positioning plates reflects the light back to the light receiving part to obtain the first The optical positioning signal or the second optical positioning signal. 如申請專利範圍第1項所述的自動倉儲系統用的揀料裝置，其中，該二第一物料箱和該二第二物料箱外側分別設有複數感測定位結構，該等感測定位結構為凸柱或凹槽，該等感測定位結構上分別設有一第三辨識反射部，該光學讀取器光學讀取該另一第一物料箱或該其中一第二物料箱的其中二定位板的第一辨識反射部，同時該光學讀取器光學讀取該等感測定位結構的第三辨識反射部，以獲得該第一光學定位訊號並且傳送至該控制單元。For example, the material picking device for the automatic storage system described in item 1 of the scope of patent application, wherein the outer sides of the two first material bins and the two second material bins are respectively provided with a plurality of sensing position structures, and the sensing position structures It is a convex post or a groove, and a third identifying and reflecting part is respectively provided on the sensing position structure. The optical reader optically reads the positioning of the other first material box or one of the second material boxes. The first identification reflection part of the plate and the third identification reflection part of the sensor positioning structures are optically read by the optical reader at the same time to obtain the first optical positioning signal and transmit it to the control unit. 如申請專利範圍第1項所述的自動倉儲系統用的揀料裝置，其中，該夾取模組包括一基座、一機械手臂以及一夾頭，該基座設於該第一輸送模組與該第二輸送模組之間，該機械手臂的一第一端可旋轉地設於該基座上，該機械手臂電性連接該控制單元，該夾頭設於該機械手臂的一第二端，電性連接該控制單元，並且能夠夾取該物件，該光學讀取器設於該夾頭上。The material picking device for an automatic storage system according to the first item of the scope of patent application, wherein the gripping module includes a base, a mechanical arm and a chuck, and the base is set on the first conveying module Between the second conveying module and the second conveying module, a first end of the robot arm is rotatably arranged on the base, the robot arm is electrically connected to the control unit, and the chuck is arranged on a second end of the robot arm. The end is electrically connected to the control unit and can clamp the object. The optical reader is arranged on the chuck. 如申請專利範圍第1項所述的自動倉儲系統用的揀料裝置，其中，該第一輸送模組包含一第一水平輸送部及二第一揀料部，該第一水平輸送部用以鄰設於一倉儲櫃的一側，相隔一段距離，並且電性連接該控制單元，該二第一揀料部間隔設置於該第一水平輸送部遠離該倉儲櫃的一側並且電性連接該控制單元，該二第一物料箱從該倉儲櫃上被搬運至該第一水平輸送部，該二第一物料箱分別從該第一水平輸送部平移至該二第一揀料部；其中，該第二輸送模組包含一第二水平輸送部及二第二揀料部，該第二水平輸送部設於該第一輸送模組遠離該倉儲櫃的一側，並且電性連接該控制單元，該二第二揀料部間隔設置於該第二水平輸送部靠近第一輸送模組的一側並且電性連接該控制單元，該二第二物料箱從另一倉儲櫃上被搬運至該第二水平輸送部，該二第二物料箱分別從該第二水平輸送部平移至該二第二揀料部。For example, the material picking device for the automatic storage system described in the scope of patent application, wherein the first conveying module includes a first horizontal conveying part and two first picking parts, and the first horizontal conveying part is used for Adjacent to one side of a storage cabinet, separated by a certain distance, and electrically connected to the control unit, the two first picking parts are arranged at intervals on the side of the first horizontal conveying part away from the storage cabinet and are electrically connected to the The control unit, the two first material boxes are transported from the storage cabinet to the first horizontal conveying part, and the two first material boxes are respectively translated from the first horizontal conveying part to the two first picking parts; wherein, The second conveying module includes a second horizontal conveying part and two second picking parts. The second horizontal conveying part is arranged on the side of the first conveying module away from the storage cabinet and is electrically connected to the control unit The two second picking parts are arranged at intervals on the side of the second horizontal conveying part close to the first conveying module and are electrically connected to the control unit. The two second material bins are transported from another storage cabinet to the The second horizontal conveying part, the two second material boxes are respectively translated from the second horizontal conveying part to the two second picking parts.
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