TWI779341B - Storage equipment - Google Patents

Abstract

A storage equipment is provided. The storage equipment includes a transport device, a storage device, an object access device, and a control device. The transport device is used to transport the object. The storage device includes a first storage module and a second storage module. The first storage module includes a first rotating unit and a first storage unit. The second storage module includes a second rotating unit and a second storage unit. The first rotating unit can drive the first storage unit to rotate and the second rotating unit can drive the second storage unit to rotate. The control device is electrically connected with the storage device and the object access device. The control device can control the first rotating unit and/or the second rotating unit according to an execution command to drive the first storage unit to rotate and/or drive the second storage unit to rotate.

Description

Storage equipment

The invention relates to a material storage device, in particular to a material storage device with high capacity and high access speed.

First of all, the material access speed and the storage quantity of materials in the material storage equipment (such as storage system) in the prior art still need to be improved. In addition, the opening direction of the storage tank in the prior art storage equipment is all towards the access jaws, therefore, when the power failure causes the storage equipment to stop operating, the user cannot easily access the storage tank. materials.

Therefore, how to improve the material access speed and material storage capacity of the material storage equipment through the improvement of the structural design to overcome the above-mentioned defects has become one of the important issues to be solved by this technology.

The technical problem to be solved by the present invention is to provide a material storage device for storing and retrieving materials in view of the deficiencies of the prior art.

In order to solve the above-mentioned technical problems, one of the technical solutions adopted by the present invention is to provide a material storage device for accessing materials. The storage device includes a conveying device, a material storage device, a material access device and a control device. The conveying device is used for conveying the material. The storage device is adjacent to the conveying device, the storage device includes a first storage module and a second storage module, the first storage module includes a first rotating unit and a The first storage unit arranged on the first rotation unit, the second storage module includes a second rotation unit and a second storage unit arranged on the second rotation unit, wherein, The first rotation unit can drive the first storage unit to rotate, and the second rotation unit can drive the second storage unit to rotate. The material access device is adjacent to the material storage device and the conveying device, and the material access device is located between the first material storage module and the second material storage module, the material The access device includes a lifting displacement module, a rotating module, and a material access module arranged on the lifting displacement module and the rotating module, wherein the lifting displacement module can drive the The material access module is displaced along a first moving direction, and the rotating module can drive the material access module to rotate along a main shaft. The control device is electrically connected to the storage device and the material access device. When the control device receives an execution command, the control device can control the first rotation unit and/or the second rotation unit according to the execution command, so as to drive the first storage unit along the Rotating with a first central axis of the first rotating unit and/or driving the second storage unit to rotate along a second central axis of the second rotating unit, so that the first storage unit rotates to a first material storage and retrieval position and rotate the second storage unit to a second material storage and retrieval position. When the control device receives the execution command, the control device can control the lifting displacement module and/or the rotation module according to the execution command, and drive the material access module to A predetermined location for accessing said material.

One of the beneficial effects of the present invention is that the material storage device provided by the present invention can pass "the first storage unit can rotate along a first central axis of the first rotation unit" and "the The technical solution that the second storage unit can rotate along a second central axis of the second rotation unit is to increase the material access speed of the storage device and increase the material storage volume of the storage device.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings related to the present invention. However, the provided drawings are only for reference and description, and are not intended to limit the present invention.

The following are specific examples to illustrate the implementation of the "material storage device" disclosed in the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various modifications and changes can be made to the details in this specification based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only for simple illustration, and are not drawn according to the actual size, which is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the protection scope of the present invention. In addition, it should be understood that although terms such as "first", "second", and "third" may be used herein to describe various elements, these elements should not be limited by these terms. These terms are mainly used to distinguish one element from another. In addition, the term "or" used herein may include any one or a combination of more of the associated listed items depending on the actual situation. In addition, the term "or" used herein may include any one or a combination of more of the associated listed items depending on the actual situation.

[first embodiment]

First, please refer to FIG. 1 and FIG. 2 . FIG. 1 is a three-dimensional schematic view of the storage device according to the first embodiment of the present invention, and FIG. 2 is a functional block diagram of the storage device according to the first embodiment of the present invention. The first embodiment of the present invention provides a material storage device U for storing materials P. The material storage device U includes a conveying device 1 , a material storage device 2 , a material access device 3 and a control device 4 . The control device 4 can be electrically connected to the conveying device 1 , the material storage device 2 and/or the material access device 3 to control the operation of the conveying device 1 , the material storage device 2 and/or the material access device 3 . In addition, for example, the material P can be an electronic coil (or an electronic component coil), the conveying device 1 can be used to transport the material P, the storage device 2 can be used to store the material P, and the material access device 3 can be used to transfer material P. However, it should be noted that although the material storage device U of the present invention is exemplified by storing electronic roll materials, in other embodiments, the material P can also be other materials, and the present invention does not refer to the specific material P The form is restricted.

Based on the above, the material storage device 2 is arranged adjacent to the conveying device 1, and the material access device 3 is arranged adjacent to the material storage device 2 and the conveying device 1, so that the material access device 3 can transfer the material P from the conveying device 1 to the storage device. The material device 2 or the material P is transferred from the storage device 2 to the conveying device 1 . In addition, the material P may include a material PA to be stored and a material PB to be taken out. It should be noted that the "to be stored" material PA and the "to be taken out" material PB in this article are mainly to illustrate the state of the material P Different, that is, the "to be stored" material PA can be used as the "to be taken out" material PB after being stored in the storage device 2, and after the "to be taken out" material PB is taken out from the material storage device 2, it can be stored again when needed. When it is put back into the storage device 2, it can be used as the "to be stored" material PA.

Based on the above, for example, the storage device 2 includes a first storage module 21 and a second storage module 22, and the first storage module 21 includes a first rotating unit 211 and a The first storage unit 212 on the rotation unit 211 , the second storage module 22 includes a second rotation unit 221 and a second storage unit 222 disposed on the second rotation unit 221 . The first material storage unit 212 and the second material storage unit 222 can respectively store the material PA to be stored and the material PB to be taken out. In addition, the first rotation unit 211 can drive the first storage unit 212 to rotate, and the second rotation unit 221 can drive the second storage unit 222 to rotate. For example, the first rotating unit 211 can be a motor to drive the first storage unit 212 to rotate along a first central axis C1 of the first rotating unit 211, and the second rotating unit 221 can be a motor to drive The second storage unit 222 rotates along a second central axis C2 of the second rotating unit 221 , but the present invention is not limited to the forms of the first rotating unit 211 and the second rotating unit 221 . In addition, it should be noted that in other embodiments, the storage device 2 may not only include two storage modules (the first storage module 21 and the second storage module 22), but may further include more There are many material storage modules, the present invention is not limited by the quantity of material storage modules. In addition, it should be noted that the present invention is only described by taking part of the material P disposed in the first storage unit 212 as an example.

In view of the above, please refer to Fig. 1 and Fig. 2 again, and please refer to Fig. 3 to Fig. 5 together. Fig. 3 and Fig. 4 are three-dimensional schematic diagrams of the storage equipment according to the first embodiment of the present invention, and Fig. 5 It is an enlarged schematic diagram of part V in FIG. 3 . The first material storage unit 212 includes a plurality of first material storage tanks 2120, and the plurality of first material storage tanks 2120 are stacked in sequence around the first central axis C1, and the direction of an opening 2120S of each first material storage tank 2120 is respectively facing directions away from the first central axis C1. In addition, the second storage unit 222 includes a plurality of second storage tanks 2220, the plurality of second storage tanks 2220 are stacked in sequence around the second central axis C2, and each second storage tank 2220 has an opening 2220S The directions of are facing away from the second central axis C2 respectively. In other words, the direction of the opening 2120S of the first storage tank 2120 and the direction of the opening 2220S of the second storage tank 2220 are toward the outside.

Based on the above, in terms of the first embodiment, the conveying device 1 may include a first conveying module 11 and a second conveying module 12, the first conveying module 11 can convey the material PA to be stored, and the second conveying module Group 12 is capable of conveying the material PB to be removed. In addition, the material access device 3 can be arranged between the first conveying module 11 and the second conveying module 12, and the first conveying module 11 and the second conveying module 12 can be arranged on the first storage module 21 and the second storage module 22. That is, the first material storage module 21 and the second material storage module 22 are arranged outside the material storage device U relative to the conveying device 1 and the material access device 3 . Thus, since the first material storage module 21 and the second material storage module 22 are arranged on the outside of the material storage device U relative to the conveying device 1 and the material access device 3, the first material storage unit 212 and the second material storage unit 212 The storage unit 222 can rotate along the first central axis C1 and the second central axis C2 respectively, and the direction of the opening 2120S of the first storage tank 2120 and the direction of the opening 2220S of the second storage tank 2220 are facing outward. Therefore, when the power failure causes the material storage device U to stop operating, it is also easy for the user to directly access the material P in the first material storage tank 2120 and/or the second material storage tank 2220, or allow the user to Easy to maintain storage device 2.

Next, please refer to Fig. 3 and Fig. 4 again, the material access device 3 can be located between the first material storage module 21 and the second material storage module 22, and the material access device 3 includes a lifting displacement module 31. A rotary module 32 and a material access module 33 arranged on the lifting displacement module 31 and the rotary module 32 . The lifting displacement module 31 can drive the material access module 33 to move along a first moving direction (eg, Y direction), and the rotation module 32 can drive the material access module 33 to rotate along a main axis A. Thereby, the material access module 33 can access the material P in the first storage module 21 and the second storage module 22 disposed around or on both sides of the material access device 3 . In addition, in terms of the first embodiment, the material access device 3 further includes a horizontal displacement module 34, the material access module 33 is arranged on the horizontal displacement module 34, and the horizontal displacement module 34 can drive the material access The module 33 is displaced along a second moving direction (eg, X direction), and the first moving direction (eg, Y direction) and the second moving direction (eg, X direction) are perpendicular to each other. In addition, for example, the lifting displacement module 31 and the horizontal displacement module 34 can be constituted by a slide rail respectively, and the lifting displacement module 31 and the horizontal displacement module 34 can drive the material access module 33 to move.

Based on the above, for example, the material access module 33 may include a base 331 and a material access mechanism 332 disposed on the base 331, the material access mechanism 332 may be a fork to carry materials P and move material P. However, it should be noted that although the present invention uses the material access mechanism 332 as a fork as an example, in other embodiments, the material access mechanism 332 can also be a jaw or a suction cup. The specific structure of the material access mechanism 332 is not limited. That is to say, the material access mechanism 332 can be replaced or adjusted according to different materials P.

Next, please refer to FIG. 6 , which is another functional block diagram of the storage device according to the first embodiment of the present invention. It is worth noting that, in one embodiment, the storage device 2 may further include a first alignment sensing module 27, and the material access device 3 may further include a corresponding to the first alignment sensing module. The second alignment sensing module 35 of the group 27, the first alignment sensing module 27 can be arranged adjacent to the first storage module 21 and/or the second storage module 22, and the second alignment sensing module The measuring module 35 can be arranged adjacent to the material access module 33 . For example, the first alignment sensing module 27 and the second alignment sensing module 35 can be used to detect the first storage module 21, the second storage module 22 and the material access module 33 The relative position between them is to judge or confirm whether the first storage unit 212 of the first storage module 21 and/or the second storage unit of the second storage module 22 are respectively rotated to the appropriate first storage and retrieval materials. position and/or the second access material position, and judge or confirm whether the material access module 33 has moved to an appropriate predetermined position. For example, the first alignment sensing module 27 and the second alignment sensing module 35 can be a photoelectric sensor, but the invention is not limited thereto.

Next, please refer to FIGS. 1 to 4 again. When the control device 4 receives an execution command, the control device 4 can control the first rotation unit 211 and/or the second rotation unit 221 according to the execution command to drive the first rotation unit 211 and/or the second rotation unit 221. A storage unit 212 rotates along the first central axis C1 of the first rotating unit 211 and/or drives the second storage unit 222 to rotate along the second central axis C2 of the second rotating unit 221, so that the first storage unit 212 rotates to a first storage and retrieval position and makes the second storage unit 222 rotate to a second storage and retrieval position. In addition, when the control device 4 receives the execution command, the control device 4 can control the lifting displacement module 31 and/or the rotation module 32 according to the execution command, and drive the material access module 33 to a predetermined position to access Material P.

In addition, for example, the control device 4 can control the material access module 33 to move the material PA to be stored on the first conveying module 11 to the first storage unit 212 or the second storage unit 222 according to the execution command. , and the control device 4 can control the material access module 33 to move the material PB to be taken out in the first storage unit 212 or the second storage unit 222 to the second conveying module 12 according to the execution command.

Based on the above, for example, in the embodiment shown in Fig. 1 to Fig. 4, the control device 4 can control the material access mechanism 332 to obtain the material PA to be stored on the first conveying module 11 according to the execution command, and the control device 4 4 Can control the first rotation unit 211 and/or the second rotation unit 221 to drive the first storage unit 212 to the first storage and retrieval position and/or drive the second storage unit 222 to the second storage and retrieval position according to the execution command feed location. In addition, the control device 4 can control the lifting displacement module 31 and/or the rotating module 32 to drive the material access module 33 to a predetermined position according to the execution command, and the control device 4 can control the material access mechanism 332 according to the execution command. The storage material PA is put into the first storage unit 212 or the second storage unit 222 .

Based on the above, in one embodiment, when the control device 4 receives a warehousing command, the following steps can be performed. For example, the material PA to be stored can be transported by the first transport module 11, and the second A storage unit 212 and/or a second storage unit 222 can be rotated by the first rotation unit 211 and/or the second rotation unit 221 to the first access position and/or the second access position, and the material The access module 33 can transfer the material PA to be stored on the first conveying module 11 to the first storage unit 212 and/or the second storage unit 222 . Thereby, during the conveying process of the material PA to be stored, the first storage unit 212 and/or the second storage unit 222 are also rotated to the first storage and retrieval position and/or the second storage and withdrawal position respectively Under this condition, the production capacity per unit hour (units per hour, UPH) can be greatly increased. In addition, when the control device 4 receives a warehouse-out command, the following steps can be performed. For example, the first storage unit 212 and/or the second storage unit 222 can be respectively rotated by the first rotation unit 211 and/or Or the second rotating unit 221 rotates to the first access material position and/or the second access material position, the material access module 33 can be located in the first storage unit 212 and/or the second storage unit 222 The material PB to be taken out is transferred to the second conveying module 12 , and the material PB to be taken out can be conveyed by the second conveying module 12 . However, it should be noted that the actions performed in the above steps are for illustration only, and the present invention is not limited thereto.

Next, please refer to FIG. 4 again, and please also refer to FIG. 7 . FIG. 7 is a three-dimensional schematic view of the material storage device according to the first embodiment of the present invention. From the comparison of FIG. 7 and FIG. 4 , it can be seen that the biggest difference between FIG. 7 and FIG. 4 lies in the form of the material access module 33 . As shown in Figure 7, for example, the material access module 33 may include a base 331, a first material access mechanism 332A disposed on the base 331 and a second material access mechanism disposed on the base 331 332B, and the extension direction of the first material access mechanism 332A relative to the base 331 (eg negative Z direction) and the extension direction of the second material access mechanism 332B relative to the base 331 (eg positive Z direction) are opposite to each other. In other words, there is an included angle of 180 degrees between the extension direction of the first material access mechanism 332A and the extension direction of the second material access mechanism 332B. In addition, it should be noted that the present invention is illustrated by using the first material access mechanism 332A and the second material access mechanism 332B as fork racks, but in other embodiments, the first material access mechanism 332A and the second material access mechanism 332A The second material access mechanism 332B can also be a gripper or a suction cup, and the present invention is not limited by the specific structures of the first material access mechanism 332A and the second material access mechanism 332B. Thereby, the present invention can utilize multiple material access mechanisms (the first material access mechanism 332A and the second material access mechanism 332B) to increase the access speed of the material P.

Based on the above, it is worth noting that the first material access mechanism 332A and the second material access mechanism 332B of the present invention are both arranged on the seat body 331, therefore, when the seat body 331 of the material access module 33 is along the main axis When A rotates, the first material access mechanism 332A and the second material access mechanism 332B can rotate simultaneously. In addition, because the first material access mechanism 332A and the second material access mechanism 332B can rotate simultaneously, the first material access mechanism 332A and the second material access mechanism 332B will not interfere with each other. In addition, it is worth noting that in other embodiments, more material access mechanisms may also be included, such as a third material access mechanism (not shown in the figure) and a fourth material access mechanism (not shown in the figure). Out), and the included angle between each adjacent material access mechanism in the material access module 33 is equal to each other, but the present invention is not limited thereto.

Based on the above, for example, in the embodiment shown in FIG. 7, the control device 4 can control the first material access mechanism 332A to obtain the material PA to be stored on the first conveying module 11 according to the execution command, and the control device 4 The first rotating unit 211 and/or the second rotating unit 221 can be controlled to drive the first storage unit 212 to rotate to the first storage and retrieval position and/or drive the second storage unit 222 to rotate to the second storage and retrieval position according to the execution command. position, the control device 4 can control the lifting displacement module 31 and/or the rotating module 32 to drive the material access module 33 to a predetermined position according to the execution command, and the control device 4 can control the first material access mechanism 332A to move the The material PA to be stored is placed in the first storage unit 212 or the second storage unit 222, and the control device 4 can control the second material access mechanism 332B to be located in the first storage unit 212 or the second storage unit according to the execution command. The material PB to be taken out in the material unit 222 moves to the second conveying module 12 .

Next, please refer to FIG. 8 . FIG. 8 is a schematic perspective view of a storage device according to a first embodiment of the present invention. As can be seen from the comparison of Fig. 8 with Fig. 1, in the embodiment of Fig. 8, the material storage device 2 further includes more material storage modules, for example, the material storage device 2 further includes a third material storage module 23. A fourth material storage module 24 , a fifth material storage module 25 and a sixth material storage module 26 . The first storage module 21, the third storage module 23 and the fifth storage module 25 are arranged along a first straight line L1 perpendicular to the first central axis C1, the second storage module 22, the fourth storage module The material module 24 and the sixth storage module 26 are arranged along a second straight line L2 perpendicular to the second central axis C2, and the first straight line L1 and the second straight line L2 are parallel to each other. In addition, it is worth noting that, in the first embodiment, the first moving direction (such as the Y direction) of the lifting displacement module 31 is parallel to the first central axis C1 and the second central axis C2, and the horizontal displacement module 34 The second moving direction (such as the X direction) is parallel to the first straight line L1 and the second straight line L2. In other words, the first storage module 21, the second storage module 22, the third storage module 23, the fourth storage module 24, the fifth storage module 25 and the sixth storage module 26 may be arranged sequentially along a direction parallel to the second moving direction (for example, the X direction).

[Second embodiment]

First, please refer to FIG. 9 and FIG. 10 . FIG. 9 and FIG. 10 are schematic perspective views of a material storage device according to a second embodiment of the present invention. The second embodiment of the present invention provides a material storage device U. From the comparison of Fig. 9 and Fig. 1, it can be seen that the biggest difference between the second embodiment and the first embodiment lies in: the first material storage module The arrangement of the group 21 and the second storage module 22 and the configuration of the material access module 33 are different from those of the first embodiment. In addition, it is worth noting that other components in the second embodiment are similar to those in the first embodiment, and will not be repeated here.

Based on the above, the material storage device U includes a conveying device 1 , a material storage device 2 , a material access device 3 and a control device 4 . The control device 4 can be electrically connected to the conveying device 1 , the storage device 2 and/or the material access device 3 . The storage device 2 is adjacent to the conveying device 1 , and the storage device 2 includes a first storage module 21 and a second storage module 22 . The first storage module 21 includes a first rotation unit 211 and a first storage unit 212 arranged on the first rotation unit 211, and the second storage module 22 includes a second rotation unit 221 and a first storage unit 212 arranged on the first rotation unit 211. For the second storage unit 222 on the second rotation unit 221 , the first rotation unit 211 can drive the first storage unit 212 to rotate, and the second rotation unit 221 can drive the second storage unit 222 to rotate. In addition, the material access device 3 is adjacent to the storage device 2 and the conveying device 1 , and the material access device 3 is located between the first storage module 21 and the second storage module 22 . The material access device 3 includes a lifting displacement module 31 , a rotating module 32 and a material accessing module 33 arranged on the lifting displacement module 31 and the rotating module 32 . The lifting displacement module 31 can drive the material access module 33 to move along a first moving direction (eg, Y direction), and the rotation module 32 can drive the material access module 33 to rotate along a main axis A.

Next, please refer back to FIG. 9 and FIG. 10 , and please also refer to FIG. 11 , which is a three-dimensional schematic diagram of a material storage device according to a second embodiment of the present invention. From the comparison of Fig. 10 and Fig. 4, it can be seen that since the first storage module 21 and a second storage module 22 of the second embodiment are arranged in a manner surrounding the material access device 3, the second The material access device 3 of the second embodiment may not include the horizontal displacement module 34 . In addition, the material access module 33 may include a base 331, a first material access mechanism 332A disposed on the base 331, and a second material access mechanism 332B disposed on the base 331, and the first material access The extending direction of the mechanism 332A relative to the base 331 (eg negative Z direction) and the extending direction of the second material access mechanism 332B relative to the base 331 (eg positive Z direction) are opposite to each other. In addition, it is worth noting that the first material access mechanism 332A and the second material access mechanism 332B of the present invention are both arranged on the seat body 331, therefore, when the seat body 331 of the material access module 33 is along the main axis A When rotating, the first material access mechanism 332A and the second material access mechanism 332B can rotate simultaneously. In addition, because the first material access mechanism 332A and the second material access mechanism 332B can rotate simultaneously, the first material access mechanism 332A and the second material access mechanism 332B will not interfere with each other.

Based on the above, in terms of the second embodiment, the material storage device 2 further includes a third material storage module 23, a fourth material storage module 24, a fifth material storage module 25 and a sixth material storage module Module 26. The first storage module 21, the third storage module 23 and the fifth storage module 25 are arranged along a first arc R1, the second storage module 22, the fourth storage module 24 and the sixth storage module The storage modules 26 are arranged along a second arc R2. In addition, in one of the embodiments, the center of the first arc R1 (not shown in the figure) and the center of the second arc R2 (not shown in the figure) can be located on the main axis A, but the present invention is not limited thereto .

[Advantageous Effects of Embodiment]

One of the beneficial effects of the present invention is that the material storage device U provided by the present invention can pass through "the first material storage unit 212 can rotate along a first central axis C1 of the first rotating unit 211" and "the second The storage unit 222 can rotate along a second central axis C2 of the second rotation unit 221" to increase the access speed of the material P of the storage device U and increase the storage quantity of the material P of the storage device U. In other words, through the above technical features, it is possible to maximize the storage quantity of materials in a limited space, and at the same time, when the power failure causes the storage device U to stop operating, it also allows the user to easily access the first storage directly. The material P in the tank 2120 and/or the second storage tank 2220 may also allow the user to easily maintain the storage device 2 .

The content disclosed above is only a preferred feasible embodiment of the present invention, and does not therefore limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made by using the description and drawings of the present invention are included in the application of the present invention. within the scope of the patent.

U: storage equipment 1: Conveyor 11: The first conveying module 12: The second delivery module 2: storage device 21: The first storage module 211: The first rotation unit 212: The first storage unit 2120: The first storage tank 2120S: opening 22: Second storage module 221: The second rotation unit 222: The second storage unit 2220: Second storage tank 2220S: opening 23: The third storage module 24: The fourth storage module 25: The fifth storage module 26: The sixth storage module 27: The first alignment sensing module 3: Material access device 31: Lifting displacement module 32:Rotary module 33:Material access module 331: seat body 332:Material access mechanism 332A: The first material access mechanism 332B: The second material access mechanism 34: Horizontal displacement module 35:Second alignment sensing module 4: Control device P: material PA: material to be stored PB: material to be taken out A: Spindle C1: the first central axis C2: second central axis L1: first straight line L2: second straight line R1: first arc R2: second arc X, Y, Z: direction

FIG. 1 is a perspective view of a storage device according to a first embodiment of the present invention.

FIG. 2 is a functional block diagram of the storage device according to the first embodiment of the present invention.

Fig. 3 is another perspective view of the storage device according to the first embodiment of the present invention.

Fig. 4 is another perspective view of the material storage device according to the first embodiment of the present invention.

FIG. 5 is an enlarged schematic view of the V portion of FIG. 3 .

Fig. 6 is another functional block diagram of the storage device according to the first embodiment of the present invention.

Fig. 7 is another perspective view of the storage device according to the first embodiment of the present invention.

Fig. 8 is yet another perspective view of the material storage device according to the first embodiment of the present invention.

FIG. 9 is a schematic perspective view of a storage device according to a second embodiment of the present invention.

Fig. 10 is another perspective view of the storage device according to the second embodiment of the present invention.

Fig. 11 is another perspective view of the storage device according to the second embodiment of the present invention.

U: storage equipment

1: Conveyor

11: The first conveying module

12: The second delivery module

2: storage device

21: The first storage module

211: The first rotation unit

212: The first storage unit

2120: The first storage tank

2120S: opening

22: Second storage module

221: The second rotation unit

222: The second storage unit

2220: Second storage tank

2220S: opening

3: Material access device

P: material

PA: material to be stored

PB: material to be taken out

X, Y, Z: direction

Claims (10)

A material storage device for accessing a material to be stored and a material to be taken out, the material storage device includes: a conveying device, which includes a first conveying module and a second conveying module, the first A conveying module is used to convey the material to be stored, and the second conveying module is used to convey the material to be taken out; a storage device, the storage device is adjacent to the conveying device, the storage The material device includes a first material storage module and a second material storage module, the first material storage module includes a first rotating unit and a first material storage unit arranged on the first rotating unit , the second storage module includes a second rotation unit and a second storage unit arranged on the second rotation unit, wherein the first rotation unit can drive the first storage unit rotation, and the second rotation unit can drive the second storage unit to rotate; the first storage unit and the second storage unit can respectively store the material to be stored and the material to be taken out ; Wherein, the first conveying module is used to convey the material to be stored to a position close to the storage device, and the second conveying module is used to convey the material to be taken out to a position far away from the The location of the storage device; a material access device, the material access device is adjacent to the storage device and the conveying device, and the material access device is located between the first storage module and the Between the second storage modules, and the material access device is located between the first conveying module and the second conveying module, the material access device includes a lifting displacement module, a rotating module and a material access module arranged on the lift displacement module and the rotation module, wherein the lift displacement module can drive the material access module along a first moving direction displacement, and the rotary module can drive the material access module to rotate along a main axis; and A control device, the control device is electrically connected to the material storage device and the material access device; wherein, when the control device receives an execution command, the control device can execute according to the execution command Control the first rotation unit and/or the second rotation unit to drive the first storage unit to rotate along a first central axis of the first rotation unit and/or drive the second storage unit The material unit rotates along a second central axis of the second rotating unit, so that the first material storage unit rotates to a first storage and retrieval position and the second storage unit rotates to a second storage position. material retrieving position, and while the first rotating unit and/or the second rotating unit are being controlled, the first conveying module and/or the second conveying module respectively and the material to be taken out is conveyed; wherein, while the first conveying module is conveying the material to be stored and/or the second conveying module is conveying the material to be taken out, the control device can Control the lifting displacement module and/or the rotating module according to the execution command, and drive the material access module to a predetermined position to access the material to be stored or the material to be taken out materials. The storage device according to claim 1, wherein the first storage unit includes a plurality of first storage tanks, and the plurality of first storage tanks surround the first central axis and are stacked in sequence, The second storage unit includes a plurality of second storage tanks, and the plurality of second storage tanks are stacked in sequence around the second central axis; wherein, one of each of the first storage tanks The directions of the openings respectively face the direction away from the first central axis, and the directions of an opening of each of the second storage tanks respectively face the direction away from the second central axis. The material storage device according to claim 2, wherein the control device can control the material access module to move the material to be stored on the first conveying module to the The first storage unit or the second storage unit material unit, and the control device can control the material access module to move the material to be taken out in the first material storage unit or the second material storage unit to the Describe the second delivery module. The material storage equipment according to claim 3, wherein the material access module includes a base and a material access mechanism arranged on the base, and the control device can control the The material access mechanism obtains the material to be stored on the first conveying module, and the control device can control the first rotating unit and/or the second rotating unit to drive The first material storage unit rotates to the first storage and retrieval position and/or drives the second storage unit to rotate to the second storage and retrieval position, and the control device can control according to the execution command The lifting displacement module and/or the rotating module drives the material access module to the predetermined position, and the control device can control the material access mechanism to move the material access module to the predetermined position according to the execution command. The material to be stored is put into the first storage unit or the second storage unit. The material storage device according to claim 3, wherein the material access module includes a base, a first material access mechanism disposed on the base, and a first material access mechanism disposed on the base Two material access mechanisms, the extension direction of the first material access mechanism relative to the base body and the extension direction of the second material access mechanism relative to the base body are opposite to each other. The material storage device according to claim 5, wherein the control device can control the first material access mechanism to obtain the material to be stored on the first conveying module according to the execution command, The control device can control the first rotating unit and/or the second rotating unit to drive the first storage unit to rotate to the first storage and retrieval position and/or drive the The second storage unit rotates to the second storage and retrieval position, and the control device can control the lifting displacement module and/or the rotary module according to the execution command The group drives the material access module to the predetermined position, and the control device can control the first material access mechanism to put the material to be stored into the first storage according to the execution command. unit or the second storage unit, and the control device can control the second material access mechanism to be located in the first storage unit or the second storage unit according to the execution command The material to be taken out is moved to the second conveying module. The material storage device according to claim 1, wherein the material storage device further includes a third material storage module, a fourth material storage module, a fifth material storage module and a sixth material storage module module, the first storage module, the third storage module and the fifth storage module are arranged along a first arc, the second storage module, the fourth The storage module and the sixth storage module are arranged along a second arc, and the center of the first arc and the center of the second arc are located on the main shaft. The material storage equipment according to claim 1, wherein the material access device further includes a horizontal displacement module, the material access module is arranged on the horizontal displacement module, and the horizontal displacement module The group can drive the material access module to displace along a second moving direction, and the first moving direction and the second moving direction are perpendicular to each other. The material storage device according to claim 8, wherein the material storage device further includes a third material storage module, a fourth material storage module, a fifth material storage module and a sixth material storage module modules, the first storage module, the third storage module and the fifth storage module are arranged along a first straight line perpendicular to the first central axis, and the second storage module The material module, the fourth material storage module and the sixth material storage module are arranged along a second straight line perpendicular to the second central axis, and the first straight line and the second straight line are mutually Parallel; wherein, the first moving direction is parallel to the first central axis and the second central axis, and the second moving direction is parallel to the first straight line and the second straight line. The material storage device according to claim 1, wherein the storage device further includes a first alignment sensing module, and the material access device further includes a sensor corresponding to the first alignment sensor The second alignment sensing module of the measuring module.

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