Automatic stereoscopic warehouse for screw feeding of screw machine

Abstract

The invention discloses an automatic screw feeding stereoscopic warehouse for a screw machine, and relates to the technical field of screw stereoscopic warehouses. A track which is horizontally arranged is arranged on the track frame, and the track frame is located on one side of the goods shelf; the position adjusting assembly is movably arranged on the track, and the position adjusting assembly is provided with a height adjusting end; the telescopic arm is arranged at the height adjusting end, the telescopic arm is provided with a horizontal telescopic end, and the telescopic direction of the horizontal telescopic end is perpendicular to the track; the clamping assembly is arranged at the horizontal telescopic end, and a vibration sensor and a tapping actuator are integrated on the clamping assembly; wherein the percussion actuator is used for executing a percussion action on a target container, the vibration sensor collects a vibration signal, caused by the percussion action, of the container, whether the bridging phenomenon exists in the target container or not is judged, corresponding processing is provided accordingly, and smooth follow-up supply is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of automated storage and retrieval systems (AS / RS) for screws, specifically to an automated AS / RS for screw supply to screw machines. Background Technology

[0002] In modern automated production, especially in large-scale manufacturing sectors such as automobiles and electronics, a stable and continuous supply of materials is crucial for ensuring the efficient operation of production lines. For small fasteners such as screws and nuts, the use of automated storage and retrieval systems (AS / RS) for centralized storage, management, and on-demand supply has become a mainstream technical solution for improving warehousing density and logistics efficiency. These systems typically include multi-level racks and automated robotic arms that can move horizontally and vertically along tracks to achieve precise positioning, gripping, and transfer of containers.

[0003] However, when handling irregularly shaped granular materials such as screws, a long-standing physical phenomenon—"bridging"—is a major technical challenge affecting the reliability of the supply. Bridging refers to the phenomenon where materials accumulate in a container due to gravity, causing particles to mechanically interlock and form a stable internal structure. This structure hinders the downward flow of upper layers of material, ultimately leading to blockage of the discharge port.

[0004] To address the bridging problem, various solutions have been developed in existing technologies. One approach attempts to intervene during material handling. The design of robotic grippers in automated storage and retrieval systems (AS / RS) must consider not only the reliability of gripping but also the fact that their mechanical properties (such as rigidity or elasticity) indirectly affect the state of materials within the container. For example, grippers with rigid connections may experience some degree of bridging due to the inertial impact generated during the high-speed start-up and shutdown of the robotic arm. However, this method lacks controllability; for originally loose materials, a severe impact could cause them to concentrate to one side or at the bottom, creating new potential accumulation hazards. Conversely, while grippers with elastic cushioning can transport materials smoothly and protect their loose state, their gentle movement cannot provide sufficient energy to actively disrupt existing stable bridging.

[0005] Therefore, it is necessary to provide an automated storage and retrieval system for screw supply to screw machines to solve the above problems. Summary of the Invention

[0006] To solve the above problems, the present invention provides the following technical solution: an automated three-dimensional warehouse for screw supply of screw machines, comprising:

[0007] Shelves are used to space out multiple boxes.

[0008] A track frame, on which horizontally arranged tracks are installed, the track frame being located on one side of the shelf;

[0009] A position adjustment component is movably mounted on a track, and the position adjustment component has a height adjustment end;

[0010] A telescopic arm is provided at the height adjustment end, and the telescopic arm has a horizontal telescopic end, the telescopic direction of which is perpendicular to the track;

[0011] A clamping assembly is disposed at the horizontal telescopic end, and the clamping assembly integrates a vibration sensor and a tapping actuator;

[0012] The tapping actuator is used to perform a tapping action on the target cargo box, and the vibration sensor collects the vibration signal of the cargo box caused by the tapping action.

[0013] The control module is configured to perform the following operations:

[0014] Analyze the peak amplitude of the vibration signal;

[0015] Compare the peak amplitude with a preset bridging threshold;

[0016] If the peak amplitude is less than the bridging threshold, it is determined that there is a bridging phenomenon inside the cargo box.

[0017] Furthermore, preferably, the clamping assembly has a first form and a second form;

[0018] When it is determined that there is bridging inside the cargo box, the clamping component switches to the first mode. In the first mode, the clamping component forms a high-rigidity connection with the cargo box to break the bridging during the transfer of the cargo box.

[0019] When it is determined that there is no bridging phenomenon inside the cargo box, the clamping component switches to the second mode. In the second mode, the clamping component forms an elastic connection with the cargo box to buffer the inertial impact during the movement.

[0020] Furthermore, preferably, the clamping assembly includes:

[0021] Mounting slot;

[0022] A movable seat is movably disposed in a mounting slot. The movable seat is connected to the top and bottom of the mounting slot via a first spring and to the front and rear of the mounting slot via a third spring.

[0023] The clamp, which is mounted on one side of the movable seat by a second spring, is used to hold the cargo box.

[0024] Furthermore, preferably, a guide plate for guiding the movement of the movable seat is installed on the top of the mounting slot.

[0025] Furthermore, as a preferred embodiment, the left side of the movable seat is provided with a first groove and a second groove, the first groove and the second groove are connected, and the inner diameter of the first groove is larger than the inner diameter of the second groove.

[0026] An expansion joint is fixed in the mounting groove, and the output end of the expansion joint is connected to a clamping head through an elastic element. The outer diameter of the clamping head is equal to the inner diameter of the second groove.

[0027] When the clamping head is inserted into the first groove, the clamping assembly is in the second state. In the second state, when the movable seat moves relative to the mounting groove, the first spring and the third spring provide primary buffering. As the travel increases, the elastic element is compressed and works in conjunction with the first spring and the third spring to provide secondary buffering, thereby forming the elastic connection.

[0028] When the telescopic device drives the clamp head to extend into and engage in the second groove, the elastic element is pre-compressed, so that the movement of the movable seat relative to the mounting groove needs to overcome the combined elastic force of the first spring, the third spring and the elastic element at the same time, thereby forming the high-rigidity connection state. At this time, the clamping assembly is in the first form.

[0029] Furthermore, as a preferred embodiment, a sleeve is fitted over the elastic element, and a support rod is mounted on the sleeve. The support rod is slidably connected to the mounting groove for limiting.

[0030] Furthermore, as a preferred embodiment, the cargo box includes a box body, the interior of which is provided with a serpentine channel formed by a first partition plate and a second partition plate, and the bottom of the box body is provided with a discharge port with a plug.

[0031] Furthermore, as a preferred embodiment, both the first and second partition plates are inclined structures to guide the screws to move along the serpentine channel.

[0032] Furthermore, preferably, the position adjustment component includes:

[0033] A movable component, which is movably mounted on a track;

[0034] A column is mounted on a movable component, and the column is provided with guide wheels that roll in cooperation with the track frame;

[0035] A height adjustment belt, installed on the column, serves as a height adjustment end for mounting the telescopic arm.

[0036] Compared with the prior art, the present invention provides an automated three-dimensional warehouse for screw supply of screw machines, which has the following beneficial effects:

[0037] In this invention, the clamping component can pre-process the target cargo box during the warehousing process and proactively identify whether there is a potential bridging hazard inside the cargo box.

[0038] In this invention, the clamping assembly has two switchable working modes: a high-rigidity connection mode and an elastic connection mode. For cargo boxes with bridging, the high-rigidity connection mode is used, utilizing the variable-speed motion of the robotic arm to generate inertial force to effectively break the bridging. For cargo boxes in normal condition, the assembly switches to the elastic connection mode, using multi-stage buffering to achieve smooth transportation and prevent the originally loose screws from accumulating again due to violent shaking. Attached Figure Description

[0039] Figure 1 A schematic diagram of the overall structure of an automated three-dimensional warehouse for supplying screws to a screw-making machine;

[0040] Figure 2 This is a three-dimensional structural diagram of the position adjustment component;

[0041] Figure 3 This is a cross-sectional view of the clamping assembly.

[0042] Figure 4 This is a cross-sectional view of the cargo box.

[0043] In the diagram: 1. Shelf; 2. Cargo box; 3. Rail frame; 4. Rail; 5. Position adjustment assembly; 51. Upright; 52. Height adjustment belt; 53. Guide wheel; 54. Moving assembly; 6. Telescopic arm; 7. Clamping assembly; 8. Robotic arm; 9. Screwdriver; 21. Box body; 22. First partition plate; 23. Second partition plate; 24. Discharge port; 71. Mounting slot; 72. Guide plate; 73. Movable seat; 731. First groove; 732. Second groove; 74. First spring; 75. Second spring; 76. Clamping plate; 77. Third spring; 78. Telescopic device; 79. Elastic element; 710. Clamping head; 711. Support rod. Detailed Implementation

[0044] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0045] Example: In this embodiment of the invention, please refer to... Figures 1-4 An automated storage and retrieval system for screw supply to screw-making machines is provided, comprising:

[0046] Shelf 1, used for placing multiple boxes 2 at intervals;

[0047] A track frame 3, on which horizontally arranged tracks 4 are provided, the track frame 3 being located on one side of the shelf 1;

[0048] A position adjustment component 5 is movably mounted on the track 4, and the position adjustment component 5 has a height adjustment end;

[0049] Telescopic arm 6 is provided at the height adjustment end. The telescopic arm 6 has a horizontal telescopic end, and the telescopic direction of the horizontal telescopic end is perpendicular to the track 4.

[0050] A clamping assembly 7 is disposed at the horizontal telescopic end, and the clamping assembly 7 integrates a vibration sensor and a tapping actuator;

[0051] The tapping actuator is used to perform a tapping action on the target cargo box 2, and the vibration sensor collects the vibration signal of the cargo box 2 caused by the tapping action;

[0052] The control module is configured to perform the following operations:

[0053] Analyze the peak amplitude of the vibration signal;

[0054] Compare the peak amplitude with a preset bridging threshold;

[0055] If the peak amplitude is less than the bridging threshold, it is determined that there is a bridging phenomenon inside the cargo box 2.

[0056] In addition, once the clamping component 7 has moved to the designated position, the robotic arm 8 will grab and deliver the target cargo box 2 to the workstation of the screw machine 9.

[0057] The track frame 3 has a frame structure with a track 4 at its bottom, allowing the position adjustment component 5 to move along the length of the shelf 1. The position adjustment component 5 has height adjustment capability, and the telescopic arm 6 installed on it provides horizontal telescopic capability perpendicular to the track 4, thus forming a mechanical actuator capable of accurately positioning any cargo box 2 in three-dimensional space.

[0058] Furthermore, the clamping assembly 7 is not merely a cargo container, but also an intelligent detection terminal. It integrates two key components:

[0059] Impact actuator: This is a device capable of applying a standardized, instantaneous impact force to cargo box 2, such as a miniature electromagnetic hammer or pneumatic impactor. Its function is to actively input a known physical excitation into cargo box 2.

[0060] Vibration sensor: This is a device that can capture the weak mechanical vibrations generated by the cargo box 2 in response to an impact, such as a piezoelectric ceramic sensor or an accelerometer. Its function is to collect the "acoustic fingerprint" of the cargo box 2 after it has been stimulated.

[0061] Based on this, the control module first analyzes the collected vibration signals and extracts the most representative feature value—peak amplitude.

[0062] Then, this peak amplitude is compared with an internally preset bridging threshold.

[0063] Finally, a judgment is made based on the comparison results: if the peak amplitude is less than the threshold, it is determined that there is bridging inside the cargo box.

[0064] In other words, the system proactively identifies containers with bridging risks before they are sent to the production line. This provides fundamental guidance for subsequent actions, fundamentally preventing production line downtime due to material issues and greatly improving production continuity and overall efficiency.

[0065] In this embodiment, the cargo box 2 is used to accommodate screws and other components. Specifically, the cargo box 2 includes a box body 21, the interior of which is provided with a serpentine channel formed by a first partition plate 22 and a second partition plate 23, and a discharge port 24 with a plug is provided at the bottom. Both the first partition plate 22 and the second partition plate 23 are inclined to guide the screws to slide down along the serpentine channel.

[0066] The core of this embodiment lies in solving the "bridging phenomenon" that may occur when screws are inside the cargo box 2. The bridging phenomenon refers to the situation where screws get stuck together during the stacking process, forming a stable arched structure, which prevents the upper screws from falling down by gravity, causing the discharge port 24 to become blocked.

[0067] To address the aforementioned issues, this solution provides a clamping assembly 7 with dual operating modes, which can switch between a first mode and a second mode:

[0068] First state: High-rigidity connection state (bridge breaking mode)

[0069] When bridging is detected inside the cargo box 2, the clamping assembly 7 switches to its first mode. In this first mode, the clamping assembly 7 and the cargo box 2 form a high-rigidity connection, meaning they mechanically constitute a near-rigid whole with almost no relative displacement. Therefore, when the position adjustment assembly 5 and the telescopic arm 6 drive the cargo box 2 to perform variable-speed movements such as starting, stopping, accelerating, or decelerating, the resulting inertial force is directly and without attenuation transmitted to the cargo box 2. This inertial force is sufficient to break the bridging structure formed between the screws at the top inside the cargo box 2, achieving the purpose of actively eliminating bridging during the transfer process.

[0070] Second state: Elastic connection state (buffered mode)

[0071] Accordingly, when it is determined that there is no bridging phenomenon inside the cargo box 2, i.e., the screws are loose, the clamping assembly 7 switches to the second mode. In this second mode, an elastic connection is formed between the clamping assembly 7 and the cargo box 2. At this time, when the cargo box 2 is moved, the inertial impact generated during its starting, stopping, acceleration, and deceleration processes will be absorbed and buffered by the elastic element, making the movement of the cargo box 2 more gradual. Thus, it can effectively avoid the local accumulation of originally loose screws inside the cargo box 2 due to violent shaking (such as accumulation on one side or bottom), thereby ensuring the smoothness of subsequent material unloading.

[0072] In other words, this embodiment can solve the "bridging" problem and also anticipate and prevent new problems that may arise from "overtreatment". Without the elastic cushioning of the second form, applying rigid impact to all cargo boxes, while breaking the bridge, would also cause unnecessary accumulation of screws in a large number of normally functioning cargo boxes, thereby increasing the failure rate of subsequent supplies.

[0073] It should be noted that when applying inertial force to break the bridging in the first state, if the impact is too large, it may cause the originally loose screws to accumulate again, which is the overtreatment problem mentioned above. To balance the bridging effect and avoid over-accumulation, this embodiment optimizes the motion parameters of the clamping component 7 in the first state. Specifically, the moving acceleration of the clamping component 7 is precisely controlled within a preset threshold range by the control unit (or other control module), which is preferably 2m / s²-8m / s². The setting of this threshold range is intended to ensure that the generated inertial force is sufficient to stably break most types of bridging structures, while the inertial force is limited to a level that does not significantly disturb the screws in a normally loose state. In this way, the dual goals of efficient bridging and maintaining good screw flow can be achieved in most working conditions.

[0074] The clamping assembly 7 includes:

[0075] Mounting slot 71;

[0076] The movable seat 73 is movably disposed in the mounting groove 71. The movable seat 73 is connected to the top and bottom of the mounting groove 71 by a first spring 74, and to the front and rear of the mounting groove 71 by a third spring 77.

[0077] The clamping plate 76 is mounted on one side of the movable seat 73 by a second spring 75 and is used to clamp the cargo box 2.

[0078] In addition, a guide plate 72 for guiding the movement of the movable seat 73 is installed on the top of the mounting groove 71.

[0079] Furthermore, a first groove 731 and a second groove 732 are provided on the left side of the movable seat 73. The first groove 731 and the second groove 732 are connected. The inner diameter of the first groove 731 is larger than the inner diameter of the second groove 732.

[0080] An expansion joint 78 is fixed in the mounting groove 71. The output end of the expansion joint 78 is connected to a clamp 710 through an elastic element 79. The outer diameter of the clamp 710 is equal to the inner diameter of the second groove 732.

[0081] When the clamping head 710 is inserted into the first groove 731, the clamping assembly 7 is in the second state. In the second state, when the movable seat 73 moves relative to the mounting groove 71, the first spring 74 and the third spring 77 provide primary buffering. As the travel increases, the elastic element 79 is compressed and works in conjunction with the first spring 74 and the third spring 77 to provide secondary buffering, thereby forming the elastic connection.

[0082] When the telescopic member 78 drives the clamp head 710 to extend into and engage in the second groove 732, the elastic member 79 is pre-compressed, so that the movement of the movable seat 73 relative to the mounting groove 71 needs to overcome the combined elastic force of the first spring 74, the third spring 77 and the elastic member 79 at the same time, thereby forming the high-rigidity connection state. At this time, the clamping assembly 7 is in the first form.

[0083] When the clamping component 7 clamps the cargo box 2, the position adjustment component 5 and the telescopic arm 6 work together to move the clamping component 7 upward from the bottom of the cargo box 2, thereby achieving load clamping.

[0084] The core of the clamping assembly 7's form switching lies in the fact that the telescopic device 78 drives the clamping head 710 to selectively engage with either the first groove 731 or the second groove 732 on the movable seat 73. The cross-sectional dimension of the first groove 731 is larger than that of the second groove 732, and this dimensional difference is key to achieving different mechanical properties.

[0085] Specifically, when the telescopic device 78 drives the card head 710 to extend into and be placed in the first groove 731, the movable seat 73 can move freely within a certain range relative to the mounting groove 71 due to the design gap between the card head 710 and the groove wall of the first groove 731.

[0086] When the inertial impact of the cargo box 2 is transmitted to the clamping plate 76, the impact force causes the movable seat 73 to compress the first spring 74 and / or the third spring 77, thus achieving initial cushioning.

[0087] When the impact force increases, the displacement of the movable seat 73 increases to the point that the locking head 710 contacts the end of the first groove 731, and the impact force will further compress the elastic element 79. At this time, the elastic element 79, together with the first spring 74 and the third spring 77, forms a stronger buffering effect.

[0088] When switching to a high-rigidity connection is required, the telescopic member 78 extends further, pushing the clamp 710 into and engaging it in the smaller second groove 732. During this process, the elastic element 79 is pre-compressed, generating a preload force. In this state, for the movable seat 73 to move relative to the mounting groove 71, it must simultaneously overcome the elastic forces of the first spring 74 and the third spring 77, as well as the preload force of the elastic element 79. This combined resistance is much greater than the inertial force generated by conventional movement (such as starting, acceleration, and deceleration), thereby effectively suppressing the relative displacement of the movable seat 73 and creating a near-rigid, high-rigidity connection between the clamping assembly 7 and the cargo box 2.

[0089] It is worth mentioning that when the telescopic member 78 is fully retracted and the locking head 710 is no longer in contact with any groove on the movable seat 73, the system is in its zero-position state. At this time, the movable seat 73 and the mounting groove 71 are connected only by the first spring 74 and the third spring 77, and the elastic element 79 does not participate in the operation. This configuration provides the most basic and sensitive cushioning, suitable for gentle handling of cargo boxes or applications requiring high-sensitivity positioning.

[0090] In addition, the second spring 75 has special characteristics in terms of force transmission path and function, which need to be explained separately:

[0091] The core function of the second spring 75 is to provide a flexible clamping interface. When clamping the cargo box 2, if the cargo box has width tolerances or uneven surfaces, the second spring 75 can adaptively compress to ensure that the clamping plate 76 is in close contact with the surface of the cargo box 2, thereby ensuring that the clamping force is evenly distributed and reliable, and preventing the cargo box from slipping or being damaged due to excessive clamping force.

[0092] Unlike the first spring 74, the third spring 77, and the elastic element 79, which are mainly used to absorb macroscopic inertial shocks, the primary design purpose of the second spring 75 is not to buffer the inertial displacement of the entire cargo box. Since its stroke is mainly used to adapt to the size of the cargo box and contributes little to absorbing the overall macroscopic displacement of the movable seat 73, it is not a major component of the inertial buffering system.

[0093] Furthermore, a sleeve is fitted over the elastic element 79, and a support rod 711 is mounted on the sleeve. The support rod 711 is slidably connected to the mounting groove 71.

[0094] The support rod 711 and the mounting groove 71 are connected in a limiting sliding manner to form a typical sliding guide pair. The support rod 711 acts as a slider, and the specific structure inside the mounting groove 71 acts as a guide rail. This mechanism ensures that the overall movement trajectory of the sleeve connected to the support rod 711, as well as the internal elastic element 79 and the locking head 710, is strictly limited to a preset straight line.

[0095] In this embodiment, the position adjustment component 5 includes:

[0096] The movable component 54 is movably disposed on the track 4;

[0097] A column 51 is mounted on a movable component 54, and the column 51 is provided with a guide wheel 53 that rolls with the track frame 3;

[0098] The height adjustment belt 52 is installed on the column 51 and serves as the height adjustment end for installing the telescopic arm 6.

[0099] It should be explained that the moving component 54, as a movable base, is driven (e.g., by a servo motor and rack and pinion or belt drive mounted on the track frame 3) to move linearly along the track 4. This axis of motion determines the range of shelf length that the robotic arm can cover, enabling positioning along the long axis of the shelf 1.

[0100] The height adjustment belt 52 (typically a synchronous belt or wire rope lifting belt) operates in a closed-loop system, driven by a motor mounted at the top or bottom of the upright 51. The telescopic arm 6 is fixed to one side of this belt; when the motor rotates, it drives the height adjustment belt 52 in a cyclical motion, thereby enabling the telescopic arm 6 to vertically raise and lower along the upright 51. This axis of motion determines the range of shelf heights that the robotic arm can cover.

[0101] The telescopic arm 6 is a multi-section or single-section arm body with an integrated drive mechanism (such as a motor-driven lead screw, belt, or chain) that enables its extension and retraction. This axis of motion determines the depth to which the robotic arm can extend into the shelf, allowing for the retrieval and placement of boxes 2 at different depths.

[0102] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An automated storage and retrieval system for screw supply to a screw-making machine, characterized in that, include: Shelves (1) are used to place multiple boxes (2) at intervals; A track frame (3) is provided with horizontally arranged tracks (4), and the track frame (3) is located on one side of the shelf (1); A position adjustment component (5) is movably mounted on a track (4), and the position adjustment component (5) has a height adjustment end; Telescopic arm (6) is provided at the height adjustment end. The telescopic arm (6) has a horizontal telescopic end, and the telescopic direction of the horizontal telescopic end is perpendicular to the track (4). A clamping assembly (7) is disposed at the horizontal telescopic end, and the clamping assembly (7) integrates a vibration sensor and a striking actuator; The tapping actuator is used to perform a tapping action on the target cargo box (2), and the vibration sensor collects the vibration signal of the cargo box (2) caused by the tapping action; The control module is configured to perform the following operations: Analyze the peak amplitude of the vibration signal; Compare the peak amplitude with a preset bridging threshold; If the peak amplitude is less than the bridging threshold, it is determined that there is a bridging phenomenon inside the cargo box (2).

2. The automated storage and retrieval system according to claim 1, characterized in that: The clamping assembly (7) has a first form and a second form; When it is determined that there is a bridging phenomenon inside the cargo box (2), the clamping component (7) switches to the first state. In the first state, the clamping component (7) and the cargo box (2) form a high-rigidity connection state to break the bridging during the transfer of the cargo box (2). When it is determined that there is no bridging phenomenon inside the cargo box (2), the clamping component (7) switches to the second mode. In the second mode, the clamping component (7) forms an elastic connection with the cargo box (2) to buffer the inertial impact during the movement.

3. The automated storage and retrieval system according to claim 1, characterized in that, The clamping assembly (7) includes: Mounting slot (71); A movable seat (73) is movably disposed in a mounting slot (71). The movable seat (73) is connected to the top and bottom of the mounting slot (71) by a first spring (74) and to the front and rear of the mounting slot (71) by a third spring (77). The clamp (76), which is mounted on one side of the movable seat (73) by a second spring (75), is used to clamp the cargo box (2).

4. The automated storage and retrieval system according to claim 3, characterized in that: The top of the mounting slot (71) is fitted with a guide plate (72) for guiding the movement of the movable seat (73).

5. The automated storage and retrieval system according to claim 3, characterized in that, The movable seat (73) has a first groove (731) and a second groove (732) on its left side. The first groove (731) and the second groove (732) are connected. The inner diameter of the first groove (731) is larger than the inner diameter of the second groove (732). An expansion joint (78) is fixed in the mounting groove (71). The output end of the expansion joint (78) is connected to a clamp (710) through an elastic element (79). The outer diameter of the clamp (710) is equal to the inner diameter of the second groove (732). When the clamping head (710) is inserted into the first groove (731), the clamping assembly (7) is in the second state. In the second state, when the movable seat (73) moves relative to the mounting groove (71), the first spring (74) and the third spring (77) provide primary buffering. As the travel increases, the elastic element (79) is compressed and works in conjunction with the first spring (74) and the third spring (77) to provide secondary buffering, thereby forming the elastic connection. When the telescoping device (78) drives the clamp head (710) to extend into and engage in the second groove (732), the elastic element (79) is pre-compressed, so that the movement of the movable seat (73) relative to the mounting groove (71) needs to overcome the combined elastic force of the first spring (74), the third spring (77) and the elastic element (79) at the same time, thereby forming a high-rigidity connection state, at which time the clamping assembly (7) is in the first form.

6. The automated storage and retrieval system according to claim 5, characterized in that: The elastic element (79) is fitted with a sleeve, and a support rod (711) is installed on the sleeve. The support rod (711) is slidably connected to the mounting groove (71).

7. The automated storage and retrieval system according to claim 1, characterized in that: The cargo box (2) includes a box body (21), and the inside of the box body (21) is provided with a serpentine channel composed of a first partition plate (22) and a second partition plate (23). The bottom of the box body (21) is provided with a discharge port (24) with a plug.

8. The automated storage and retrieval system according to claim 7, characterized in that: Both the first partition plate (22) and the second partition plate (23) are inclined structures used to guide the screw to move along the serpentine channel.

9. The automated storage and retrieval system according to claim 1, characterized in that, The position adjustment component (5) includes: A movable component (54) is movably mounted on a track (4); A column (51) is mounted on a movable component (54), and the column (51) is provided with a guide wheel (53) that rolls with the track frame (3). A height adjustment belt (52) is installed on the column (51) as a height adjustment end for installing the telescopic arm (6).

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