Pulling device and method for stereoscopic warehousing

Abstract

The application discloses a pulling device and method for stereoscopic storage, which specifically comprises a cargo carrying assembly, a pulling assembly and a control assembly. The cargo carrying assembly comprises at least one transverse moving track and at least one group of vertical moving tracks. Each group of vertical moving tracks is slidably arranged on the transverse moving track. The pulling assembly is slidably arranged on each group of vertical moving tracks. The pulling assembly comprises a storage rack, a conveying belt, a horizontal slide rail and a mechanical arm. The horizontal slide rail and the conveying belt are arranged on the top and the bottom of the storage rack respectively. The mechanical arm is horizontally slidably arranged on the horizontal slide rail. During the process of pulling the goods of the stereoscopic storage, the control assembly is used for controlling the mechanical arm to move in the horizontal direction on the horizontal slide rail, and based on the position of the mechanical arm, the form of the mechanical arm and the vertical moving position of the pulling assembly on the cargo carrying assembly are synchronously adjusted. The different stable pulling of the goods can be completed by using the simplified sliding and the rotating joint of the mechanical arm.

Description

Technical Field

[0001] This invention belongs to the field of goods sorting technology, specifically relating to a pull device and method for automated warehousing. Background Technology

[0002] Currently, warehouse automation has become a core tool for reducing costs and increasing efficiency in logistics and manufacturing, but insufficient storage density is becoming one of the biggest bottlenecks restricting the industry's development.

[0003] Current automated storage and retrieval systems (AS / RS) suffer from the following drawbacks in their existing bin-pulling mechanisms: First, complexity: Existing single / double deep-position pulling mechanisms typically rely on long-stroke linear guides, multi-stage telescopic forks, or multi-stage speed-multiplying mechanisms to achieve deep-position access. These solutions are not only structurally complex and heavy, but also expensive to manufacture. Furthermore, as the extension distance increases, problems such as end-end sagging and decreased rigidity can easily occur, making maintenance extremely difficult. Second, obstacle avoidance and space constraints: In high-density storage systems, rigid structures such as rack beams are often located on the horizontal movement path of the pulling mechanism, making them prone to interference and collisions. Traditional purely horizontal telescopic mechanisms often require a large number of motors to achieve extremely high degrees of freedom to avoid obstacles, resulting in an overly complex system that is prone to damage. For example, patent CN113023213A discloses a method, system, computer equipment, and storage medium for handling boxes in an intelligent warehouse. The method for handling boxes in an intelligent warehouse includes a robotic arm for handling boxes. One end of the robotic arm is equipped with a rack for supporting the boxes, and the robotic arm is also equipped with an air pump for sucking up or releasing boxes. The handling method includes the following steps: obtaining the starting point and destination of the box to be handled; controlling the robotic arm to move to the starting point; pushing out the rack; driving the air pump to suck the box onto the rack; detecting the box's identity information; when the identity information is valid, controlling the robotic arm to move to the destination; driving the air pump to release the box from the rack to the destination. This solution ensures the accuracy of box handling and improves the precision of intelligent warehouse task completion. However, the above-mentioned existing technologies generally suffer from high degrees of mechanical freedom and high control difficulty, which easily leads to increased manufacturing costs and a very high failure rate.

[0004] Based on this, existing technologies also have technical solutions to improve upon some defects. For example, patent CN224324518U discloses a storage and retrieval device and a storage system. The storage and retrieval device includes a beam assembly, a conveying assembly, and a mating mechanism. Both the conveying assembly and the mating mechanism are movable along the beam assembly. The conveying assembly includes: a movable arm, which includes at least one movable joint; a conveying component, which is movably connected to the free end of the movable arm; and a driver, which includes a movable arm driver and a conveying component driver. The movable arm is movable around the joint under the drive of the movable arm driver, and the conveying component is movable relative to the free end of the movable arm under the drive of the conveying component driver. This allows the conveying component to move items between a first operating position and a second operating position within the storage operating position of the storage rack and the mating mechanism. The first operating position is closer to the storage and retrieval operating surface of the storage rack than the second operating position, and the second operating position is located in the depth storage position of the first operating position. It relies on two-stage pivoting arms to extend the storage and retrieval stroke, enabling the transfer of materials on the shelf. However, it does not uniformly constrain the spatial posture of the second arm. During operation, the second arm can swing freely up and down, causing the load-bearing stress of the material to change continuously. This results in large alternating stress at the joints and prominent end-position drift issues. Furthermore, its motion control simply relies on the pivoting of the joints to achieve point-to-point movement. To adapt to different depths of storage locations and different heights of retrieval points, it is necessary to continuously change the pitch angle of the second arm, further exacerbating load fluctuations and the risk of material instability.

[0005] Therefore, how to ensure the stability and accuracy of pallet retrieval in automated storage while reducing the degree of freedom is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] To address the shortcomings of the existing technology, this invention provides a retrieval device and method for automated storage and retrieval systems. The device specifically includes a cargo-carrying component, a retrieval component, and a control component. The retrieval component is slidably connected to the cargo-carrying component. The control component controls the movement of the retrieval component in the vertical direction of the cargo-carrying component. The retrieval component includes a horizontal slide rail and a robotic arm. The robotic arm is slidably connected to the horizontal slide rail, and the control component controls the movement of the robotic arm horizontally along the horizontal slide rail. The control component also controls the robotic arm to retrieve items from the automated storage and retrieval system. This invention utilizes simplified sliding and rotating joints of the robotic arm to achieve stable retrieval of items at different depths.

[0007] In a first aspect, the present invention provides a retrieval device for automated storage and retrieval, specifically comprising: a loading component, a retrieval component, and a control component. The loading component includes at least one transverse moving track and at least one set of vertical moving tracks. Each set of vertical moving tracks is slidably disposed on the transverse moving track. A retrieval component is slidably disposed on each set of vertical moving tracks. The retrieval component includes a storage rack, a conveyor belt, a horizontal slide rail, and a robotic arm. The horizontal slide rail and the conveyor belt are respectively disposed at the top and bottom of the storage rack. The storage rack has openings at both ends for items to pass through. The conveyor belt connects to the openings at both ends of the storage rack. The robotic arm is horizontally slidably disposed on the horizontal slide rail. During the process of retrieving items from an automated warehouse, the control component is used to control the movement of the robotic arm along the horizontal direction on the horizontal slide rail, and, based on the position of the robotic arm, to synchronously adjust the shape of the robotic arm and the vertical movement position of the retrieval component on the cargo loading component.

[0008] Furthermore, the ends and middle of the vertical moving track are respectively provided with a first driving member and a second driving member. The first driving member drives the pulling assembly to move on the vertical moving track, and the second driving member drives the vertical moving track to move on the horizontal moving track.

[0009] Furthermore, the robotic arm includes an upper arm, a lower arm, and a second rotary joint connecting the upper arm and the lower arm; The front end of the upper arm is rotatably connected to a slider, which is slidably connected to a horizontal slide rail. The rear end of the upper arm is movably connected to a second rotary joint, enabling the upper arm to swing vertically. The forearm is fixedly connected to the second rotary joint. During the process of the forearm pulling up items in the three-dimensional storage, it is set parallel to the horizontal slide rail. The position and shape changes of the upper arm drive the forearm along the second rotary joint, so as to realize the movement of the forearm in the horizontal direction.

[0010] Furthermore, the pull-out assembly also includes a third drive component, a fourth drive component, a fifth drive component, and a sixth drive component. The third drive component is fixed to the storage rack and drives the slider to reciprocate on the horizontal slide rail via the first transmission belt. The fourth drive component is fixed to the slider and is fixed to the rotating shaft at the front end of the upper arm. The fifth drive component is fixed to the upper arm and is connected to the rotating shaft at the front end of the forearm via the second transmission belt. The sixth drive component is fixed to the storage rack and is connected to a conveyor belt pulley that drives the conveyor belt to run.

[0011] Furthermore, the rear end of the forearm is connected to a hook via a spring joint, which connects to the handle of an object.

[0012] Furthermore, the rear end of the forearm is integrally formed with the hook.

[0013] Furthermore, the process of retrieving items from automated storage and retrieval systems includes: Receive the pull command, determine the target storage space where the item is located, and control the pull component to move on the cargo component to the corresponding position in the target storage space; Based on the position of the item in the target storage space, combined with the initial position shape of the robotic arm and the pre-determined motion model, the robotic arm is controlled to move horizontally along the horizontal slide rail and pull the item to the transition position when entering the storage shelf. Based on the position and shape of the robotic arm at the transition position, combined with the position of the horizontal slide rail, the shape of the robotic arm and the vertical movement position of the storage rack on the cargo component are adjusted synchronously, and the robotic arm is controlled to pull the item into the storage rack. Based on the position and initial position of the robotic arm when the item partially enters the storage shelf, control the robotic arm to return to its initial state, and control the conveyor belt to move the item to the predetermined position within the storage shelf.

[0014] Furthermore, based on the item's position within the target storage space, combined with the robotic arm's initial position and a pre-determined motion model, the robotic arm is controlled to move horizontally along the horizontal rail and pull the item to the transition position before entering the storage shelf, including: Based on the position of the item in the target storage space, combined with the initial position shape of the robotic arm and the predetermined motion model, the first position shape of the robotic arm when the rear end of the forearm moves to the position of the item and the forearm is parallel to the horizontal slide rail is given. Based on the initial and first position of the robotic arm, control the movement of the robotic arm until the rear end of the forearm is fixed to the object; The system retrieves the transition position of an item when it enters the storage shelf. Using a motion model, it controls the forearm to remain parallel to the horizontal slide rail while pulling the item to the transition position.

[0015] Furthermore, based on the position and shape of the robotic arm at the transition position, combined with the position of the horizontal slide rail, the shape of the robotic arm and the vertical movement position of the storage rack on the cargo component are adjusted synchronously, and the robotic arm is controlled to pull the item into the storage rack, including: The position of the slider on the horizontal slide rail is determined based on the position shape of the robotic arm at the transition position. Based on the position of the slider on the horizontal slide rail, and in combination with the position of the horizontal slide rail, give the remaining sliding distance of the slider on the horizontal slide rail when the robotic arm pulls up the item. When the remaining sliding distance does not meet the movement threshold, the second position of the robotic arm is given based on the position shape of the robotic arm at the transition position, combined with the parallel shape of the forearm and the horizontal slide rail, and the current position relationship between the conveyor belt and the bottom of the target storage space where the item is located. Synchronously control the robotic arm to rotate to the second position, and the storage rack to move vertically on the cargo assembly until the bottom of the current conveyor belt is flush with the bottom of the target storage space where the item is located; Keeping the robotic arm in its original shape, control it to pull the item into the pulling assembly until it is partially positioned on the conveyor belt.

[0016] Furthermore, the pre-determination of the motion model includes: A world coordinate system is established based on the bottom height of the target storage space where the item is located, the slider position corresponding to the initial position of the robotic arm, and the vertical plane of the robotic arm's rotation trajectory. A joint coordinate system corresponding to the world coordinate system is established for each joint of the robotic arm in the vertical state; wherein, the joints of the robotic arm include the first rotary joint between the front end of the upper arm and the slider, the second rotary joint between the rear end of the upper arm and the front end of the forearm, and the connection node of the rear end of the forearm. Based on the positional relationship of the first rotary joint in the world coordinate system, the positional relationship of the second rotary joint in the joint coordinate system corresponding to the first rotary joint, and the positional relationship of the connecting node in the joint coordinate system corresponding to the second rotary joint, the positional relationship of the connecting node in the world coordinate system is given. Based on the positional relationship of the connecting nodes in the world coordinate system, the joint vectors of the robotic arm and the pose vectors of the connecting nodes are determined; wherein, the joint vectors include the rotation angle of each joint and the position of the first rotary joint on different axes in the world coordinate system. Based on the joint vectors and their upper and lower limits, the joint weight function is determined. The desired height of the slider is obtained, and a motion model is given by combining the partial derivative of the pose vector with respect to the joint vector and the joint weight function.

[0017] Furthermore, the desired height of the slider is obtained, and combined with the partial derivative of the pose vector with respect to the joint vector and the joint weight function, a motion model is given, including: Determine the desired height of the slider; Based on the current slider height and the expected slider height, the joint height gradient is given; Based on the partial derivative of the pose vector with respect to the joint vector, and combined with the joint weight function, the projection matrix of the joint vector is given. Based on the desired pose vector and the current pose vector, and combining the partial derivative of the pose vector with respect to the joint vector, the joint weight function, the projection matrix of the joint vector, and the joint height gradient, the joint vector increment is given, satisfying the following relationship:

[0018] In the formula, Δq total Let W be the joint vector increment, W be the joint weight function, J be the partial derivative of the pose vector with respect to the joint vector, I be the identity matrix, λ be the damping factor, α be the gain coefficient, Δx be the change in pose vector, and N be the change in pose vector. W Let be the projection matrix of the joint vectors. f(q) represents the joint height gradient; Based on the current joint vectors and the joint vector increments, a motion model is given.

[0019] Secondly, the present invention also provides a retrieval method for automated storage, employing the aforementioned retrieval device for automated storage, and the method specifically includes the following steps: The control component receives the pull command, determines the target storage space where the item is located, and controls the pull component to move on the cargo component to the corresponding position in the target storage space; Based on the position of the item within the target storage space, control the robotic arm to move horizontally along the horizontal slide rail; Based on the position of the robotic arm, the shape of the robotic arm and the vertical movement position of the pulling component on the cargo component are adjusted synchronously to pull the items in the automated warehouse and transfer them to the storage rack, and then the robotic arm is controlled to return to the initial state. Control the conveyor belt to drive the items completely into the storage rack.

[0020] The present invention provides a pull-out device and method for automated storage and retrieval systems, which has at least the following beneficial effects: (1) The pull-out component of the present invention can be raised and lowered vertically to the corresponding height of the item, and the matching robotic arm can slide back and forth along the horizontal track, relying on its own joints to flexibly bend and extend to complete the hooking of the item; the control component coordinates and manages the horizontal sliding displacement, vertical lifting height and the bending shape of each joint of the robotic arm, so as to realize the linkage of multiple motion axes. When performing double-deep shelf picking and placing tasks, the position and shape of the robotic arm can be adjusted by the control component to achieve stable and accurate picking of items at different positions and depths.

[0021] (2) During the process of pulling items, the robotic arm first moves part of the items into the storage rack to achieve initial placement. At this time, the robotic arm is folded and stored. Then, the conveyor belt continuously drives the items to feed, so that the items are completely moved into the storage rack. By combining the long-distance pulling of the robotic arm with the short-distance delivery of the conveyor belt, there is no need to reserve space for the robotic arm to extend and retract, which effectively reduces the operating space required by the storage rack. This solves the problem that when relying solely on the robotic arm to feed materials directly, the side of the storage rack must reserve the robotic arm's movement margin, which is difficult to adapt to densely distributed areas of three-dimensional warehouses, thus improving the applicability of item pulling operations in compact three-dimensional warehouse scenarios.

[0022] (3) By controlling the position and shape through the drive and joint coupling mapping of the robotic arm, the end connection node can be smoothly and continuously controlled in the case of three-dimensional warehouse item retrieval. This avoids motion conflicts caused by multi-joint coupling, ensures that the connection node is accurately aligned with the item in the small space of the warehouse and smoothly completes the retrieval action, improves the positioning accuracy and operation stability of three-dimensional warehouse item retrieval, and reduces the failure of the work condition such as item collision and detachment. Attached Figure Description

[0023] Figure 1 A three-dimensional structural diagram of a pull-out device for automated warehousing provided by the present invention; Figure 2 A schematic diagram showing the position of the pulling device A according to a certain embodiment of the present invention; Figure 3 This is a front view of a pull-out device according to one embodiment of the present invention; Figure 4 A schematic diagram showing the position of the pulling device B according to a certain embodiment of the present invention; Figures 5a to 5m This is a schematic diagram illustrating a specific process of the pulling device provided by the present invention for pulling an item, wherein... Figure 5a This is a diagram showing the robotic arm retracted into the storage rack. Figure 5b This is a diagram showing the adjustment state of the robotic arm extending from the storage shelf. Figure 5c This is a diagram showing the state where the robotic arm has rotated to the pulling position but is not fully extended. Figure 5d This is a diagram showing the state where the hook at the end of the robotic arm is fixed to the object. Figure 5e A state diagram showing the robotic arm preparing to pull an item. Figure 5f This is a diagram showing the state of the robotic arm pulling an item to a transition position. Figure 5g This diagram illustrates the state of the slider moving towards the object when there is insufficient space for the robotic arm to translate. Figure 5h This is a state diagram showing the slider moving to a specified position in the item's state. Figure 5i This is a diagram showing the robotic arm pulling an item into the storage shelf. Figure 5j This is a diagram showing the state where the hook at the end of the robotic arm detaches from the object. Figure 5k This is a diagram showing the state where the hook at the end of the robotic arm is completely detached from the object. Figure 5l This is a diagram showing the robotic arm retracted into the storage rack. Figure 5m A diagram showing the state of a conveyor belt moving items to a predetermined position; Figure 6 The flowchart illustrates a retrieval method for automated storage systems provided by this invention.

[0024] Explanation of reference numerals in the attached drawings: 1-Cargo assembly, 11-Horizontal movement track, 12-Vertical movement track, 131-First drive unit, 132-Second drive unit, 2-Pull assembly, 21-Horizontal slide rail, 22-Mechanical arm, 221-Large arm, 222-Small arm, 223-Slider, 224-Hook, 23-Storage rack, 24-Conveyor belt, 251-Third drive unit, 2511-First transmission belt, 252-Fourth drive unit, 253-Fifth drive unit, 2531-Second transmission belt, 254-Sixth drive unit, 100-Item. Detailed Implementation

[0025] To better understand the above technical solutions, a detailed description of the solutions will be provided below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0026] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0027] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0028] like Figures 1-4 As shown, the present invention provides a pull device for automated storage and retrieval, specifically including a cargo loading component 1, a pull component 2 and a control component. The pull component 2 is slidably connected to the cargo loading component 1. The pull component 2 includes a horizontal slide rail 21 and a robotic arm 22, with the robotic arm 22 slidably mounted on the horizontal slide rail 21. During the process of retrieving items 100 from the automated warehouse, the control component is used to control the movement of the robotic arm 22 in the horizontal direction on the horizontal slide rail 21, and, based on the position of the robotic arm 22, to synchronously adjust the shape of the robotic arm 22 and the vertical movement position of the retrieval component 2 on the cargo loading component 1.

[0029] The cargo-carrying component 1 may include at least one transverse moving track 11 and at least one set of vertical moving tracks 12. Each set of vertical moving tracks 12 is slidably disposed on the transverse moving track 11, and a pulling component 2 is slidably disposed on each set of vertical moving tracks 12. There may be one or more transverse moving tracks. The ends and middle portions of the vertical moving tracks 12 are respectively provided with a first driving member 131 and a second driving member 132. The first driving member 131 drives the pulling component 2 to move to a certain position on the vertical moving track 12, and the second driving member 132 drives the vertical moving track 12 to move to a certain position on the transverse moving track 11. The cargo loading component 1 can achieve lateral displacement of the vertical moving track 12 through the configured lateral moving track 11; the pulling component 2 is slidably mounted on the vertical moving track 12, which can complete the longitudinal movement of the pulling component 2; relying on the two-dimensional sliding mechanism composed of the lateral moving track 11 and the vertical moving track 12, the pulling component 2 can be driven to adjust its position, enabling the pulling component 2 to move precisely to different storage spaces in the automated warehouse to perform item retrieval operations, effectively expanding the item retrieval coverage area and improving the versatility and operational flexibility of multi-location item storage and retrieval in the automated warehouse. Furthermore, automated storage and retrieval systems (AS / RS) can be implemented by arranging racks side-by-side, with each rack containing multiple storage spaces arranged horizontally and vertically. A loading component 1 is installed in the aisles between adjacent racks, and the width of the pulling component 2 matches the aisle width. By using a single loading component 1 and pulling component 2, the storage and retrieval of items on adjacent racks on both sides can be accommodated simultaneously, reducing the number of pulling devices required in the aisles and lowering equipment investment costs. At the same time, matching the width of the pulling component 2 to the aisle width fully utilizes the inherent space of the aisles, avoiding additional storage space occupation by equipment and improving the space utilization rate and the intensification of equipment configuration in AS / RS. In this invention, the vertical direction refers to the height direction of the AS / RS, the longitudinal direction refers to the direction parallel to the horizontal guide rails, and the transverse direction refers to the direction perpendicular to both the vertical and longitudinal directions.

[0030] The robotic arm 22 of the present invention may include a rotatably connected upper arm 221 and lower arm 222, and a second rotating joint connecting the upper arm and the lower arm. The front end of the upper arm 221 is rotatably connected to a slider 223, and the slider 223 is slidably connected to a horizontal slide rail 21. The rear end of the upper arm 221 is rotatably connected to the front end of the lower arm 222. Specifically, the rear end of the upper arm 221 is movably connected to the second rotating joint, and the front end of the lower arm 222 is fixedly connected to the second rotating joint. The upper arm 221 swings vertically, and the lower arm 222 is parallel to the horizontal slide rail 21 during the process of pulling up the items 100 in the three-dimensional warehouse. The position and shape changes of the upper arm 221 drive the lower arm 222 along the second rotating joint, realizing the movement of the lower arm 222 in the horizontal direction. The upper arm 221 and the lower arm 222 can both be a single arm or a multi-arm assembly, and the specific choice is determined according to the application scenario. The pull-out assembly 2 may include a storage rack 23 and a conveyor belt 24. A horizontal slide rail 21 and the conveyor belt 24 are respectively located at the top and bottom of the storage rack 23. The storage rack 23 has openings at both ends for items 100 to pass through, and the conveyor belt 24 connects to these openings. The storage rack 23, with its two-end opening structure, allows for the retrieval of items 100 from both sides of the three-dimensional shelving unit. A robotic arm 22 is slidably mounted on the top horizontal slide rail 21 via a slider 223, enabling horizontal displacement along the horizontal slide rail 21. The structure of the storage rack 23 with openings at both ends allows for the storage and retrieval of items 100 from both sides of the three-dimensional shelving unit without the need for an additional independent support frame. The storage rack 23 is used to place and store items. In this embodiment, the storage rack 23 is a frame-type support structure; however, the invention is not limited to this, and the storage rack 23 can also take other forms such as a cabinet, storage basket, storage box, or shelf assembly, as long as it can fulfill the function of supporting and storing items. In addition, a spring joint is fixed to the rear end of the forearm 222, and the spring joint is connected to the hook 224. The hook 224 can also be integrally formed with the forearm 222. The hook 224 is used to connect with the handle of the item 100. By connecting the hook 224 through the spring joint, the spring joint can form an elastic buffer during the pulling process, which can compensate for the positional deviation of the item and reduce the accuracy requirements for the docking and alignment of the hook 224 with the item. When the hook 224 pulls the item, the elastic deformation of the spring joint absorbs the impact load, avoiding collision damage to the robotic arm 22 and the item due to rigid pulling. At the same time, the elasticity of the spring joint can ensure that the hook 224 continuously adheres to the item, preventing the hook 224 from accidentally detaching from the item during the pulling process, thus improving the stability and fault tolerance of the item pulling operation.The one-piece molded forearm 222 and hook 224 eliminates assembly gaps and installation tolerances caused by the assembly connection between the forearm 222 and hook 224, ensuring no relative movement or deflection between the forearm 222 and hook 224 during traction. The force of hooking the item can be completely and evenly transmitted to the forearm 222, avoiding local stress concentration at the connection between the forearm 222 and hook 224, effectively reducing the positioning offset at hook 224, and improving the positioning accuracy and gripping stability when pulling the item. The one-piece molding eliminates intermediate connecting parts such as bolts, flanges, and adapters, which simplifies the overall assembly process, reduces processing and assembly costs, and reduces the overall volume of the end of the forearm 222, reducing the probability of interference between the robotic arm 22 and structures such as the automated rack when it extends or retracts. The one-piece structure has stronger overall rigidity and is less prone to deformation during item pulling, which can alleviate end-point vibration caused by load at the connection between the forearm 222 and hook 224, extend the overall service life of the robotic arm 22, and reduce the frequency and cost of later maintenance of the device. In addition, by configuring only a horizontal slider, upper arm, lower arm, and hook fixed to the end of the lower arm, the configuration of the horizontal sliding mechanism and the rotation joint of the robotic arm is effectively simplified compared to traditional multi-degree-of-freedom robotic arms. The hooking action of the item can be completed by relying on the coordinated cooperation of slider translation and two-stage rotation of upper arm and lower arm. While ensuring that the ability to pull and return items from shelves at different depths (where items are stored in different positions within the storage space) remains unchanged, the number of independent rotation joints is reduced, the structural complexity and motion control difficulty are reduced, and the linkage of the loading component and the pulling component can adapt to the grabbing needs of items at different depths inside and outside the shelf.

[0031] The pull-out assembly 2 may also include a third drive member 251, a fourth drive member 252, a fifth drive member 253, and a sixth drive member 254. The third drive member 251 is fixed to the storage rack and drives the slider 223 to reciprocate on the horizontal slide rail 21 via the first transmission belt 2511. The fourth drive member 252 is fixed to the slider 223 and to the rotating shaft at the front end of the upper arm 221, and is used to drive the upper arm 221 to swing in the vertical plane. The fifth drive member 253 is fixed to the upper arm 221 and is connected to the rotating shaft at the front end of the lower arm 222 via the second transmission belt 2531, and is used to drive the lower arm 222 to swing in the vertical plane. The sixth drive member 254 is fixed to the storage rack 23 and is connected to a conveyor belt pulley that drives the conveyor belt 24 to run. The fifth driving component 253 can be located at either the front or rear end of the upper arm 221. When the fifth driving component 253 is located at the front end of the upper arm 221, it is connected to the drive pulley at the front end of the forearm 222 via a second drive belt. The fifth driving component 253 drives the second drive belt, thereby rotating the drive pulley and driving the forearm 222 to rotate. When the fifth driving component 253 is located at the rear end of the upper arm 221, it drives the forearm 222 to rotate via a shaft, a pulley, etc. Multiple sixth driving components 254 can be configured. Two conveyor belts 24 are provided on both sides of the bottom of the storage rack 23. Each conveyor belt 24 is driven by at least one sixth driving component 254 to achieve effective support and transport of items. Furthermore, in order to further reduce the space occupied by the robotic arm 22 in practical applications and reduce the space requirements of the storage rack 23, the structure of the robotic arm 22 can be improved to a certain extent. For example, the upper arm 221 includes at least two strip plates arranged side by side to form at least one accommodating area. The front end of the lower arm 222 is located in the accommodating area and is rotatably connected to the strip plates, which allows the lower arm 222 to rotate and be partially located in the accommodating area, thereby realizing the storage of the lower arm 222. Then, by rotating the upper arm 221 to a position with a small angle to the horizontal slide rail 21, the robotic arm 22 can be stored on the top of the storage rack 23, which can effectively reduce the height of the storage rack 23 without affecting the horizontal width of the storage rack 23.

[0032] One type of retrieval process for the retrieval device is as follows: the item is located deep within one of the automated storage and retrieval systems (AS / RS). A control component moves the retrieval component to the corresponding height of the item on the AS / RS shelf. Simultaneously, the robotic arm for storage can be deployed (e.g., ...). Figures 5a-5c (As shown), the storage robotic arm can also be opened when the pull position moves to the item position, that is, by rotating the joints and slider positions, so that the robotic arm is in the position shown. Figure 5c The shown pull state; when pulling an item, as... Figures 5d to 5fAs shown, the robotic arm moves into the automated shelving unit via a slider, eventually securing the hook to the item. Then, the robotic arm uses the slider to move the item outwards. Figure 5f The transition position shown; when the item is in the transition position, such as Figure 5g~Figure 5i As shown, maintain the forearm pose of the robotic arm, adjust the corresponding upper arm angle and the height of the storage rack, so that the final robotic arm is as shown... Figure 5h As shown, sufficient space is reserved on the horizontal slide rail. At this point, the bottom height of the storage rack is level with the bottom height of the item. Then, the robotic arm moves the item into the storage rack until it reaches the desired height. Figure 5i The item shown partially enters the storage shelf; after the item is partially inside the shelf, the robotic arm is controlled to adjust its shape, causing the hook to detach from the item (e.g., Figure 5j As shown), and continuously adjust the robotic arm and retract it (as shown). Figure 5k and Figure 5l (As shown); after the robotic arm is stored, as... Figure 5m As shown, items are moved to their designated storage locations on the storage shelves via a conveyor belt.

[0033] The present invention includes a process in which a robotic arm is controlled by a control component to pull items from an automated storage system, which may include: Receive the pull command, determine the target storage space where the item is located, and control the pull component to move on the cargo component to the corresponding position in the target storage space; Based on the position of the item in the target storage space, combined with the initial position shape of the robotic arm and the pre-determined motion model, the robotic arm is controlled to move horizontally along the horizontal slide rail and pull the item to the transition position when entering the storage shelf. Based on the position and shape of the robotic arm at the transition position, combined with the position of the horizontal slide rail, the shape of the robotic arm and the vertical movement position of the storage rack on the cargo component are adjusted synchronously, and the robotic arm is controlled to pull the item into the storage rack. Based on the position and initial position of the robotic arm when the item partially enters the storage shelf, control the robotic arm to return to its initial state, and control the conveyor belt to move the item to the predetermined position within the storage shelf.

[0034] The process of controlling the pull assembly to move on the cargo-carrying assembly to the corresponding position within the target storage space after determining the location of the item in the target storage space can include: determining the current position of the pull assembly; determining the lateral and longitudinal movement distances of the pull assembly based on the location of the item in the target storage space and the current position of the pull assembly; and controlling the pull assembly to move laterally and longitudinally sequentially / synchronously based on the lateral and longitudinal movement distances. When the pull assembly moves laterally, it can slide along a vertical movement track; specifically, the vertical movement track is driven to slide by a second driving component. Similarly, the longitudinal movement of the pull assembly can be achieved by sliding the pull assembly along a vertical movement track; specifically, the pull assembly is driven to slide by a first driving component.

[0035] After moving the pull-out component to the corresponding position in the target storage space, based on the item's position within the target storage space, combined with the robotic arm's initial position and a pre-determined motion model, the robotic arm can be controlled to move horizontally along the horizontal rail and pull the item to the transition position before entering the storage shelf. Specifically, this includes: Based on the position of the item within the target storage space, combined with the initial position shape of the robotic arm and a pre-determined motion model, the first position shape of the robotic arm is given when the rear end of the forearm moves to the item's position and the forearm is parallel to the horizontal slide rail. The position of the item within the target storage space can be determined based on the item's tag / log upon entry, or by the corresponding information carried in the retrieval command. The initial position shape of the robotic arm represents its natural retracted state within the storage rack when no item is being retrieved. This initial position shape is restored after each item retrieval, ensuring the control accuracy of the robotic arm. The position shape includes the pose vectors of the connecting nodes and the joint vectors of the robotic arm. Based on the initial and first position of the robotic arm, control the movement of the robotic arm until the rear end of the forearm is fixed to the object; The system obtains the transition position when an item enters the storage shelf. Combined with the motion model, it controls the forearm to remain parallel to the horizontal slide rail while pulling the item to the transition position. The transition position can be preset according to the actual scenario. For example, it can be the exit boundary of the storage space, the position where the item is a certain distance beyond the exit boundary of the storage space but has not yet entered the storage shelf, or a certain position inside the storage space.

[0036] This invention utilizes the shape constraint of the forearm during the retrieval, transition, and loading of items into storage spaces and shelving units. The upper arm adaptively adjusts its position and shape to meet operational requirements, ensuring that the retrieved items are always under balanced load, effectively preventing tilting, slippage, or even falling. This stable load-bearing state reduces joint load fluctuations, lowers alternating stress at rotating joints, weakens end-positioning deviations caused by assembly gaps, and improves the accuracy and stability of item transport. This enables a continuous workflow where the robotic arm starts retrieving items from its retracted state, transports them through a transitional position, loads them, and then resets and retracts them after the operation is complete. Furthermore, during the process of pulling an item, the forearm of the robotic arm remains parallel to the horizontal slide rail. Compared to the form of the forearm changing arbitrarily during the pulling process, this can keep the center of gravity of the item stable, and the overturning moment borne by the rear end of the forearm is kept within a small range, effectively preventing the item from tilting or slipping. At the same time, keeping the forearm horizontal can keep the joints of the robotic arm in a stable stress condition, reduce the instantaneous load fluctuation of the joints, reduce the alternating stress at the rotating connection position, suppress the end position drift induced by assembly gaps, and improve the positioning accuracy and operational safety of the item transfer.

[0037] The pre-determination of the motion model may include: A world coordinate system is established based on the bottom height of the target storage space where the item is located, the slider position corresponding to the initial position of the robotic arm, and the vertical plane of the robotic arm's rotation trajectory. A joint coordinate system corresponding to the world coordinate system is established for each joint of the robotic arm in the vertical state; wherein, the joints of the robotic arm include the first rotary joint between the front end of the upper arm and the slider, the second rotary joint between the rear end of the upper arm and the front end of the forearm, and the connection node of the rear end of the forearm, which includes the node connecting the rear end of the forearm to the hook and the end node of the hook. Based on the positional relationship of the first rotary joint in the world coordinate system, the positional relationship of the second rotary joint in the joint coordinate system corresponding to the first rotary joint, and the positional relationship of the connecting node in the joint coordinate system corresponding to the second rotary joint, the positional relationship of the connecting node in the world coordinate system is given. Based on the positional relationship of the connecting nodes in the world coordinate system, the joint vectors of the robotic arm and the pose vectors of the connecting nodes are determined; wherein, the joint vectors include the rotation angle of each joint and the position of the first rotary joint on different axes in the world coordinate system. Based on the joint vectors and their upper and lower limits, the joint weight function is determined. The desired height of the slider is obtained, and a motion model is given by combining the partial derivative of the pose vector with respect to the joint vector and the joint weight function.

[0038] Furthermore, based on the bottom height of the target storage space where the item is located, the slider position corresponding to the initial position of the robotic arm, and the vertical plane of the robotic arm's rotation trajectory, a world coordinate system is established, including: the bottom height of the target storage space where the item is located as the zero point of the Z-axis (Z=0), with the positive direction of the Z-axis being vertically upward and the negative direction of the Z-axis being the direction of gravitational acceleration; the slider position corresponding to the initial position of the robotic arm as the zero point of the X-axis (X=0); the plane traversed by the hook during its movement (i.e., the vertical plane of the robotic arm's rotation trajectory) as the zero point of the Y-axis (Y=0); and the intersection of the zero points of the X-axis, Y-axis, and Z-axis as the origin of the world coordinate system.

[0039] For each joint of the robotic arm in its vertical position, establish a joint coordinate system corresponding to the world coordinate system. This includes aligning the joint coordinate system of each joint with the world coordinate system in the vertical position, and ensuring that the rotation direction of each joint follows the right-hand rule. Specifically, the right-hand rule states that when the direction of the thumb is the same as the positive Y-axis, the direction in which the four fingers are bent is the positive rotation direction of the robotic arm.

[0040] The positional relationship of the first rotary joint in the world coordinate system satisfies the following relationship:

[0041] In the formula, Let θ be the position of the first rotary joint in the world coordinate system, θ1 be the angle of rotation of the first rotary joint from the vertical state of the robotic arm, d be the distance the slider moves from the initial position of the robotic arm, and h be the height of the first rotary joint from the bottom of the target storage space where the item is located.

[0042] The positional relationship of the second rotary joint in the joint coordinate system corresponding to the first rotary joint satisfies the following relationship:

[0043] In the formula, Let θ2 be the position of the second rotary joint in the coordinate system corresponding to the first rotary joint, θ2 be the angle of rotation of the second rotary joint relative to the first rotary joint, and L1 be the length of the upper arm, i.e., the distance between the second rotary joint and the first rotary joint. The positional relationship of the connecting nodes in the joint coordinate system corresponding to the second rotary joint satisfies the following relationship:

[0044] In the formula, θ3 is the position of the node (spring joint or integral connection) connecting the rear end of the forearm to the hook in the joint coordinate system corresponding to the second rotary joint, θ3 is the angle of rotation of the node connecting the rear end of the forearm to the hook relative to the second rotary joint, and L2 is the length of the forearm, that is, the distance between the node connecting the rear end of the forearm to the hook and the second rotary joint. L3 represents the position of the hook end node in the joint coordinate system corresponding to the node at the rear end of the forearm where it connects to the hook. L3 is the hook length, which is the distance from the hook end to the node at the rear end of the forearm where it connects to the hook. The positional relationship of the connecting nodes in the world coordinate system satisfies the following relationship:

[0045] In the formula, T total θ represents the position of the connecting node in the world coordinate system, specifically the position of the hook's end node in the world coordinate system. i Let P be the i-th rotation angle, i=1,2,3. x P represents the X-axis coordinate of the connecting node in the world coordinate system. z Let P be the Z-axis coordinate of the connecting node in the world coordinate system. x =d-L1·sinθ1-L2·sin(θ1+θ2)-L3·sin(θ1+θ2+θ3), P z =h-L1·cosθ1-L2·cos(θ1+θ2)-L3·cos(θ1+θ2+θ3).

[0046] Based on the positional relationship of the connecting nodes in the world coordinate system, the joint vectors of the robotic arm and the pose vectors of the connecting nodes are determined, including: analyzing the positional relationship of the connecting nodes in the world coordinate system, determining the parameters related to the connecting nodes and the parameters related to the rotation of the robotic arm; and based on the parameters related to the connecting nodes and the parameters related to the rotation of the robotic arm, the pose vectors of the connecting nodes and the joint vectors of the robotic arm are given respectively.

[0047] Wherein, the pose vector x of the connecting node target =[P x ,P z ,θ hook ] T The joint vector of the robotic arm is q=[d,h,θ1,θ2]. T T is the transpose, θ1=±arccos[(hP z -(L2+L3)cosθ hook ) / L1],θ2=θ hook -θ1, d=P x +L1·sinθ1+(L2+L3)cos(θ1+θ2),θ hook The rotation angle of the connecting node relative to the origin of the world coordinate system; The partial derivatives of the pose vector with respect to the joint vectors satisfy the following relationship:

[0048] In the formula, J is the partial derivative of the pose vector with respect to the joint vector, and L... s L is the sum of the forearm length and the hook length. s =L2+L3.

[0049] The joint weight function W = diag(w1(q1), w2(q2), w3(q3), w4(q4)), where diag() is a diagonal matrix generating operator, specifically satisfying the following relationship:

[0050] In the formula, w i (q i ) represents the weight of the i-th element of the joint vector. When i = 1, 2, 3, 4, q i d, h, θ1, θ2, w respectively min w represents the minimum weight of the joint vector. max q represents the maximum weight of the joint vector. i,min q i,max These are the minimum (lower limit) and maximum (upper limit) values ​​of the i-th element of the joint vector, respectively.

[0051] Obtain the desired height of the slider, and combine the partial derivatives of the pose vector with respect to the joint vectors and the joint weight function to give the motion model, including: Determining the desired height of the slider includes: obtaining the intermediate transition point and, based on the relationship between the connecting node and the transition position, giving the desired height of the slider; wherein, the intermediate transition point is the farthest moving position of the connecting node, which is located within the storage space, and the X-axis coordinate P of the intermediate transition point in the world coordinate system is... x,near X-axis coordinate P less than the transition position x,far That is, P x,near <P x,far Correspondingly, when the X-axis coordinate P of the connecting node x =P x,near At that time, the desired height h of the slider des (P x )=h low h low The minimum height of the slider relative to the origin of the world coordinate system; when the X-axis coordinate of the connecting node satisfies P x,near <P x <P x,far At that time, h des (P x )=h high -(h high -h low )·(P x -P x,near ) / (P x,far -P x,near );h highThis represents the highest height of the slider relative to the origin of the world coordinate system. Based on the current slider height and the expected slider height, the joint height gradient is given, satisfying the following relationship:

[0052] In the formula, h represents the joint height gradient. des The desired height of the slider; Based on the partial derivatives of the pose vector with respect to the joint vectors, and combined with the joint weight function, the projection matrix of the joint vectors is given, satisfying the following relationship: N W =IW -1 J T (JW -1 J T +λ 2 I) -1 J; where N is the formula. W Let W be the projection matrix of the joint vector, W be the joint weight function, I be the identity matrix, and λ be the damping factor. Based on the desired pose vector and the current pose vector, and combining the partial derivative of the pose vector with respect to the joint vector, the joint weight function, the projection matrix of the joint vector, and the joint height gradient, the joint vector increment is given, satisfying the following relationship: In the formula, Δq total Let α be the joint vector increment, α be the gain coefficient, and Δx be the change in pose vector, where Δx = x target -x current x target Let x be the pose vector of the connection node after the robotic arm has moved. current This is the pose vector of the connection node before the robotic arm moves; Based on the current joint vectors and the joint vector increments, a motion model is given, satisfying the following relationship: q new =q current +Δq total In the formula, q new Let q be the joint vector of the robotic arm after its movement. current This is the joint vector before the robotic arm moves.

[0053] By using the geometric mapping relationship of the robotic arm, the spatial position and orientation of the end hook can be determined by the real-time rotation angle of each joint; when a given item is grasped at the target point, the required rotation angle of each joint can be determined to guide the hook to reach the target point along a continuous and smooth trajectory, accurately complete the pulling action of the item, adapt to the narrow working environment of the warehouse, and reduce the occurrence of scratches and hooking.

[0054] Based on the position of the item within the target storage space, combined with the initial position shape of the robotic arm and a pre-determined motion model, the first position shape of the robotic arm when the rear end of the forearm moves to the position of the item is given, including: Based on the position of the item within the target storage space and the preset angle of the connecting node when the robotic arm pulls the item, the target pose vector of the connecting node is determined; wherein, when the robotic arm pulls the item, the forearm can be parallel to the bottom of the storage space, that is, the forearm is parallel to the X-axis of the world coordinate system; Based on the target pose vector of the connected nodes and the initial position shape of the robotic arm, combined with the motion model, the target joint vector of the robotic arm is given. Based on the target pose vector of the connected nodes and the target joint vector of the robotic arm, the first position shape of the robotic arm is determined when the rear end of the forearm moves to the position of the object.

[0055] After controlling the robotic arm to move the rear end of the forearm to the position of the item, when controlling the robotic arm to pull the item to the transition position when entering the storage shelf, the shape of the robotic arm remains unchanged. The slider drives the robotic arm and the item to move synchronously into the storage shelf. After the item moves to the transition position, the position of the robotic arm can be determined by the movement distance of the slider.

[0056] Based on the robotic arm's position and shape at the transition point, combined with the motion model and the position of the horizontal slide rail, the shape of the robotic arm and the vertical movement position of the storage rack on the cargo component are adjusted synchronously, and the robotic arm's pulling part into the storage rack is controlled. This can include: The position of the slider on the horizontal slide rail is determined based on the position shape of the robotic arm at the transition position. Based on the position of the slider on the horizontal slide rail, and in combination with the position of the horizontal slide rail, give the remaining sliding distance of the slider on the horizontal slide rail when the robotic arm pulls up the item. When the remaining sliding distance meets the movement threshold, the robotic arm remains unchanged and moves via the slider. When the remaining sliding distance does not meet the movement threshold, based on the robotic arm's position at the transition position, combined with the parallel alignment of the forearm with the horizontal rail and the bottom position relationship between the current conveyor belt and the target storage space containing the item, a second position of the robotic arm is given. This includes: the height of the slider based on the position when the current conveyor belt is flush with the bottom of the target storage space containing the item, combined with the height of the storage rack; the set of position shapes for the upper arm based on the forearm position at the transition position and its parallel alignment with the horizontal rail, combined with the height of the slider; the final upper arm position shape selected from the set of upper arm position shapes, the position shape closest to the item; and the second position shape of the robotic arm based on the final upper arm position shape and the forearm position shape. The set of position shapes for the upper arm includes at least two position shapes that are mirror images of the upper arm's vertical position shape relative to itself. The system synchronously controls the robotic arm to rotate to the second position and the storage rack to move vertically on the loading assembly until the bottom of the conveyor belt is flush with the bottom of the target storage space where the item is located. When controlling the robotic arm to rotate to the second position, the height change of the slider can be determined based on the length of the arm, the rotation speed, and the rotation angle. The vertical movement of the storage rack is controlled accordingly based on the height change of the slider. Keeping the robotic arm in its original shape, control it to pull the item into the pulling assembly until it is partially positioned on the conveyor belt.

[0057] The driving components (first driving component, second driving component, third driving component, fourth driving component, fifth driving component, and sixth driving component) of this invention can all be servo motors. When driving the movement of each joint and slider based on joint vectors, the motion is achieved by converting the transmission ratio and coupling ratio of the servo motor. The specific process is a conventional motor conversion method, which will not be elaborated here.

[0058] This invention collects the current actual position and shape of each joint of the robotic arm in real time, calculates the real-time grasping coordinates and posture of the hook end based on the robotic arm's geometry, and obtains the positional deviation by comparing it with the target point of the object being grasped. It dynamically allocates the range of motion of each joint according to its distance from the mechanical limit, preventing the mechanism from touching the travel boundary. Simultaneously, it constrains and limits the instantaneous range of motion when the arm is near its fully extended or other extreme postures, thereby suppressing the vibration and impact of the robotic arm's movement. Based on the degrees of freedom of the pulling component, without changing the hook's grasping position and orientation, it automatically adapts the overall working height of the robotic arm according to the horizontal distance of the hook, preventing the object from detaching or getting stuck in the pulling component. It continuously updates and tracks the target motion commands of each joint until the hook reaches the target grasping position and completes the pulling operation.

[0059] like Figure 6 As shown, the present invention also provides a retrieval method for automated storage, employing the aforementioned retrieval device for automated storage, and the method specifically includes the following steps: The control component receives the pull command, determines the target storage space where the item is located, and controls the pull component to move on the cargo component to the corresponding position in the target storage space; Based on the position of the item within the target storage space, control the robotic arm to move horizontally along the horizontal slide rail; Based on the position of the robotic arm, the shape of the robotic arm and the vertical movement position of the pulling component on the cargo component are adjusted synchronously to pull the items in the automated warehouse and transfer them to the storage rack, and then the robotic arm is controlled to return to the initial state. Control the conveyor belt to drive the items completely into the storage rack.

[0060] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention. Clearly, those skilled in the art can make various alterations and modifications to the invention without departing from its spirit and scope. Thus, if these modifications and modifications of the invention fall within the scope of the claims and their equivalents, the invention is also intended to include these modifications and modifications.

Claims

1. A pull-out device for automated storage and retrieval systems, characterized in that, Specifically, it includes: The cargo loading assembly, the pulling assembly, and the control assembly include at least one lateral moving track and at least one set of vertical moving tracks. Each set of vertical moving tracks is slidably mounted on the lateral moving track. A pulling assembly is slidably mounted on each set of vertical moving tracks. The pulling assembly includes a storage rack, a conveyor belt, a horizontal slide rail, and a robotic arm. The horizontal slide rail and the conveyor belt are respectively located at the top and bottom of the storage rack. The storage rack has openings at both ends for items to pass through. The conveyor belt connects to the openings at both ends of the storage rack. The robotic arm is slidably mounted horizontally on the horizontal slide rail. During the process of retrieving items from an automated warehouse, the control component is used to control the movement of the robotic arm along the horizontal direction on the horizontal slide rail, and, based on the position of the robotic arm, to synchronously adjust the shape of the robotic arm and the vertical movement position of the retrieval component on the cargo loading component.

2. The pull-out device for automated warehousing as described in claim 1, characterized in that, The vertical moving track is provided with a first driving member and a second driving member at its ends and middle, respectively. The first driving member drives the pulling assembly to move on the vertical moving track, and the second driving member drives the vertical moving track to move on the horizontal moving track.

3. The pull-out device for automated warehousing as described in claim 1, characterized in that, The robotic arm includes an upper arm, a lower arm, and a second rotary joint connecting the upper arm and the lower arm; The front end of the upper arm is rotatably connected to a slider, which is slidably connected to a horizontal slide rail. The rear end of the upper arm is movably connected to a second rotary joint, enabling the upper arm to swing vertically. The forearm is fixedly connected to the second rotary joint. During the process of the forearm pulling up items in the three-dimensional storage, it is set parallel to the horizontal slide rail. The position and shape changes of the upper arm drive the forearm along the second rotary joint, so as to realize the movement of the forearm in the horizontal direction.

4. The pull-out device for automated storage as described in claim 3, characterized in that, The pull-out assembly also includes a third drive component, a fourth drive component, a fifth drive component, and a sixth drive component. The third drive component is fixed to the storage rack and drives the slider to reciprocate on the horizontal slide rail via the first transmission belt. The fourth drive component is fixed to the slider and is fixed to the rotating shaft at the front end of the upper arm. The fifth drive component is fixed to the upper arm and is connected to the rotating shaft at the front end of the lower arm via the second transmission belt. The sixth drive component is fixed to the storage rack and is connected to a conveyor belt pulley that drives the conveyor belt to run.

5. The pull-out device for automated warehousing as described in claim 3, characterized in that, The process of retrieving items from an automated warehouse includes: Receive the pull command, determine the target storage space where the item is located, and control the pull component to move on the cargo component to the corresponding position in the target storage space; Based on the position of the item in the target storage space, combined with the initial position shape of the robotic arm and the pre-determined motion model, the robotic arm is controlled to move horizontally along the horizontal slide rail and pull the item to the transition position when entering the storage shelf. Based on the position and shape of the robotic arm at the transition position, combined with the position of the horizontal slide rail, the shape of the robotic arm and the vertical movement position of the storage rack on the cargo component are adjusted synchronously, and the robotic arm is controlled to pull the item into the storage rack. Based on the position and initial position of the robotic arm when the item partially enters the storage shelf, control the robotic arm to return to its initial state, and control the conveyor belt to move the item to the predetermined position within the storage shelf.

6. The pull-out device for automated warehousing as described in claim 5, characterized in that, Based on the item's position within the target storage space, combined with the robotic arm's initial position and a pre-determined motion model, the robotic arm is controlled to move horizontally along a horizontal rail and pull the item to a transition position before entering the storage shelf, including: Based on the position of the item in the target storage space, combined with the initial position shape of the robotic arm and the predetermined motion model, the first position shape of the robotic arm when the rear end of the forearm moves to the position of the item and the forearm is parallel to the horizontal slide rail is given. Based on the initial and first position of the robotic arm, control the movement of the robotic arm until the rear end of the forearm is fixed to the object; The system retrieves the transition position of an item when it enters the storage shelf. Using a motion model, it controls the forearm to remain parallel to the horizontal slide rail while pulling the item to the transition position.

7. The pull-out device for automated storage as described in claim 5 or 6, characterized in that, Based on the position and shape of the robotic arm at the transition position, combined with the position of the horizontal slide rail, the shape of the robotic arm and the vertical movement position of the storage rack on the loading component are adjusted synchronously, and the robotic arm's pulling part into the storage rack is controlled, including: The position of the slider on the horizontal slide rail is determined based on the position shape of the robotic arm at the transition position. Based on the position of the slider on the horizontal slide rail, and in combination with the position of the horizontal slide rail, give the remaining sliding distance of the slider on the horizontal slide rail when the robotic arm pulls up the item. When the remaining sliding distance does not meet the movement threshold, the second position of the robotic arm is given based on the position shape of the robotic arm at the transition position, combined with the shape of the forearm parallel to the horizontal slide rail and the current position relationship between the conveyor belt and the bottom of the target storage space where the item is located. Synchronously control the robotic arm to rotate to the second position, and the storage rack to move vertically on the cargo assembly until the bottom of the current conveyor belt is flush with the bottom of the target storage space where the item is located; Keeping the robotic arm in its original shape, control it to pull the item into the pulling assembly until it is partially positioned on the conveyor belt.

8. The pull-out device for automated storage as described in claim 5, characterized in that, The pre-determination of the motion model includes: A world coordinate system is established based on the bottom height of the target storage space where the item is located, the slider position corresponding to the initial position of the robotic arm, and the vertical plane of the robotic arm's rotation trajectory. A joint coordinate system corresponding to the world coordinate system is established for each joint of the robotic arm in the vertical state; wherein, the joints of the robotic arm include the first rotary joint between the front end of the upper arm and the slider, the second rotary joint between the rear end of the upper arm and the front end of the forearm, and the connection node of the rear end of the forearm. Based on the positional relationship of the first rotary joint in the world coordinate system, the positional relationship of the second rotary joint in the joint coordinate system corresponding to the first rotary joint, and the positional relationship of the connecting node in the joint coordinate system corresponding to the second rotary joint, the positional relationship of the connecting node in the world coordinate system is given. Based on the positional relationship of the connecting nodes in the world coordinate system, the joint vectors of the robotic arm and the pose vectors of the connecting nodes are determined; wherein, the joint vectors include the rotation angle of each joint and the position of the first rotary joint on different axes in the world coordinate system. Based on the joint vectors and their upper and lower limits, the joint weight function is determined. The desired height of the slider is obtained, and a motion model is given by combining the partial derivative of the pose vector with respect to the joint vector and the joint weight function.

9. The pull-out device for automated warehousing as described in claim 8, characterized in that, Obtain the desired height of the slider, and combine the partial derivatives of the pose vector with respect to the joint vectors and the joint weight function to give the motion model, including: Determine the desired height of the slider; Based on the current slider height and the expected slider height, the joint height gradient is given; Based on the partial derivative of the pose vector with respect to the joint vector, and combined with the joint weight function, the projection matrix of the joint vector is given. Based on the desired pose vector and the current pose vector, and combining the partial derivative of the pose vector with respect to the joint vector, the joint weight function, the projection matrix of the joint vector, and the joint height gradient, the joint vector increment is given, satisfying the following relationship: ； In the formula, Δq total Let W be the joint vector increment, W be the joint weight function, J be the partial derivative of the pose vector with respect to the joint vector, I be the identity matrix, λ be the damping factor, α be the gain coefficient, Δx be the change in pose vector, and N be the change in pose vector. W Let be the projection matrix of the joint vectors. f(q) represents the joint height gradient; Based on the current joint vectors and the joint vector increments, a motion model is given.

10. A pull method for automated storage and retrieval systems, characterized in that, The method using the pull device for automated storage as described in any one of claims 1 to 9 specifically includes the following steps: The control component receives the pull command, determines the target storage space where the item is located, and controls the pull component to move on the cargo component to the corresponding position in the target storage space; Based on the position of the item within the target storage space, control the robotic arm to move horizontally along the horizontal slide rail; Based on the position of the robotic arm, the shape of the robotic arm and the vertical movement position of the pulling component on the cargo component are adjusted synchronously to pull the items in the automated warehouse and transfer them to the storage rack, and then the robotic arm is controlled to return to the initial state. Control the conveyor belt to drive the items completely into the storage rack.

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