CN220906104U - A arm and intelligent storage for intelligent storage system - Google Patents

Abstract

The utility model discloses a mechanical arm for an intelligent storage system and an intelligent warehouse, wherein the mechanical arm comprises a bearing component and an upper fixing component; the bearing assembly is provided with a second pushing device which is used for pushing the bearing assembly to do linear motion; the first pushing device is arranged on the bearing assembly; the height adjusting device is arranged on the bearing assembly, the output end of the first pushing device is connected with the height adjusting device, and the first pushing device is used for pushing the height adjusting device to do linear motion; the upper fixing assembly is arranged on the height adjusting device, and the height adjusting device is used for changing the distance between the bearing assembly and the upper fixing assembly. Can grasp goods fast through the arm, realize the digital and automated management of storage. The intelligent storage device is provided with the mechanical arm.

Description

A arm and intelligent storage for intelligent storage system

Technical Field

The utility model relates to the technical field of intelligent goods storage and taking, in particular to a mechanical arm for an intelligent storage system and intelligent warehouse.

Background

With the expansion of urban scale and the development of logistics industry, the continuous diversification of business activities and human society increases the requirement on logistics, and the traditional logistics method is basically overall arrangement of logistics companies, including receiving, storing, logistics and dispatching, and a great deal of manpower, material resources and transportation capacity are required to be input. The manual operation is adopted, so that the collision of the finished products is easy to cause the damage of the finished products in the carrying process; during the stacking process, the products may not be properly stored in the proper storage location, which makes it difficult to quickly and accurately take out the proper products during the picking process, resulting in lower efficiency. The existing automatic container is only composed of independent storage and taking container cabinets, a perfect system cannot be formed by the existing automatic container and other automatic delivery tools, the existing automatic container only supports the goods storage and taking function, the degree of automation is low, no perfect automatic logistics delivery system exists at present, and multiple automatic delivery tools cannot be combined to improve delivery efficiency. Under the urgent requirements of automatic production equipment such as intelligent storage, logistics and the like and working efficiency period, original manual goods storage and taking management cannot guarantee goods storage requirements and working efficiency requirements. There is a need for a robotic arm for an intelligent storage system and intelligent warehouse that addresses the above issues.

Disclosure of utility model

The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the utility model provides the mechanical arm for the intelligent storage system and the intelligent warehouse, and the digital and automatic management of the warehouse can be realized by rapidly grabbing goods through the mechanical arm.

According to a first aspect, a mechanical arm for an intelligent storage system according to an embodiment of the present utility model includes a receiving assembly and an upper fixing assembly;

The bearing assembly is provided with a second pushing device which is used for pushing the bearing assembly to do linear motion;

the first pushing device is arranged on the bearing assembly;

The height adjusting device is arranged on the bearing assembly, the output end of the first pushing device is connected with the height adjusting device, and the first pushing device is used for pushing the height adjusting device to do linear motion;

the upper fixing assembly is arranged on the height adjusting device, and the height adjusting device is used for changing the distance between the bearing assembly and the upper fixing assembly.

The mechanical arm for the intelligent storage system has at least the following beneficial effects: the upper fixing assembly of the mechanical arm is used for grabbing the target object onto the receiving assembly, and then the target object is taken out of the target inventory frame of the storage container and transferred to the target position by utilizing the cooperation of the lifting device and the translation device, or the target object is transferred from the target position into the target inventory frame of the storage container. Specifically, after the upper fixing component of the mechanical arm grabs and pulls the target object to the bearing component, the upper fixing component and the bearing component fix the target object. The bearing assembly is provided with a second pushing device, and the second pushing device is used for pushing the bearing assembly to do linear motion, so that the distance between the upper fixing assembly and the bearing assembly can be adjusted according to the position of the target object. Further, the upper fixing assembly is provided with a first pushing device and a height adjusting device, wherein the first pushing device is installed on the bearing assembly, the height adjusting device is installed on the first pushing device, the upper fixing assembly is installed on the height adjusting device, the first pushing device is used for pushing the height adjusting device to conduct linear motion, and the distance between the upper fixing assembly and the bearing assembly is changed through the height adjusting device, so that the mechanical arm can be suitable for articles with various sizes. The whole process of storing and taking the target articles does not need to be manually taken and put, the articles are quickly grabbed by the mechanical arm, and the digital and automatic management of storage is realized.

According to the mechanical arm for the intelligent storage system, the upper fixing assembly comprises the first clamping module and the second clamping module, the first clamping module is installed on the height adjusting device, the second clamping module is arranged on the first clamping module, the second clamping module is movably connected with the first clamping module, and the distance between the end part of the first clamping module and the end part of the second clamping module is adjustable.

According to the mechanical arm for the intelligent storage system, the first clamping module comprises the dragging plate with the L-shaped structure and the third pushing device, one end of the dragging plate is fixedly connected with the height adjusting device, the third pushing device is arranged on the dragging plate, the second clamping module is arranged on the third pushing device, and the third pushing device enables the second clamping module to do linear motion.

According to the mechanical arm for the intelligent storage system, the end part, far away from the third pushing device, of the dragging plate is provided with the grabbing mechanism, and the grabbing mechanism is used for grabbing objects.

According to the mechanical arm for the intelligent storage system, the second clamping module comprises the pushing plate and the fixing plate which are of L-shaped structures, one end of the fixing plate is connected with the output end of the third pushing device, and the pushing plate is arranged on the fixing plate.

According to the mechanical arm for the intelligent storage system, one side of the dragging plate, which faces the fixed plate, is provided with the guide rail, the fixed plate is provided with the sliding block, the sliding block is in sliding connection with the guide rail, and the output end of the third pushing device is connected with the sliding block.

According to the mechanical arm for the intelligent storage system, the output end of the second pushing device is connected with one end of the bearing table, the bearing plate is arranged at the other end of the bearing table, and the first pushing device is fixed on the bearing table.

According to the mechanical arm for the intelligent storage system, provided by the embodiment of the utility model, the weight bearing table is provided with the weighing unit, and the weighing unit is used for weighing cargoes.

In a second aspect, according to an embodiment of the present utility model, the intelligent warehouse includes the mechanical arm for an intelligent storage system, and further includes a translation device, where the translation device is provided with a rotation device; the lifting device is arranged on the rotating device, and the mechanical arm is arranged on the lifting device;

The storage and taking containers are arranged at two sides of the translation device, are arranged in the movable range of the mechanical arm, and are provided with a plurality of stock grids.

According to the intelligent warehouse, the visual camera is arranged on the mechanical arm and used for capturing the distance between the mechanical arm and the target, and the target comprises goods and a container for storage and retrieval.

The intelligent warehouse provided by the embodiment of the utility model has at least the following beneficial effects: the upper fixing assembly of the mechanical arm is used for grabbing the target object onto the receiving assembly, and then the target object is taken out of the target inventory frame of the storage container and transferred to the target position by utilizing the cooperation of the lifting device and the translation device, or the target object is transferred from the target position into the target inventory frame of the storage container. Specifically, after the upper fixing component of the mechanical arm grabs and pulls the target object to the bearing component, the upper fixing component and the bearing component fix the target object. The bearing assembly is provided with a second pushing device, and the second pushing device is used for pushing the bearing assembly to do linear motion, so that the distance between the upper fixing assembly and the bearing assembly can be adjusted according to the position of the target object. Further, the upper fixing assembly is provided with a first pushing device and a height adjusting device, wherein the first pushing device is installed on the bearing assembly, the height adjusting device is installed on the first pushing device, the upper fixing assembly is installed on the height adjusting device, the first pushing device is used for pushing the height adjusting device to conduct linear motion, and the distance between the upper fixing assembly and the bearing assembly is changed through the height adjusting device, so that the mechanical arm can be suitable for articles with various sizes. The whole process of storing and taking the target articles does not need to be manually taken and put, the articles are quickly grabbed by the mechanical arm, and the digital and automatic management of storage is realized.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The foregoing and/or additional aspects and advantages of the utility model will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a block diagram of an intelligent warehouse of the present utility model;

FIG. 2 is a block diagram of a robotic arm of the present utility model;

FIG. 3 is a block diagram of a loading conveyor of the present utility model;

fig. 4 is a schematic view of the structure of the inventory sash of the present utility model.

Reference numerals illustrate:

a robot arm 100; a vision camera 110;

A receiving assembly 200; a receiving plate 210; a load bearing table 220; a second pushing device 230; a first pushing device 240;

An upper fixing assembly 300; a pulling plate 310; a third pushing device 320; a grasping mechanism 330; a push plate 340; a fixing plate 350; a guide rail 360; a slider 370; a height adjustment device 380;

a translation device 400; a multi-camera 410;

A lifting device 500;

storing and taking the container 600; inventory pane 610; an identification code 611; black mark 612;

a loading conveyor 700; a multi-camera 710;

Blanking and conveying 800;

Cargo 900.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

In the description of the present utility model, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present utility model and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.

In the description of the utility model, the meaning of a number is one or more, the meaning of a plurality is two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and the above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present utility model, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present utility model can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

Referring to fig. 1 to 4, the present application provides a mechanical arm 100 and an intelligent warehouse using the mechanical arm 100.

The mechanical arm 100 mainly comprises a receiving assembly 200 and an upper fixing assembly 300, wherein the receiving assembly 200 is provided with a second pushing device 230, and the second pushing device 230 is used for pushing the receiving assembly 200 to perform linear motion. The upper fixing assembly 300 is provided with a first pushing device 240 and a height adjusting device 380, specifically, the first pushing device 240 is mounted on the receiving assembly 200, the height adjusting device 380 is disposed on the receiving assembly 200, the upper fixing assembly 300 is mounted on the height adjusting device 380, the first pushing device 240 is used for pushing the height adjusting device 380 to perform linear motion, and the height adjusting device 380 is used for changing the distance between the receiving assembly 200 and the upper fixing assembly 300.

The smart warehouse employs the mechanical arm 100, and specifically, the smart warehouse further includes a translation device 400 and a rotation device disposed on the translation device 400. Further, the rotating device is provided with a lifting device 500, and the mechanical arm 100 is disposed on the lifting device 500. Two storage containers 600 are disposed on two sides of the translation device 400, the storage containers 600 are disposed within the movable range of the mechanical arm 100, and the storage containers 600 are provided with a plurality of storage racks 610.

The upper fixture assembly 300 of the robotic arm 100 is adapted to grasp a target item onto the receiving assembly 200, and then, with the engagement of the lifting device 500 and the translation device 400, to remove and transfer the target item from within the target inventory bay 610 of the access container 600 to a target location, or to transfer the target item from the target location into the target inventory bay 610 of the access container 600. Specifically, after the upper fixture 300 of the robotic arm 100 grabs and pulls the target object to the load bearing assembly, the upper fixture 300 and the load bearing assembly secure the target object. The receiving assembly 200 is provided with a second pushing device 230, and the second pushing device 230 is used for pushing the receiving assembly 200 to perform linear motion, so that the distance between the upper fixing assembly 300 and the receiving assembly 200 can be adjusted according to the position of the target object. Further, the upper fixing assembly 300 is provided with a first pushing device 240 and a height adjusting device 380, wherein the first pushing device 240 is mounted on the receiving assembly 200, the height adjusting device 380 is mounted on the first pushing device 240, the upper fixing assembly 300 is mounted on the height adjusting device 380, the first pushing device 240 is used for pushing the height adjusting device 380 to perform linear motion, and the distance between the upper fixing assembly 300 and the bearing assembly is changed by the height adjusting device 380, so that the mechanical arm 100 can be suitable for various sizes of articles. The whole process of storing and taking the target articles does not need to be manually taken and put, and the goods 900 are quickly grabbed by the mechanical arm 100, so that the digital and automatic management of storage is realized.

According to some embodiments of the present application, a plurality of inventory racks 610 are provided on the access container 600 as the access location, with a separate identification code 611 provided on each inventory rack 610. Further, the mechanical arm 100 is provided with a vision camera 110, and the vision camera 110 is used for capturing the distance between the mechanical arm 100 and the target, wherein the target comprises goods 900 and a container 600.

The inventory lattice 610 is provided with an identification code 611, wherein the identification code 611 records information of the items in the corresponding inventory lattice 610. Further, the control system of the intelligent warehouse is provided with an identification unit for scanning and identifying the identification code 611. In a more preferred technical solution, the identification code 611 may be a two-dimensional code; the location of the accessed goods 900 is recorded and identified by the identification unit. The two-dimensional code may be attached directly above the inventory frame 610, and movement of the robotic arm 100 directly above the inventory frame 610 triggers the vision camera 110 to take a photograph to return two-dimensional code information.

Further, black marks 612 are provided at four corners of the inventory frame 610, and a visual positioning device is provided on the robot arm 100 for identifying the relative distance between the robot arm 100 and the black marks. Specifically, black marks 612 are L-shaped black mark corners, which are attached to the four corners of the inventory frame 610.

According to some embodiments of the present application, the upper fixing assembly 300 includes a first clamping module mounted to the height adjusting device 380 and a second clamping module disposed on the first clamping module, the second clamping module being movably connected to the first clamping module, and a distance between an end of the first clamping module and an end of the second clamping module being adjustable. Specifically, the first clamping module includes a pulling plate 310 with an L-shaped structure and a third pushing device 320, one end of the pulling plate 310 is fixedly connected with the height adjusting device 380, the third pushing device 320 is mounted on the pulling plate 310, the second clamping module is mounted on the third pushing device 320, and the third pushing device 320 makes the second clamping module perform a linear motion. Further, as shown in the figure, the end of the pulling plate 310 far away from the third pushing device 320 is provided with a grabbing mechanism 330, and the grabbing mechanism 330 is used for grabbing an article, so as to improve the grabbing stability of the mechanical arm 100 on the article when the article is taken out.

According to some embodiments of the present application, the second clamping module includes an L-shaped pushing plate 340 and a fixing plate 350, one end of the fixing plate 350 is connected to the output end of the third pushing device 320, and the pushing plate 340 is mounted on the fixing plate 350. The side of the pulling plate 310 facing the fixed plate 350 is provided with a guide rail 360, the fixed plate 350 is provided with a sliding block 370, the sliding block 370 is slidably connected with the guide rail 360, and the output end of the third pushing device 320 is connected with the sliding block 370.

When the pulling plate 310 pulls the target item from the inventory sash 610 onto the pickup assembly 200, the third pushing device 320 activates and moves the push plate 340 toward the pulling plate 310, and the pulling plate 310 and the push plate 340 cooperate to clamp the target item to prevent the item from falling.

According to some embodiments of the present application, the receiving assembly 200 includes a receiving plate 210 and a bearing table 220, an output end of the second pushing device 230 is connected to one end of the bearing table 220, the receiving plate 210 is disposed at the other end of the bearing table 220, and the first pushing device 240 is fixed on the bearing table 220. The load-bearing platform 220 is provided with a weighing unit, the weighing unit is used for weighing the goods 900, when the weighing unit weighs the target object and obtains the weight information of the target object, the weighing unit feeds information back to the intelligent storage system for recording and storing, and the weight information and the goods storage information of the goods 900 are used for judging whether the goods are in first stock or not.

According to some embodiments of the present application, the robot arm 100 is provided with a vision camera 110, and the vision camera 110 is used for capturing the distance between the robot arm 100 and the target, including the goods 900 and the storage and retrieval container 600.

According to some embodiments of the present application, the intelligent warehouse is further provided with a feeding conveyor belt 700 and a discharging conveyor belt 800, so as to realize automatic feeding and discharging of the articles, without manual lifting. Wherein, the feeding conveyor belt 700 and the discharging conveyor belt 800 are respectively arranged at two ends of the translation device 400. Further, the feeding conveyor 700 is provided with a multi-camera 710410 for measuring and recording the length, width and height of the goods 900, and the multi-camera 710410 transmits the information to the intelligent storage system for storage after acquiring the size information of the goods 900. Further, the multi-camera 710410 is provided with at least two camera positions, which record the length, width and height of the goods 900 from different directions, and the multi-camera 710410 records the color characteristics of each surface of the goods 900 through multiple angles.

The intelligent warehouse of the present embodiment relates to the working principle of storing goods 900: s1: the upper computer inputs goods 900 information, and the goods 900 information comprises a goods 900 name and/or a goods 900 number; s2: the vision module and the weighing unit record inventory information and weight information of the goods 900 and match existing inventory information and weight information in the database; s3: if the matching is successful, the goods 900 are directly grabbed to the corresponding inventory positions in the database through the grabbing module; if the match is unsuccessful, the good 900 is stored in the unfilled inventory lattice 610 by the grabbing module. The information of the goods 900 is memorized, and the goods 900 at the next time are judged to be automatically stored in the corresponding cabinet according to the characteristics of the identified length, width, height, weight and color. The storage space limit is broken through the matrix type goods storage, the space utilization rate is low, and the large storage mode is enjoyed at low cost; the platform operation, the intelligent management and the high-density storage effectively improve the resource utilization rate.

The intelligent warehouse of the present embodiment relates to the working principle of taking out the goods 900: searching information of goods 900 by the upper computer, wherein the information of the goods 900 comprises a name of the goods 900 and/or a serial number of the goods 900, and inputting a goods taking instruction; the robot arm 100 moves to the inventory sash 610 corresponding to the goods 900 to take out the goods 900 and place them on the discharging conveyor 800. The working time of stock and picking is within 15s, and the stock and picking are quick, efficient and accurate.

In this embodiment, the remaining space of the inventory frame 610 is calculated, and whether the current goods 900 can be placed in the remaining space is determined, the goods with the self-adaptive size can be stored in the system, the goods can be stacked and placed when being smaller than the containers, the situation that one container is opposite to one goods is effectively avoided, the enterprise can conduct layout planning on full-chain service digitization through the whole solution of the intelligent warehouse management system, the power-assisted service strategy can stably and sustainably develop for a long time, and the warehouse service is effectively driven to be converted from manual to intelligent. The vision module calculates the remaining space of the inventory frame 610 or obtains the size of the remaining space according to the known original size of the inventory frame 610 and the size of the stored goods 900 through the control center, compares the size of the remaining space with the size of the newly placed goods 900, and if the size of the space of the newly placed goods 900 and the position moved by the mechanical arm 100 is smaller than the size of the remaining space, the goods 900 can be placed in the remaining space; meanwhile, in the process of putting a plurality of cargoes 900 into one inventory frame 610, the weight of the cargoes 900 on the upper layer needs to be judged, if the weight of the newly put cargoes 900 is larger than a preset value, the cargoes 900 are put into the new inventory frame 610 preferentially, and if the weight of the newly put cargoes 900 is lower than the preset value, the cargoes 900 can be put into the rest space preferentially; meanwhile, when the goods 900 are stored, related information characters such as weight pressing and the like can be input into the upper computer, and the control center searches through keywords to obtain information instructions, so that the goods 900 are stored independently or placed on the upper layer of the goods 900. Avoiding crushing of the lower layer by the upper layer of heavier cargo 900.

The utility model has the advantages that:

1. Work efficiency promotes: the warehouse management system automatically recommends warehouse positions, and the whole process intelligently guides operation, so that the efficiency of warehousing goods, delivering goods, sorting and delivering goods and checking in a warehouse is effectively improved.

2. Batch whole-process transparent tracing: the accurate batch information of goods is recorded in real time by utilizing visual intelligent recognition, weighing and measuring units and the like, the first-in first-out principle is strictly executed on the goods in the warehouse, the product safety is ensured, and a basis is provided for checking the goods 900.

3. The operation accuracy is improved: the whole warehouse operation process is guided by the system, so that manual operation is reduced, error rate is greatly reduced, and problems can be found and searched in time.

4. Management promotion: the staff workload and the product movement are clear at a glance, the customized report records all in-library operations, provides a basis for product tracing, operation tracing and performance assessment, and provides data support for a quick response strategy of a company.

5. Paperless management: paperless management is realized, paper bill information is converted into electronic data, the inquiry step is simplified, the inquiry speed is accelerated, and the working difficulty is reduced.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present utility model have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the utility model, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. The mechanical arm for the intelligent storage system is characterized by comprising a bearing component and an upper fixing component; the bearing assembly is provided with a second pushing device which is used for pushing the bearing assembly to do linear motion;

The first pushing device is arranged on the bearing assembly;

The height adjusting device is arranged on the bearing assembly, the output end of the first pushing device is connected with the height adjusting device, and the first pushing device is used for pushing the height adjusting device to do linear motion;

The upper fixing assembly is installed on the height adjusting device, and the height adjusting device is used for changing the distance between the bearing assembly and the upper fixing assembly.

2. The robotic arm for an intelligent storage system of claim 1, wherein the upper securing assembly comprises a first clamping module and a second clamping module, the first clamping module is mounted to the height adjustment device, the second clamping module is disposed on the first clamping module, the second clamping module is movably connected to the first clamping module, and a distance between an end of the first clamping module and an end of the second clamping module is adjustable.

3. The mechanical arm for an intelligent storage system according to claim 2, wherein the first clamping module comprises a pulling plate with an L-shaped structure and a third pushing device, one end of the pulling plate is fixedly connected with the height adjusting device, the third pushing device is mounted on the pulling plate, the second clamping module is mounted on the third pushing device, and the third pushing device enables the second clamping module to do linear motion.

4. A robotic arm for a smart storage system as claimed in claim 3, wherein the end of the pulling plate remote from the third pushing means is provided with a gripping mechanism for gripping an item.

5. The mechanical arm for an intelligent storage system according to claim 3, wherein the second clamping module comprises a pushing plate and a fixing plate with an L-shaped structure, one end of the fixing plate is connected with the output end of the third pushing device, and the pushing plate is mounted on the fixing plate.

6. The mechanical arm for an intelligent storage system according to claim 5, wherein a guide rail is arranged on one side of the pulling plate, which faces the fixing plate, a sliding block is arranged on the fixing plate, the sliding block is in sliding connection with the guide rail, and an output end of the third pushing device is connected with the sliding block.

7. The mechanical arm for an intelligent storage system according to claim 1, wherein the receiving assembly comprises a receiving plate and a bearing table, the output end of the second pushing device is connected with one end of the bearing table, the receiving plate is arranged at the other end of the bearing table, and the first pushing device is fixed on the bearing table.

8. The mechanical arm for an intelligent storage system according to claim 7, wherein a weighing unit is arranged on the bearing table, and the weighing unit is used for weighing goods.

9. An intelligent warehouse comprising a mechanical arm for an intelligent storage system as claimed in any one of claims 1 to 8, characterized in that,

The translation device is provided with a rotation device;

The lifting device is arranged on the rotating device, and the mechanical arm is arranged on the lifting device;

The storage and taking containers are arranged at two sides of the translation device respectively, are arranged in the movable range of the mechanical arm, and are provided with a plurality of stock frame grids.

10. The smart warehouse according to claim 9, wherein a vision camera is provided on the robotic arm for capturing the distance of the robotic arm from a target, the target comprising cargo and storage containers.