Robot picking assembly

1. A robotic picking assembly comprising:

an arm support arrangement configured to move vertically and to rotate about a vertical axis;

a horizontally extendable arm supported in the arm support arrangement;

a gripping tool arranged at a free end of the horizontally extendable arm;

wherein the horizontally extendable arm comprises a plurality of arm modules linked together in a chain, and wherein the plurality of arm modules comprise:

a hinge linking adjacent arm modules together in a pivoting manner; and

a pivot restriction means limiting curving of the horizontally extendable arm to only one direction;

wherein the arm support arrangement comprises:

an arm guiding arrangement configured to guide the horizontally extendable arm between an extended position and a retracted position;

an arm drive arrangement configured to move the horizontally extendable arm between said extended and retracted positions; and

wherein when the horizontally extendable arm is in the retracted position, a portion of the horizontally extendable arm exhibits an upwardly curved shape, extending upwards from a horizontal portion of the horizontally extendable arm, between the free end and a back end, wherein the back end of the horizontally extendable arm is fixed to an end unit of the arm support arrangement.

2. The robotic picking assembly according to claim 1 , wherein in the retracted position, the horizontally extendable arm curves at least 180 degrees, preferably at least 270 degrees.

3. The robotic picking assembly according to claim 1 , wherein in the retracted position, the horizontally extendable arm curves less than 360 degrees, preferably less than 280 degrees.

4. The robotic picking assembly according to claim 1 , wherein the plurality of arm modules comprise a pitch rack and the arm drive arrangement comprises a motorized cogwheel engaging the pitch rack.

5. The robotic picking assembly according to claim 1 , wherein the plurality of arm modules comprise an umbilical channel and that an umbilical extends through the umbilical channel to the free end of the horizontally extendable arm.

6. The robotic picking assembly according to claim 1 , wherein the back end of the horizontally extendable arm is fixed to the end unit of the arm support arrangement in a vertical orientation.

7. The robotic picking assembly according to claim 1 , wherein the plurality of arm modules comprise a stabilizing protrusion at one end and a stabilizing groove at an opposite end, wherein the stabilizing groove is configured to receive the stabilizing protrusion of an adjacent arm module.

8. The robotic picking assembly according to claim 1 , wherein the pivot restriction means comprises a rear abutment surface and a front abutment surface, which are configured to abut against each other when adjacent arm modules are in a straight configuration.

9. The robotic picking assembly according to claim 1 , wherein the arm guiding arrangement comprises a lower vertical guide wheel supporting the horizontally extendable arm from below and an upper vertical guide wheel supporting the horizontally extendable arm from above, wherein the lower vertical guide wheel is arranged closer to the free end than what the upper vertical guide wheel is when the horizontally extendable arm is in the extended position.

10. The robotic picking assembly according to claim 1 , wherein the plurality of arm modules are provided with module rollers configured to engage a roller groove of the arm support arrangement.

11. The robotic picking assembly according to claim 1 , wherein the arm support arrangement comprises a roller groove and that the plurality of arm modules comprise pairs of module rollers, wherein a horizontal portion of the roller groove engages the pairs of module rollers, so that a weight of an extended portion of the horizontally extendable arm, as well as the weight of a carried item held by the gripping tool, is carried by an engagement between the horizontal portion and the pairs of module rollers.

12. The robotic picking assembly according to claim 1 , wherein the arm guiding arrangement comprises a roller groove having a horizontal portion and a curved portion that curves upwards with respect to the horizontal portion.

13. The robotic picking assembly according to claim 12 , wherein a length of the horizontal portion is less than 2.5 module lengths, preferably less than 3.5 module lengths.

14. The robotic picking assembly according to claim 1 , wherein the plurality of arm modules comprise a box-shaped module body with two opposite and parallel side walls, and a substantially flat lower surface.

15. The robotic picking assembly according to claim 1 , wherein the arm drive arrangement has not more than one electric arm drive motor configured for moving the horizontally extendable arm between the extended and retracted positions.

16. The robotic picking assembly according to claim 1 , wherein when in the extended position, at least 50%, more preferably at least 70%, of a total number of the plurality of arm modules of the horizontally extendable arm are arranged along a common straight centerline.

17. The robotic picking assembly according to claim 1 , wherein the horizontally extendable arm is without actuators or motors configured to move the horizontally extendable arm, as such actuators or motors are arranged external of the horizontally extendable arm.

18. The robotic picking assembly according to claim 1 , further comprising:

a vehicle structure with at least three wheels, configured to move the robotic picking assembly on a horizontal surface;

a vertical movement arrangement configured to move the arm support arrangement vertically;

a rotation arrangement configured to rotate the arm support arrangement about a vertical axis; and

a pallet support arrangement configured to support a pallet.

19. The robotic picking assembly according to claim 1 , wherein the plurality of arm modules comprise two abutting curve restriction faces configured to restrict curving of two adjacent arm modules beyond 90 degrees, preferably 75 degrees.

20. A computer-readable software embodied on a non-transitory medium and configured to control a robotic picking assembly according to claim 1 , when run on a computer, as the software is configured to control:

the arm drive arrangement;

a rotation motor configured to rotate the arm support arrangement about a vertical axis;

a vertical motor configured to move the arm support arrangement vertically; and

a vehicle structure configured to move the robotic picking assembly on a horizontal surface.