CN110503766A

CN110503766A - A kind of unmanned shop

Info

Publication number: CN110503766A
Application number: CN201910376884.3A
Authority: CN
Inventors: 熊长伦
Original assignee: Shenzhen Tai Hui Technology Co Ltd
Current assignee: Shenzhen Tai Hui Technology Co Ltd
Priority date: 2018-06-20
Filing date: 2019-05-04
Publication date: 2019-11-26
Also published as: CN109712323A

Abstract

The invention discloses a kind of unmanned shops, including manipulator, it takes at object, master controller, pallet, shopping apparatus, wherein the pallet is slope slot, commodity are placed on the slope slot, briquetting has been placed above in the commodity, it is described to take the solenoid valve for being provided at object and switching at control preparation, the master controller stores the location parameter of all commodity, pricing information, commodity amount information, the mobile and horizontal guide rail is placed on the top of the pallet in shop, the Manipulator Controller automatically generates robot movement formula according to customer's order, the robot movement formula Exactly-once.Beneficial effect by adopting the above technical scheme is: a kind of unmanned shop is designed by copying the principle of chip mounter, customer inputs shopping information in shopping apparatus, manipulator in shop can take commodity from shelf automatically to be taken from object to customer, master controller Automatic-settlement, makes store sales be truly realized unattended.

Description

A kind of unmanned shop

Technical field

The present invention relates to unmanned shop technical field, in particular to a kind of unmanned shop.

Background technique

It is all someone that goods is sold in earliest shop, as soon as there is a sales counter, what to buy, shop-assistant, shop-assistant is told just to take What, what dealing was all completed on sales counter, customer cannot enter to go inside shop；Hypermarket, supermarket were managed later, People can enter to select thing, check again out；Someone does unmanned shop still later, and customer is allowed to go oneself commodity to be selected oneself to go again It checks；Also the shop having is that commodity and its price can be gone out with automatic sensing what sensor label sticked on commodity, Customer oneself consciously checks.A kind of automatic vending machine has been had already appeared currently on the market, and this vending machine can only be sold seldom Commodity, that is, it is several, ten is several, can not meet the needs of people's daily life at all, also have one kind to take in hospital automatically Medicine machine, that is also that can only take several medicines, cannot be known as unmanned shop completely.

Earliest shop has shop-assistant that commodity is taken to trade on sales counter out, does a robotic device and sells instead of this Just well by goods person, can thus open a unmanned shop.Science and technology is very flourishing now, and making such manipulator is also to be easy to 's.This robotic device is just extract from SMT equipment (chip mounter namely in e-factory) is inner, below simply Introduce a SMT equipment:

SMT equipment be a variety of different materials, the electronic original part of mainly some very littles, some very littles, element 201, Only one millimeter takes up these small materials, is put into a variety of different positions of mainboard up, then removed high temperature tin furnace, Deng being stained with tin above, these electronic original parts are just securely seated between above after temperature lowers, the position of certain each material and Need to be attached to what the position that mainboard gets on will be set in advance in computer, and the sequence pasted is also to set in advance. Each mainboard has several hundred even to have thousands of a electronic components, and SMT equipment can take up like clockwork these and be put into this The place put is gone.The precision of this equipment size is very high, can reach one thousandth millimeter, this equipment is expensive naturally, expensive Have 2,000,000 RMB one, also have required precision not high, it is cheap to have 20,000 RMB one.This equipment is main It is to be realized by that servo motor from numerical parameter (need to only input a numerical value in apparatus such as computer) to distance (manipulator With regard to move so distance) conversion, that is to say, that when providing the numerical value to be moved, servo motor will be as requested Movement, until arriving at the destination.The mode of this mode i.e. multi-to-multi, i.e., take up various materials at feeding, send It is gone on each different position on to mainboard.Because having several hundred or thousands of a parts on a mainboard, these parts have been pasted Total time again cannot be too long, so when this chip mounter has pasted element, the speed of robot movement quickly, near almost seeing not The movement of clear manipulator, therefore the efficiency of this equipment is also very high.A kind of also mechanical equipment made of servo motor, injection molding machine, This injection molding machine does not have oil cylinder, only servo motor driven, and this injection molding machine has the injection molding machine of oil cylinder also accurate than that, and one A injection molding machine shot one 1 percent can be accurately obtained to one gram, when adjusting various parameters, one numerical value of every setting, and motor It is also often to press a digital button by servo motor driven that the common elevator in different position days will be moved to by numerical value, Elevator will stop in corresponding floor, this is also number to be converted into the example of different positions, but elevator is transported The parameter of dynamic position changes floor into.

This servo-system (servo mechanism) is that position, orientation, state of object etc. is enable to export controlled volume Follow the automatic control system of input target (or given value) arbitrarily changed.Servo is positioned mainly by pulse, substantially may be used To be understood that, servo motor receives 1 pulse, will rotate the corresponding angle of 1 pulse, thus realize displacement, because Servo motor itself has the function of issuing pulse, so servo motor one angle of every rotation, can all issue corresponding number Pulse echoes with the pulse shaping of servo motor receiving in this way, or is closed loop, in this way, which system will know that hair How many pulses have received that how many pulse are returned to servo motor again, that is to say, that signal is transmitted to system, while handle at any time by it The signal that system provides corrects oneself operating, and this makes it possible to the rotations for being accurately controlled very much motor, to realize accurate Positioning, can achieve 0.001mm.Rotor inside servo motor is permanent magnet, the U/V/W three-phase electric forming of driver control Electromagnetic field, rotor rotate under the action of this magnetic field, while the encoder feedback signal that motor carries is to driver, driver root It is compared according to value of feedback with target value, the angle of adjustment rotor rotation, so the precision of servo motor is decided by encoder Precision (line number) can determine line number according to shop needs.

Principle, the method for this manipulator have, and size is not just a problem, while according to the side of this multi-to-multi Formula takes up each article on multiple positions, any one position that can be put into multiple and different positions is got on simultaneously It and can also turning circuit, so that it may determine this manipulator to be applied in unmanned shop and go.This SMT equipment is in electronics industry Decades are all used in the world, technology is all very mature.Electronic component that the one it is small all there is no problem, have for this Just more there is no problem for 100 times of big articles for daily use of electronic component, so the manipulator that this servo motor is done is being used in nobody It is what there is no problem on shop.

It only needs to optimize patch portion in SMT equipment, so that it may design a kind of machinery for unmanned shop The precision of hand, this manipulator will take a commodity well below this SMT chip mounter injection molding machine, and error is no more than one It centimetre all has nothing to do.Jingdone district has used so much small machine people running back and forth, network along Feng Deng enterprise when sorting package One big invention of upper also known as China, actually more suitable with this manipulator, cost is lower, more simply.Customer, which sweeps, is attached to quotient The information of bought commodity is inputted after head store two dimensional code on product or by other equipment, controller will be received in store system To merchandise news, merchandise news is just transferred to the manipulator in warehouse district, after waiting customer payments, manipulator is just gone in storehouse This refers to according to commodity (commodity in warehouse district can not paste two dimensional code) system of taking that system designated position is placed in storage area Fixed takes at object, and customer can be by equipment such as mobile phone plane plates taking the door at object to open, so that it may which the commodity bought are taken It walks.

Summary of the invention

The technical problem to be solved in the present invention is to provide a kind of unmanned shops, and it is defeated to solve the automatic picking in unmanned shop, information Enter, sales management the problem of.

In order to solve the above-mentioned technical problem, the technical solution of the present invention is as follows: a kind of unmanned shop, including warehouse district, it is described Warehouse district includes manipulator, takes at object, master controller, pallet, wherein the warehouse district is impermissible for customer's entrance, the warehousing Frame includes slope slot, and commodity are placed on the slope slot, and the commodity on the pallet are taken by manipulator to taking object, customer The commodity bought are taken away from object from taking, the Manipulator Controller circuit connection of the master controller and manipulator, the machine Tool hand includes fixed horizontal guide rail, fixed horizontal guide rail motor, mobile and horizontal guide rail motor, mobile and horizontal guide rail, mechanical manual control Device processed, terminal of manipulator grasping mechanism, fixed horizontal guide sleeve, mobile and horizontal guide sleeve, the mobile and horizontal guide rail of the manipulator are put It sets in the top of the pallet in shop, the position of fixation horizontal guide rail and the position of pallet of the manipulator and takes at object Position between it is fixed, described take is mounted on the wall of warehouse district at object, and the Manipulator Controller of the manipulator is according to Gu Objective order automatically generates robot movement formula, and the foundation that Manipulator Controller generates movement formula includes weight, volume, length Degree, the robot movement formula Exactly-once.

Preferably, the manipulator include fixed horizontal guide rail, fixed horizontal guide rail motor, mobile and horizontal guide rail motor, Mobile and horizontal guide rail, Manipulator Controller, terminal of manipulator grasping mechanism, fixed horizontal guide sleeve, mobile and horizontal guide sleeve, fixed water Fixed horizontal guide sleeve is installed on level gauge, mobile and horizontal guide rail, the installation of mobile and horizontal guide rail are installed on fixed horizontal guide sleeve There is mobile and horizontal guide sleeve, fixed horizontal guide rail motor driving mobile and horizontal guide rail moves on fixed horizontal guide rail, mobile and horizontal Guide rail motor driving mobile and horizontal guide sleeve moves on mobile and horizontal guide rail, Manipulator Controller and fixed horizontal guide rail motor, The connection of mobile and horizontal guide rail motor circuit.

Preferably, the fixation horizontal guide rail motor of the manipulator and the non-concurrent movement of mobile and horizontal guide rail motor, that is, work as Mobile horizontal guide rail motor stops when fixed horizontal guide rail motor movement, and when mobile and horizontal guide rail motor movement, fixed level is led Rail motor stops.

Preferably, the movement formula of the manipulator is the formula of multi-to-multi, i.e., each article on multiple positions is taken Get up, any one position of multiple and different positions can be put into up.

Preferably, the manipulator is fixed the position of horizontal guide rail and the position of pallet and is taken between the position at object Fixed is constant.

Preferably, the mobile and horizontal guide rail of manipulator mobile maximum distance (L1) on fixed horizontal guide rail, 0.1 meter 500 meters of < L1 <, the mobile upright guide rail of manipulator mobile maximum distance (L2), 0.1 meter of < on mobile and horizontal guide rail 500 meters of L2 <, terminal of manipulator grasping mechanism mobile maximum distance (L3), 0.1 meter of < L3 < on mobile upright guide rail 100 meters.

Preferably, nobody the upper shop further includes shopping apparatus, and the input mode of shopping apparatus shopping information is included in behaviour Check in operating space that inputting product name in showcase after product name number numbers, is right in a speech recognition apparatus as area Equipment with saying product name number, this Shop Web Page can be opened in an equipment in operating space and select commodity in webpage It is one or more in three kinds of modes of designation number；The shopping apparatus means of payment includes the payment of brush magnetic stripe card, brush chip card Payment, induction payment, the payment of brush face, brush finger line pay one or more in five kinds of means of payment, the shopping apparatus shopping The input medium of information include touch screen input, mouse input, voice input, keyboard input four kinds of means in one kind or It is a variety of, shopping apparatus and master controller circuit connection.

Preferably, the master controller includes ethernet module, wireless module, networking module, processor module, memory Module, processor module and ethernet module, wireless module, networking module, memory module circuit connection, wireless module include WIFI module, 4G module, 5G module.

Preferably, the motor that the manipulator uses is servo motor or stepper motor, the servo motor all band motors Servo-driver.

Preferably, the unmanned shop further includes operating space, and the operating space is equipped with showcase, and the showcase is placed with Show commodity, the commodity customer that the showcase is put cannot take away.

Preferably, it is described take be provided at object switched at control preparation take solenoid valve at object, take at object solenoid valve and total Controller circuitry connection.

Beneficial effect by adopting the above technical scheme is: a kind of unmanned quotient is designed by copying the principle of chip mounter Shop, customer input shopping information in shopping apparatus, and the manipulator in shop can take commodity from taking object from shelf automatically To customer, master controller Automatic-settlement makes store sales be truly realized unattended.

Detailed description of the invention

Fig. 1 is the unmanned shop schematic drawing of single manipulator；

Fig. 2 is the showcase schematic diagram of operating space；

Fig. 3 is shelf internal view；

Fig. 4 is robot manipulator structure figure；

Fig. 5 is the exploded view of multi-chamber negative pressure tip；

Fig. 6 is the exploded view that clamping type takes object clip；

Fig. 7 is the perspective view of terminal of manipulator grasping mechanism；

Fig. 8 is Manipulator Controller wiring schematic diagram；

Fig. 9 is the fixed schematic diagram of manipulator commodity on shelf guide groove；

Figure 10 is the unmanned shop schematic drawing for having exchange manipulator；

Figure 11 is the commodity guide groove schematic diagram in a unmanned shop of manipulator；

Figure 12 is the commodity guide groove schematic diagram in two unmanned shops of manipulator.

In figure, the operating space 1-, 2- pallet, 3- warehouse district, 4- manipulator, 5- store wall, 6- commodity guide groove, 7- master control Device processed, 8- showcase, 9- take at object, 10- shopping apparatus, the mark of 11- row, the mark of 12- column, 13- two dimensional code, 14- label, 15- briquetting, the slope 16- slot, one section of horizontal component before 17- slot, the baffle part before 18- cargo slot, 19- are fixed horizontal Guide rail, the fixed horizontal guide rail motor of 20-, 21- mobile and horizontal guide rail, the mobile upright guide rail rotation motor of 22-, 23- multi-chamber are negative Pressure suction nozzle, the mobile upright guide rail of 24-, 25- mobile and horizontal guide rail motor, 26- clamping type take object clip, the mobile upright guide rail of 27- Motor, the fixed horizontal guide rail belt of 28-, 29- motor belt is locked, 30- Manipulator Controller with the axis of movement herein, 31- terminal of manipulator grasping mechanism, the fixed horizontal guide rail shaft of 32-, 33- mobile and horizontal guide rail shaft, the mobile upright guide rail of 34- Rotating shaft, the mobile upright guide rail shaft of 35-, the mobile vertical guide sleeve of 36-, the fixed horizontal guide sleeve of 37-, 38- mobile and horizontal guide sleeve, 39- mobile and horizontal guide rail belt, the mobile upright guide rail belt of 40-, the mobile upright guide rail rotating belt of 41-, 42- flexible glue, 43- are more Chamber body, 44- suction nozzle solenoid valve, 45- type core, 46- side plate, 47- suction nozzle mounting plate, 48- multi-cavity chamber body stomata, 49- air drain, 50- type core stomata, 51- clip solenoid valve, 52- commodity clamping plate, 53- decompression clamping plate, 54- clip solenoid valve clamping plate, first turn of 55- Axis, the second shaft of 56-, 57- clip side plate, 58- clip mounting plate, 59- exchange of commodities point, 60- commodity guide groove, 61- guide groove it Between fixed link, the fixed link between 62- shelf and manipulator, the big fixed link of 63- bottom shelf, the big fixed link of 64- and guide groove Between fixed link, 65- manipulator and between the walls fixed link, the fixed link between two shelf of 66-.

Specific embodiment

Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.

Referring to attached drawing, a kind of unmanned shop, including warehouse district 3, the warehouse district 3 include manipulator 4, take 9, master control at object Device 7 processed, pallet 2, shopping apparatus 10 are placed with commodity on the slope slot 16 wherein the pallet 2 is slope slot 16, The commodity have been placed above briquetting 15, the warehousing, and the commodity on 2 are taken by manipulator 4 to taking object 9, and customer is from taking 9 from object The commodity bought are taken away, it is described to take at object 9 to be provided with solenoid valve control and take to switch at object, the master controller 7 with it is mechanical Hand 4, takes at object 9 electromagnetic valve circuit to connect at shopping apparatus 10, the master controller 7 store all commodity location parameter, Pricing information, commodity amount information, it is preferred that the master controller 7 includes ethernet module, wireless module, networking module, place Device module, memory module are managed, processor module and ethernet module, wireless module, networking module, memory module circuit connect It connects, wireless module includes WIFI module, 4G module, 5G module；The manipulator 4 includes fixed horizontal guide rail 19, fixed level Guide rail motor 20, mobile upright guide rail rotation motor 22, mobile and horizontal guide rail motor 25, mobile upright guide rail motor 27, movement Horizontal guide rail 21, mobile upright guide rail 24, Manipulator Controller 30, terminal of manipulator grasping mechanism 31, the mobile and horizontal are led Rail 21 is placed on the top of the pallet 2 in shop, and the Manipulator Controller 30 automatically generates manipulator according to customer's order and transports Traverse formula, the foundation that Manipulator Controller 30 generates movement formula includes position, weight, volume, length, the robot movement Formula Exactly-once.

Preferably, fixed horizontal guide sleeve 37 is installed on the fixed horizontal guide rail 19, is installed on fixed horizontal guide sleeve 37 There is mobile and horizontal guide rail 21, mobile and horizontal guide rail 21 is equipped with mobile and horizontal guide sleeve 38, shifting is equipped on mobile and horizontal guide sleeve 38 Upright guide rail 24 is moved, mobile vertical guide sleeve 36 is installed on mobile upright guide rail 24, machinery is installed on mobile vertical guide sleeve 36 Hand terminal grasping mechanism 31, fixed horizontal guide rail motor 20 drive mobile and horizontal guide rail 21 to move on fixed horizontal guide rail 19, Mobile and horizontal guide rail motor 25 drives mobile upright guide rail 24 to move on mobile and horizontal guide rail 21, mobile upright guide rail motor 27 Driving manipulator terminal grasping mechanism 31 moves on mobile upright guide rail 24, the mobile driving of upright guide rail rotation motor 22 movement Upright guide rail 24 rotates to exchange the grasp mode of terminal of manipulator grasping mechanism 31, and Manipulator Controller 30 is led with fixed level Rail motor 20, mobile upright guide rail rotation motor 22, mobile and horizontal guide rail motor 25, mobile 27 circuit of upright guide rail motor connect It connects.

Preferably, the fixation horizontal guide rail motor 20 of the manipulator 4 and the non-concurrent movement of mobile and horizontal guide rail motor 25, I.e. when fixed horizontal guide rail motor 20 moves, mobile horizontal guide rail motor 25 stops, when mobile and horizontal guide rail motor 25 moves Fixed horizontal guide rail motor 20 stops, and mobile upright guide rail rotation motor 22, mobile upright guide rail motor 27 and fixed level are led Rail motor 20 can move simultaneously, mobile upright guide rail rotation motor 22, mobile upright guide rail motor 27 and mobile and horizontal guide rail Motor 25 can move simultaneously.

Preferably, the movement formula of the manipulator 4 is that Manipulator Controller 30 is automatically generated according to customer's order.

Preferably, the movement formula Exactly-once of the manipulator 4, does not repeat.

Preferably, the movement formula of the manipulator 4 is the formula of multi-to-multi, i.e., each article on multiple positions is taken Get up, any one position of multiple and different positions can be put into up.

Preferably, the position of the fixed horizontal guide rail 19 of the manipulator and the position of pallet 2 and the position for taking at object 9 Between it is fixed constant.

Preferably, the unmanned shop further includes operating space 1, and the operating space 1 is equipped with showcase 8, and the showcase 8 is put Displaying commodity are placed with, the commodity customer that the showcase 8 is put cannot take away.

Preferably, it is described take at object 9 be provided with 9 switches at control preparation take solenoid valve at object, take at object solenoid valve with 7 circuit connection of master controller.

Preferably, 10 means of payment of shopping apparatus include brush magnetic stripe card payment, brush chip card payment, induction payment, It is one or more in barcode scanning gun payment, the payment of brush face, the payment of brush finger line, wechat payment, Alipay eight kinds of means of payment of payment, 10 means of payment of shopping apparatus includes the payment of brush magnetic stripe card, the payment of brush chip card, induction payment, the payment of brush face, brush finger line Pay one or more in five kinds of means of payment, the input medium of 10 shopping information of shopping apparatus includes that touch screen is defeated Enter, mouse inputs, voice inputs, one or more in keyboard four kinds of means of input.

Preferably, the motor that the manipulator 4 uses is servo motor or stepper motor, the servo motor all band motors Servo-driver.

The information input mode of the shopping apparatus 10 includes that Shop Web Page choosing is logged in mobile phone plane plate laptop etc. Select commodity and pay the bill, it is being bought goods and checked with barcode scanning equipment barcode scanning in operating space 1, checked in operating space in operating space 1 Inputted in an input equipment after product name number in showcase 8 and check, in a speech recognition apparatus against setting Spare " saying " come select commodity and pay the bill, bought goods simultaneously in the equipment that can open this Shop Web Page in operating space 1 It checks.Mode used in the shopping apparatus 10 is one or more in five kinds of the information input mode.

The unmanned shop is spatially divided into operating space 1 and warehouse district 3, and the quotient to be sold mainly is put in operating space 1 Product select barcode scanning for client, and warehouse district 3 is mainly to store sold commodity, and warehouse district 3 and operating space 1 are separated, visitors Family can only see commodity, barcode scanning in operating space 1, or select commodity in certain equipment operation, not can enter warehouse district 3, Gu Kexuan There are many modes for purchasing commodity, is first introduced with mobile phone barcode scanning to buy goods.When client will buy the letter of commodity in operating space 1 Breath is input in store system in some way, this shopping information has just passed to the controller in the shop, and controller just passes through This has the manipulator 4 of servo motor to go that these commodity is taken to be put into and take 9 at object, and client goes to take at object 9 to take commodity can.By Not high in this 4 required precision of manipulator, after running many times, accumulative error may some be big, so to specify It is basic origin that one, which takes at object 9, and when manipulator 4 moves to here, the system of manipulator 4 will automatically return location information Zero, all ab iitios, error is just reset.There are two operating spaces 2 in a shop having, because commodity are put in warehouse district 3 It is that by rows, an operating space 1 can be arranged at the both ends of several rows of shelf.If showcase 8 is accomplished exterior wall On, it takes at object 9 to be also mounted in store wall 5 and goes, this is it may be said that without operating space 1.Store system such as Fig. 1, wherein infusing 1 expression operating space is released, 2 indicate pallet, and 3 indicate warehouse district, and 4 indicate manipulator, and 5 indicate that store wall, 6 expression commodity are led Slot, 7 indicate master controller, and 8 indicate showcase, and 9 indicate to take at object, and 10 indicate shopping apparatus.

The commodity of the inner displaying in operating space 1 put also have it is certain be particular about, articles for daily use consumption it is more to be placed in it is obvious Place, day, common less commodity can be put in corners, and distinguished one from the other and put by type, if paper product will put together, drink Material is also classified as a major class, individually puts together, and foodstuff is also individually placed on another place, and what consumption was big individually can be several with plurality of pendulums It is a likewise, will be classified so that multiple client's barcode scannings or check are write down, etc..This operating space 1 also will be according to this The characteristics of region at a unmanned shop, puts commodity, main to be adjusted according to the case where usually commercial articles vending, usually That sells mostly puts several barcode scanning points with regard to plurality of pendulums, and that usually sells just puts less less, or even this commodity is put into corner and is gone.Operating space 1 setting is multiple to be taken 9 at object, is done shopping simultaneously for more people, and nethermost one layer is all to take 9 at object substantially below operating space 1, Each customer is over choosing commodity in some way and check, and system just passes through the shopping apparatus that customer paid the bill at that 10 it is inner notify customer, you, which can open, takes at object 9 door to take commodity, and customer can remove away the commodity purchased.Institute The switch for taking at object 9 to be arranged in mobile phone, be just afraid of that the commodity of this customer are taken away by other customer.One in operating space 1 Part commodity can be placed on hand and can put in the fence touched or taken up and see, but what commodity cannot be taken out again.Have Commodity can put some genuine articles, some articles of price can put some pictures, model, or even just put a packet Mounted box, thus no one goes to take the commodity of the inner displaying in operating space 1 away, and customer can also be allowed to see that the quotient of selection is thought in selection Product, such as Fig. 2,11 mark (line number) for indicating row in annotation, 12 indicate the mark (columns) of column, 13 two dimensional codes indicated, 14 tables What is shown is the label of commodity.Taking at object 9 also has difference, some commodity are with regard to bigger, such as quilt, chair and some at packet Small commercial articles, taking at object for these commodity 9 will more greatly, but such as mineral water, and pot foods, there is no need to so big to take for paper handkerchief etc. At object.The switch for taking at object 9 is to take object solenoid valve control by system power supply, when taking at object 9 door to close, takes object Place's solenoid valve, which can block, to be taken at object 9 can not pull to come, and is only opened this by clicking in the mobile phone of customer and is taken 9 at object, takes electric at object Magnet valve is drawn back, and customer could take commodity away taking at object 9 to pull out.

The commodity of warehouse district 3, which are put, to be put in strict accordance with the position of input system, can be first commodity each in system position It sets and sets, then be well placed commodity, the position of all one or more storages of every kind of commodity, the position of system typing is manipulator 4 By the position of this commodity, information is often obtained, manipulator 4 just takes this commodity, and manipulator 4 only takes commodity according to position, Manipulator 4 itself will not tell the type of commodity, and putting herein is exactly this commodity；First commodity can also be put Well, the position then commodity put is gone in precisely inputting to system, when inputting product locations, can first be calculated and be surveyed by coordinate system Numerical value is measured, is then inputted in computer, record position can also be pressed the button directly the position for moving on to commodity of manipulator Set, and the commodity barcode scanning of this position also input the types of commodity, can thus establish the relationship of commodity and position, than from Input wants simpler in computer.Why first to input in the position to system of commodity and go, be exactly in controller to these numbers Value (product locations coordinate) does pretreatment, later when buying commodity, merely enter commodity information can (it is considered that This information is exactly a coding, is numbered, and is no longer the coordinate information of position), without the coordinate bit confidence for inputting commodity again Breath.This has just done a conversion, and for customer, shopping is easy for more.When only one manipulator 4 of shop, this The controller of a data input and the received controller of data and manipulator can be made one, but when there is multi-section in a shop When manipulator 4, every manipulator 4 has oneself controller, but there are one data input and the received controls of data in shop Device, master controller 7, this master controller 7 will also distribute, coordinate the work of each manipulator 4.For there is the commodity of shelf-life, The storage of commodity will more have sequencing, and distinguishing the commodity that the commodity first put are put with after will do especially when supplementing cargo The commodity come in after to the commodity first come in separate, it is necessary to accomplish first in first out.The slot for placing commodity can be made ramp type Slope slot 16, allow commodity automatic sliding to add to the position that manipulator takes object, the energy automatic sliding of mineral water etc, but paper The light commodity such as towel cannot automatic sliding, can on paper handkerchief plus heavy briquetting can automatic sliding, such as Fig. 3, 15 expressions is briquetting in middle annotation, and 16 indicate slope slots, and 17 indicate one section of horizontal component before slots, before 18 indicate cargo slots The baffle part in face.The quantity that the commodity of warehouse district 3 prepare, the amount to be sold with several days are a radix, several days will basis Depending on actual conditions, for example it is 3 days, for example is 7 days.This shop be using current consumption articles as sales target, it is not for sale that Seldom commodity a bit can be to going to buy on the intranets such as Jingdone district, because of this kind of commodity pair for the commodity that those are seldom used It is not cost-effective, Alibaba for community service, the online spendings such as Jingdone district maximum is conveniently fantastic regardless of sample Commodity can be found on the net, regardless of which type of commodity of where is it, can sell for the place that network can reach.So As soon as those sell within one month less than commodity, not swing to and sell here, in addition fresh agricultural products also should not be at this In sell because the not handy manipulator of fresh product goes to take, but fresh agricultural products can also be put after all packaging by certain way It sells herein, the maximizing the benefits in shop can be made in this way.In addition large, medium and small three types are also divided in this shop, and generally one The place of ten thousand people or so can open a small shop, as the beauty of Dongguan City is preferably good of a size；The place of every 100,000 people or so A middle shop, the size as finding pleasure in everybody of Shenzhen can be opened；Each million people's or so can open a big shop, as fertile The same size of Er Ma.Shop can accomplish that or so every one hour of the smallpox time supplements cargo in this way, or accomplish to spend over these days Or so the one hour time supplements a cargo, and customer if you have questions, come shop and look for work by the time that replenishes that as per advice can above say The problems such as making personnel's processing, such as returning goods, mega-store can also arrange a people come certain period (such as between at work 8: It is 00-18:00) on duty, handle exception and return question.Manipulator 4 also wants periodic inspection, such as adds lubricating oil, and it is fixed especially to pay attention to Phase replaces those elements being prone to wear.

The place that this shop can also walk manipulator is separated with the place that employee replenishes away, and it is living to be divided into manipulator Dynamic region and employee replenish channel, can thus replenish in the non-stop situation of manipulator, not delay merchandise sales, no Then, replenish again after manipulator being stopped, waiting after having mended goods could merchandising again, some selling times can be delayed in this way.

It first says barcode scanning shopping way, after customer's barcode scanning, turns on a connection or interface on its handset, and occur The information for choosing number of species price of head store commodity etc, after customer is selected, followed by continuing to buy or check, to It after commodity needed for customer has bought, just checks, suggests that with wechat payment or Alipay is paid the bill or other way, after selecting It just withholds from the inside, then suggests that your commodity for being bought of customer take at object 9 to take object in which number, all take and taken at object to commodity After 9, system suggest that customer you can open take at object 9 door, customer clicked in mobile phone open take at object 9 door, energy Take bought commodity away.After customer takes commodity away, 9 are taken at object to return to original state automatically.Each order is only taken one and is taken In at object, there is customer once to do shopping too many or not of uniform size, is segmented into several orders to handle.

Other than the shopping of this mobile phone barcode scanning, also there are also the shopping of other methods, such as following several method:

It is done shopping by mobile devices such as mobile phone, plate, laptops, when customer is when operating space is wanted to buy commodity, is just existed Webpage selection is opened in the mobile device of oneself and opens list, and mobile device occurs as soon as the information of the classified catalogue of head store commodity, please select Select the title for wanting to buy commodity or its number, it is every to have selected a commodity, occur as soon as choose the similar commodity of head store producer's price it The information of class can select one or more commodity in similar product, next will there are two choosings after customer is selected , one is to continue with selective purchase, another is to terminate to choose and check, and when customer checks, will show that customer is bought Inventory allows customer to confirm, after customer's confirmation, suggests that with wechat payment or Alipay is paid the bill or other way, It just withholds from the inside after selected, after commodity are all taken and taken 9 at object, mobile device suggests that customer, and which you can beat and open and take object The door at place takes commodity away, and customer clicks in mobile device opens the door for taking at object 9, can take bought commodity away.It cares for After visitor takes commodity away, takes and return to original state at object automatically.User can also log in this Shop Web Page, In elsewhere After online selection commodity, system will generate an O/No., and customer can arrive this shop in online payment later, and then exist Order number is inputted before this mobile device, system will take out the commodity bought, and customer has just equally bought commodity； It can not also pay the bill also and an order number can be generated, pay the bill again after inputting order number before this equipment moved to shop It is that can equally buy commodity.

It is done shopping by a speech recognition apparatus in operating space, when customer sees having identification equipment idle in operating space 3 When, before going to this identification device side, say " opening list ", equipment just responds, please say the title of bought commodity, often finish one A product name occurs as soon as and chooses the information of number of species price of head store commodity etc (not display screen, equipment is just said The information of commodity), customer check displaying information on screen it is whether consistent with the information of described commodity, be consistent just say buy with And buy it is several, said if wrong it is " wrong " put off until some time later commodity title, until display information it is correct, after customer purchase after, connect Getting off will be there are two option, and one is to continue with you and wants purchase product name, another is to terminate to select and check, to When customer checks, suggests that with wechat payment or Alipay is paid the bill or other way, just withhold from the inside after selected, to Commodity are all taken take at object after, equipment suggest that customer you can open take at object 9 door, customer clicked in equipment opening take Door at object can take bought commodity away.After customer takes commodity away, takes and return to original state at object automatically.It shop can also Function is chosen on the net to open, user can log in this Shop Web Page elsewhere, and after selection commodity on the net, system will An O/No. is generated, customer can arrive this shop in online payment later, and then say before this speech recognition apparatus Order number, system will take out the commodity bought, and customer has just bought commodity；Commodity are chosen on the net, not paying the bill can also To generate an order number, it is also the same for paying the bill again after saying order number to shop.The shopping apparatus 10 includes: processor die Block handles customer's voice or clicks screen to show function integration and and the master controller of Shop Web Page and other modules Communication；Speech recognition module mainly inputs shopping information with the voice of processing identification customer；Display module, the equipment There is a display screen, as long as having a click action or identifiable voice, display screen will show this Shop Web Page；Input mould Block, customer select commodity by point touching screen or with key, touch screen, mouse, input shopping information；Payment module, customer Selection, which is over, pays payment for goods by several ways such as the induction payment of payment module or wechat Alipay Internetbanks；Networking module, Information is sent, customer sends the number of customer purchase information and the equipment after checking and customer clicks the information such as screen enabling To in the master controller of shop, information is received, after manipulator, which is all taken the commodity bought, to be taken at object, master controller is just sent Message is to the shopping apparatus, which just shows customer on the screen, and you can open the door taken at object, and customer clicks on screen Curtain opens door

It is done shopping by an input equipment in operating space 3, when customer is after commodity are checked in operating space, is write down selected The designation number for selecting commodity goes to this input equipment here, and list is opened in selection, and equipment just shows or says, and please input The title of bought commodity or its number, at this moment just input the designation number for the commodity write down in operating space 3, are often finished one Commodity, occur as soon as the information for choosing number of species price of head store commodity etc, and customer checks displaying information on screen and inputted Information it is whether consistent, be consistent just selection purchase, the modification input information if wrong if is selected to customer until correct Afterwards, next will be there are two option, one is to continue with input product name or number, another is to terminate to input and buy It is single, when customer checks, suggests that with wechat payment or Alipay is paid the bill or other way, just detained from the inside after selected Money, after commodity are all taken and taken at object, input equipment suggests that customer, and you can open the door taken at object, and customer is in input equipment In click to open and take door at object, bought commodity can be taken away.After customer takes commodity away, takes and return to original shape at object automatically State.This equipment includes: processor module, main use manage customer input information and other modules function integration and with it is total Controller communication；Display module, screen；Input module, one or more input methods (key, touch screen, writing pencil, mouse Mark etc.)；Payment module, one or more modes of payment (brush magnetic stripe card, brush chip card, induction payment, barcode scanning, brush face branch Pay, the payment of brush finger line, wechat payment, Alipay payment etc.) and networking module (and master controller communication), wherein display Module, input module, payment module, enabling are triggered by customer.Here screen can not be touch screen, can also be with It is touch screen.Shop, which can also open, chooses function on the net, and user can log in this Shop Web Page elsewhere, online After selecting commodity, system will generate an O/No., and customer can arrive this shop in online payment later, then at this Order number is inputted before input type equipment, system will take out the commodity bought, and customer has just bought commodity；It chooses on the net Commodity do not pay the bill and an order number can be generated, and inputting to pay the bill again after order number before this input equipment to shop is also Equally.

It is done shopping by an online shopping equipment in operating space, customer will buy commodity, just pass through this in store operations area Man-machine interface in a online shopping equipment opens the Shop Web Page, the commodity bought is selected by this online shopping equipment, to whole choosings It after complete, and can be checked by this online shopping equipment or other modes are checked, controller just will receive in unmanned store system Merchandise news is just transferred to the manipulator in warehouse district by merchandise news, manipulator just go in warehouse district this according to The commodity that system designated position is placed take that system is specified to be taken at object, and after waiting bought commodity all to take and take at object, customer is just The commodity bought can be removed.Mainly there is display screen on this online shopping device structure；There is one kind or several of various payment methods Kind, such as brush magnetic stripe card slot, barcode scanning gun；There are the one or more of selection operation mode, such as key, touch screen, mouse；Have and The interface of master controller communication；There are also some other miscellaneous functions.Specifically, which includes: processor module, Customer clicks screen and shows the function integration of Shop Web Page and other modules and communicate with master controller；Display module, this sets A display screen is had, as long as there is the movement of an input information, display screen will show this Shop Web Page；Input module, customer Commodity are selected by point touching screen or other way, input shopping information；Payment module, customer's selection, which is over, passes through payment The induction payment of module or wechat Alipay Internetbank or other way pay payment for goods；Networking module sends information, Gu Kemai The number and customer that customer purchase information and the equipment are sent after list click the information such as screen enabling to shop master controller In, information is received, after manipulator, which is all taken the commodity bought, to be taken at object, master controller sends a message to the shopping and sets Standby, which just shows customer on the screen, and you can open the door taken at object, and customer clicks on screen and opens door.Here Screen can not be touch screen, be also possible to touch screen.Customer can input merchandise news by key；There is mouse Merchandise news can be inputted by mouse and dummy keyboard；If screen is touch screen, it can also be shielded by clicking Curtain inputs merchandise news.

What the above several method can do shopping, but approach is different, every kind of method is suitable for certain particular person use, There are also other methods, are just not listed one by one here.It can be seen that the input mode of the shopping apparatus shopping information is included in Operating space checks that input product name is numbered, in a speech recognition apparatus after product name number in showcase in operating space Against equipment with saying product name number, this Shop Web Page can be opened in an equipment in operating space and select quotient in webpage It is one or more in three kinds of product designation number；The shopping apparatus means of payment includes the payment of brush magnetic stripe card, brush chip card branch It pays, is induction payment, barcode scanning gun payment, the payment of brush face, the payment of brush finger line, wechat payment, one or more in Alipay, it is described The shopping apparatus means of payment includes the payment of brush magnetic stripe card, the payment of brush chip card, induction payment, the payment of brush face, brush finger line Zhi Fuli It is one or more, the input medium of the shopping apparatus shopping information include touch screen input, mouse input, voice input, It is one or more in keyboard input.Here operating space can be omitted sometimes, this shopping apparatus can be put into sometimes In outer sidewalls, or it is a kind of in selection several ways do not need setting operating space, at this moment just there is no an operating space, but a storehouse Storage area customer cannot equally enter.

Shop has many good qualities in this way: 1；Manpower can be saved, employs employee less.2；Can merchandising one week seven days, It can be with 24 hours merchandisings, that is to say, that no time is unable to merchandising, and (some time that replenishes temporarily is unable to retailer Product).3；Management cost can be reduced.4；Some StoreFronts can be fitted up less, greatly save decoration cost.5；It can be only in operating space Cold air is opened, cost is saved.6；Can greatly save space, warehouse district can accumulate it is more more dense, without reserving broad walk Corridor makes customer to-and-fro, and in addition shelf can also be done higher, and someone shop can only accomplish that 2 meters of height, shelf are high again The ordinary people of point takes commodity with regard to bad.7；The shopping-time of customer can be saved, the very big market of some is wanted to look for a thing Not difficult to find, some has looked for all do not find half a day, and some shop-assistants do not know looked for commodity somewhere.8；It can protect not The commodity of sale, the commodity having in open sales field were dismantled by customer, and some, which touches off, breaks.9；Be conducive to extinguishing pipe Reason, also can not find outlet, have several outlets that can also block originally present hypermarket, half a day, allow customer only from cash register Platform there is gone out, and the outlet that do not block also wants someone to guard, and just someone will employees to provide for this.If high fire seals outlet, Consequence is with regard to serious.10；Many can be done to take at object, check when doing shopping in this way and just do not have to wait in line, this bottleneck is just It disappears.Here especially 123 points, the cost that this is saved is very big, and the cost in such shop is mainly logistics cost and people Cost of labor can be saved most by work cost, can be brought up to other forms shop big advantage., one is employed less at 1st point Individual just can be reduced much with the cost of employing aspect, and dispute etc. such as pays social security, labour contract, the annual leave, overtime pay, fertility Subsidy, there are also other aspects, very much；There are also the 2nd point and the 3rd point, this two o'clock wants the labour protection of employee at present It asks in very high situation, is a good workaround, American-European shop is not done business on Sunday Saturday, and daytime also just does business that Several hours are exactly because to protect to labourer.For some people, this 24 hours 7 days shop is fine, some people Midnight is out of shape, and wants that buying medicine eats, so that it may go to buy at any time, not spend hospital and see emergency treatment.There is very well pharmacy in this unmanned shop Improvement result, drug are typically all smallclothes, all also packaged, square-folded, and the value of drug is also larger.So can be first Since pharmacy, pharmacy is accomplished unmanned.

The manipulator 4, the manipulator 4 are placed on the top of shop pallet 2, including fix horizontal guide rail 19, consolidate Determine horizontal guide rail motor 20, mobile upright guide rail rotation motor 22, mobile and horizontal guide rail motor 25, mobile upright guide rail motor 27, mobile and horizontal guide rail 21, mobile upright guide rail 24, Manipulator Controller 30, terminal of manipulator grasping mechanism 31, wherein fixing Fixed horizontal guide sleeve 37 is installed on horizontal guide rail 19, mobile and horizontal guide rail 21, mobile water are installed on fixed horizontal guide sleeve 37 Level gauge 21 is equipped with mobile and horizontal guide sleeve 38, and mobile upright guide rail 24 is equipped on mobile and horizontal guide sleeve 38, and movement is led vertically Mobile vertical guide sleeve 36 is installed on rail 24, terminal of manipulator grasping mechanism 31, fixed water are installed on mobile vertical guide sleeve 36 Level gauge motor 20 drives mobile and horizontal guide rail 21 to move on fixed horizontal guide rail 19, and the driving of mobile and horizontal guide rail motor 25 moves Dynamic upright guide rail 24 moves on mobile and horizontal guide rail 21, mobile 27 driving manipulator terminal grasping mechanism 31 of upright guide rail motor It is moved on mobile upright guide rail 24, mobile upright guide rail rotation motor 22 drives the mobile rotation of upright guide rail 24 to exchange machinery The grasp mode of hand terminal grasping mechanism 31, Manipulator Controller 30 and fixed horizontal guide rail motor 20, mobile upright guide rail rotation Turn motor 22, mobile and horizontal guide rail motor 25, mobile 27 circuit connection of upright guide rail motor, 30 basis of Manipulator Controller Customer's order automatically generates robot movement formula, the robot movement formula Exactly-once.

Transmission is connected with belt between motor and guide rail, and such case is as follows:

Fixed horizontal guide sleeve 37, fixed horizontal guide rail motor 20, fixed horizontal guide rail are installed on fixed horizontal guide rail 19 Shaft 32 is cased with fixed horizontal guide rail belt 28, fixed water between fixed horizontal guide rail motor 20, fixed horizontal guide rail shaft 32 Level gauge belt 28 is connect with fixed horizontal guide sleeve 37 with screw, be equipped on fixed horizontal guide sleeve 37 mobile and horizontal guide rail 21, Mobile and horizontal guide rail motor 25, mobile and horizontal guide rail shaft 33, mobile and horizontal guide rail motor 25, mobile and horizontal guide rail shaft 33 it Between be cased with mobile and horizontal guide rail belt 39, mobile and horizontal guide rail belt 39 is connect with mobile and horizontal guide sleeve 38 with screw, mobile water Mobile and horizontal guide sleeve 38 is installed on level gauge 21, mobile upright guide rail 24, movement are installed vertically on mobile and horizontal guide sleeve 38 Guide rail motor 27, mobile upright guide rail rotation motor 22, pacify between mobile upright guide rail motor 27, mobile upright guide rail shaft 35 Equipped with mobile upright guide rail belt 40, installed between mobile upright guide rail rotation motor 22 and mobile upright guide rail rotating shaft 34 There is mobile upright guide rail rotating belt 41, mobile upright guide rail belt 40 is connect with mobile vertical guide sleeve 36 with screw, mobile perpendicular Straight guide 24 is equipped with mobile vertical guide sleeve 36, mobile upright guide rail shaft 35, mobile upright guide rail rotating shaft 34, mobile perpendicular Terminal of manipulator grasping mechanism 31 is installed on straight guide sleeve 36.

When fixed horizontal guide rail 19, mobile and horizontal guide rail 21, mobile upright guide rail 24 are non-circular, fixed level is led 24 each rail 19, mobile and horizontal guide rail 21, mobile upright guide rail needs one can；Fixed horizontal guide rail 19, mobile water When level gauge 21, mobile upright guide rail 24 are round, circular guide rail, which just needs at least two, to be used.

Belt can be replaced with lead screw, and transmission is connected with lead screw between motor and guide rail, and such case is as follows:

Manipulator is equipped with fixing seat, and fixing seat is equipped with fixed horizontal guide rail 19, fixed horizontal screw lead, fixed horizontal guide rail Fixed horizontal guide sleeve 37, fixed horizontal guide rail motor 20, fixed horizontal guide sleeve 37 and fixed horizontal guide rail motor are installed on 19 20 are connected with screw and are moved together, are sequentially connected between fixed horizontal guide rail motor 20, fixed horizontal screw lead with wire rod thread, Mobile and horizontal guide rail 21, mobile and horizontal lead screw are installed on fixed horizontal guide sleeve 37, movement is installed on mobile and horizontal guide rail 21 Horizontal guide sleeve 38, mobile and horizontal guide rail motor 25, with wire rod thread between mobile and horizontal guide rail motor 25 and mobile and horizontal lead screw Transmission connection, mobile and horizontal guide sleeve 38 are connect with screw with mobile and horizontal guide rail motor 25 and are moved together, mobile and horizontal guide sleeve Mobile upright guide rail 24 is installed on 38, moves vertical lead screw, mobile upright guide rail rotation motor 22, on mobile upright guide rail 24 Mobile vertical guide sleeve 36, mobile upright guide rail motor 27, mobile upright guide rail rotating shaft 34, mobile upright guide rail horse are installed Up to 27, is connected between mobile vertical guide sleeve 36 with screw and moved together, mobile upright guide rail motor 27 and the vertical lead screw of movement Between be sequentially connected with wire rod thread, installed between mobile upright guide rail rotation motor 22 and mobile upright guide rail rotating shaft 34 There is mobile upright guide rail rotating belt 41, terminal of manipulator grasping mechanism 31 is installed on mobile vertical guide sleeve 36.The fixation Horizontal guide rail 19, mobile upright guide rail 24, mobile and horizontal guide rail 21, mobile vertical lead screw, fixed horizontal screw lead, mobile and horizontal silk Thick stick is made of pole, described fixed horizontal as the distance that the additional threaded pole of guide rail carrys out quantitative revolution is the same Guide rail motor 20, mobile upright guide rail motor 27, mobile and horizontal guide rail motor 25 in its shaft external one it is threaded The screw thread of driving member, the driving member is matched with guide rail screw thread, wherein pole be equipped with the matched screw thread of drive motor, Screwed guide rail is connect with driving member threaded on motor with screw-driven.This mode lead screw does not rotate, and leans on motor Rotation is to drive guide bush movement.

This screw rod transmission is exactly that the shaft of motor is fixedly connected with lead screw there are also another mode, lead screw and guide rail It is placed in parallel, is provided on guide sleeve and is threadedly coupled with the matched internal screw thread of lead screw external screw thread, guide sleeve with lead screw.This mode silk Thick stick rotation, and guide sleeve is not able to rotate, because there is other guide rail limitation, connection relationship is as follows:

Manipulator is equipped with fixing seat, and fixed horizontal guide rail 19, fixed horizontal screw lead, fixed level are equipped in fixing seat and is led Rail motor 20 is fixed on horizontal guide rail 19 and is equipped with fixed horizontal guide sleeve 37, the shaft and fixation of fixed horizontal guide rail motor 20 Horizontal screw lead is fixedly connected with central axis, and fixed horizontal guide sleeve 37 is threadedly coupled with fixed horizontal screw lead, and fixed level is led Rail 19 is placed in parallel with fixed horizontal screw lead, and fixed horizontal guide sleeve 37 is equipped with fixed horizontal screw lead hole and fixed horizontal guide rail hole, Fixed horizontal screw lead hole is equipped with and fixes the matched internal screw thread of horizontal screw lead external screw thread, and fixed horizontal guide rail hole is non-threaded, fixed Mobile and horizontal guide rail 21, mobile and horizontal lead screw, mobile and horizontal guide rail motor 25, mobile and horizontal guide rail are installed on horizontal guide sleeve 37 Mobile and horizontal guide sleeve 38 is installed, with the fixed company of central axis between mobile and horizontal guide rail motor 25 and mobile and horizontal lead screw on 21 It connects, mobile and horizontal guide sleeve 38 is equipped with mobile and horizontal lead screw hole and mobile and horizontal guide rail hole, and mobile and horizontal lead screw hole is equipped with and movement The matched internal screw thread of horizontal screw lead external screw thread, mobile and horizontal guide rail hole is non-threaded, is equipped on mobile and horizontal guide sleeve 38 mobile perpendicular Straight guide 24, mobile upright guide rail rotation motor 22, mobile vertical lead screw, mobile upright guide rail motor 27, mobile vertical lead screw Be fixedly connected with mobile upright guide rail motor 27 with central axis, be equipped on mobile upright guide rail 24 mobile vertical guide sleeve 36, Mobile upright guide rail rotating shaft 34, mobile vertical guide sleeve 36 is equipped with mobile vertical lead screw hole and mobile upright guide rail hole, mobile Vertical lead screw hole be equipped with the vertical matched internal screw thread of lead screw external screw thread of movement, mobile upright guide rail hole is non-threaded, mobile vertical Mobile upright guide rail rotating belt 41 is installed between guide rail rotation motor 22 and mobile upright guide rail rotating shaft 34, it is mobile perpendicular Terminal of manipulator grasping mechanism 31 is installed on straight guide sleeve 36.

The transmission effect of lead screw and belt be.So can be in fixed horizontal guide rail 19, shifting a manipulator The inner selection of dynamic upright guide rail 24, mobile and horizontal guide rail 21 1 or 2 uses lead screw transmission form, remaining side being driven with belt Formula, i.e. there are two the kind of drive in a manipulator, mixing, it is also possible.

Then also illustrate this manipulator, such as Fig. 4 by taking belt is driven as an example, 19 indicate fixed horizontal guide rail (fixed water Level gauge uses two sometimes), 20 indicate fixed horizontal guide rail motor, and 21 indicate mobile and horizontal guide rail, and 22 indicate that movement is led vertically Rail rotation motor (this mainly takes object still to clamp and takes the conversion of object with absorption), 23 expression terminal of manipulator grasping mechanisms 31 Multi-chamber negative pressure tip, 24 indicate mobile upright guide rails, and 25 indicate that mobile and horizontal guide rail motors, 26 expression terminal of manipulator are grabbed The clamping position in mechanism 31 is taken, 27 indicate mobile upright guide rail motor, and 28 be fixed horizontal guide rail belt, and 29 indicate motor skin Band be with the axis of movement herein it is locked, 30 indicate Manipulator Controllers, L1 indicate manipulator mobile and horizontal guide rail 21 exist Mobile maximum distance on fixed horizontal guide rail 19, L2 indicate the mobile upright guide rail 24 of manipulator in mobile and horizontal guide rail Mobile maximum distance on 21, L3 indicate terminal of manipulator grasping mechanism 31 on mobile upright guide rail 24 it is mobile most Big distance.This manipulator mainly has Manipulator Controller 30, fixed horizontal guide rail 19, mobile and horizontal guide rail 21, movement Upright guide rail 24 this 3 big part and terminal of manipulator grasping mechanism 31 etc. composition, have in each guide rail a servo motor ( Other types of motor can be used, mainly say servo motor here), belt or lead screw (measurement distance is used), sharing 3 (has Have 4 or it is more) servo motor and belt or lead screw (ratio with lead screw is with the more accurate of belt).This manipulator 4 mobile distances are big longer than in chip mounter, and 5 meters of 10 meters of 30 meters for having 50 meters of the distance moved in 3 axis Etc., it is, in general, that fixed horizontal guide rail 19 is fixed on the ground or on wall, it generally can be topmost or bottom, really The start position and 4 horizontal movement X-direction of manipulator and Y direction, that vertical direction for setting the movement of manipulator 4 are exactly Z Axis establishes a coordinate system, then each commodity is gone in the inner coordinate input system of this coordinate system (3 dimension coordinate), this A little coordinates will within the scope of manipulator 4 moves, what the manipulator 4 that cannot do can't reach.Sometimes for space is saved, store up 2 height of shelf is until roof.Terminal of manipulator grasping mechanism 31 divides for clamping type part and assimilating type part, and clamping type is exactly to use The clip of manipulator removes clamping commodity, and assimilating type draws commodity by negative pressure, both will make according to different commodity With, mineral water, the clamping type such as beer, instant noodles, the assimilating type such as biscuit.After controller is connected to shopping information, Controller will issue the servo-driver of each motor and instruct, and each motor can all rotate immediately, in Fig. 4, machine The X-direction movement of tool hand terminal grasping mechanism 31 is to pull mobile upright guide rail 24 in movement by mobile and horizontal guide rail motor 25 It moves to realize on horizontal guide rail 21, the Y direction movement of terminal of manipulator grasping mechanism 31 is by fixed horizontal guide rail horse It moves to realize on fixed horizontal guide rail 19 up to 20 pulling mobile and horizontal guide rails 21, the Z of terminal of manipulator grasping mechanism 31 Axis direction movement is to pull terminal of manipulator grasping mechanism 31 to move up in mobile upright guide rail 24 by mobile upright guide rail motor 27 It moves to realize, by moving on these three directions, terminal of manipulator grasping mechanism 31 can be complete on the space for put commodity Covering ground is mobile, can reach the placement position of commodity, just take required commodity away and be sent to take at object in go；Terminal of manipulator is grabbed Taking mechanism 31 includes that clamping type takes object clip 26, multi-chamber negative pressure tip 23, and there is shifting on 24 top of mobile upright guide rail of manipulator Dynamic upright guide rail rotation motor 22, is to take object and assimilating type to take object for switching clamping type；Clamping type, which takes in object clip 26, to be had One clip solenoid valve 51 is to realize that clamping and release act, and clip solenoid valve 51 is connect with clip, and clip solenoid valve 51 is stretched Contracting just will drive clip and open or be closed；There is a suction nozzle solenoid valve 44 in multi-chamber negative pressure tip 23, is to realize to generate negative pressure Negative pressure release movement is drawn and discharges, commodity and multi-chamber negative pressure tip 23 are formed one when suction nozzle solenoid valve 44 stretches Closed space, with the stretching of suction nozzle solenoid valve 44, confined space becomes larger, and pressure reduces in confined space, and commodity just adsorb In multi-chamber negative pressure tip 23, the function of these solenoid valves can also be replaced with pneumatic cylinder, come realize absorption and The movement of clamping.

Multi-chamber negative pressure tip 23 includes flexible glue 42, multi-cavity chamber body 43, suction nozzle solenoid valve 44, type core 45, side plate 46, guide rail Fixed plate 47, suction nozzle mounting plate 59 are covered, wherein flexible glue 42 and multi-cavity chamber body 43 are integrally formed, and type core 45 is inserted into multi-cavity chamber body Closed chamber is formed after 43 with commodity, flexible glue 42 plays auxiliary seal, and multi-cavity chamber body 43 is provided with multi-cavity chamber body gas Hole 48, type core 45 are provided with air drain 49 and type core stomata 50, and air drain 49 is connected to type core stomata 50.When type core 45 is inserted into multi-chamber When body 43 and commodity are formed closed chamber, when suction nozzle solenoid valve 44 is shunk, type core stomata 50 and multi-cavity chamber body stomata 48 It is staggered, air not can enter, and negative pressure is formed, and the extraction of type core 45 is more, and negative pressure is bigger, and commodity just adsorb tighter. When suction nozzle solenoid valve 44 extends, negative pressure just becomes smaller, and just pine, type core stomata 50 connect with multi-cavity chamber body stomata 48 for commodity absorption It touches, air is just from multi-cavity chamber body stomata 48 to type core stomata 50 to the chamber closed to front again of air drain 49, and at this moment negative pressure is just It disappears, such as Fig. 5, here it is the working principles of multi-chamber negative pressure tip 23.

It includes clip solenoid valve 51, clip solenoid valve clamping plate 54, commodity clamping plate 52, decompression clamping plate that clamping type, which takes object clip 26, 53, first rotating shaft 55, the second shaft 56, clip side plate 57, clip mounting plate 58, clip mounting plate 58 and mobile vertical guide sleeve 36 Screw connection, clip solenoid valve 51 are connect with 58 screw of clip mounting plate, and clip mounting plate 58 and commodity clamping plate 52 are with first turn The connection of 55 shaft of axis, commodity clamping plate 52 are connect with decompression clamping plate 53 with shaft, and commodity clamping plate 52 is mounted on by the second shaft 56 On clip side plate 57, clip solenoid valve 51, which is stretched out or shunk, just will drive clip solenoid valve clamping plate 54, commodity clamping plate 52, pressure reducing clip Plate 53 moves, and can clamp commodity, such as Fig. 6, and decompression clamping plate 53 is to increase the contact area of clip and commodity and reduce pressure And be arranged.

This manipulator 4 is optimized in SMT equipment, but again different with SMT equipment, such as in fixed level Mobile maximum distance L1 on guide rail 19, the mobile maximum distance L2 on mobile and horizontal guide rail 21 are led vertically in movement Mobile maximum distance L3 is than long in SMT on rail 24, in SMT on fixed horizontal guide rail 19 it is mobile it is maximum away from From mobile maximum distance is both less than 1.0 meters on mobile and horizontal guide rail 21, and it is smaller to move upright guide rail 24, small In 0.5 meter.Manipulator is longer than this, but also can be less than 500 meters.These three parameters of this manipulator are (also in this shop It is this manipulator characteristic parameter) it is desirable, mobile maximum distance is greater than 0.1 meter and is less than on fixed horizontal guide rail 19 500 meters, mobile maximum distance is greater than 0.1 meter and less than 500 meter on mobile and horizontal guide rail 21, in height can be smaller Point takes 100 meters, therefore mobile maximum distance is greater than 0.1 meter and less than 100 meter on mobile upright guide rail 24.

Preferably, the mobile and horizontal guide rail 21 of manipulator mobile maximum distance L1 on fixed horizontal guide rail 19,0.1 500 meters of < of < L1 of rice.Preferably, the mobile upright guide rail 24 of manipulator mobile maximum distance on mobile and horizontal guide rail 21 L2,0.1 meter of 500 meters of < L2 <.Preferably, the mobile maximum on mobile upright guide rail 24 of terminal of manipulator grasping mechanism 31 Distance L3,0.1 meter of 100 meters of < L3 <.

There are one or a multi-section manipulator 4 in one shop, and every manipulator 4 has oneself Manipulator Controller 30, but quotient Shop is there are one data input and the received controller of data, master controller 7, this master controller will also distribute, it is each to coordinate The work of manipulator.This master controller 7 will be connected with cable network, to receive the merchandise news for carrying out automatic network, be had again (other than mobile phone barcode scanning can be used to do shopping, customer can also pass through behaviour to other purchase of equipment in communication cable and this shop Make in area 3 other shopping apparatus 10 to do shopping, this equipment is connected with master controller 7 inside shop, purchases by this equipment The information for buying commodity can also be transmitted to master controller 7, can also complete shopping.This equipment is just called shopping apparatus 10, customer Commodity are bought by it) it is connected, the shopping information from these equipment is received, all can be received in a word in the purchase in this shop Object information, while the other machinery hand controls 30 in shop connects this master controller 7 again, to can control these machinery The movement of hand 4 is connected with the computer in the shop again, so that the administrator in this shop can check information in time, sale Situation；It to communicate with the general headquarters, control centre of the said firm, be managed for shop, replenish management, and accounting etc. provides data, institute There are many interfaces with this master controller 7, the number of interface such as Fig. 8, the manipulator 4 in figure are uncertain, it may be possible to one It is a, be also possible to many, be not drawn in figure it is several be exactly it is several, wherein master controller 7 and the computer in the shop are with simultaneously Line interface connection, master controller 7 with mster-control centre, the said firm is connect with Ethernet interface, remaining is connected with serial line interface It connects, particularly this master controller 7 has these modules, and networking module (can also add a WIFI module, bluetooth module), place Device module is managed, memory module, ethernet module, payment module, wherein networking module, bluetooth module are to send letter for receiving It ceases to each equipment；Ethernet module is connection outer net；For processor module mainly with resource in shop is coordinated, it is suitable to arrange Manipulator take commodity to suitably take at object in go, calculate commodity price, completion merchandise sales；Memory module mainly stores Position of the commodity in warehouse district, the data such as commodity price, so as to processor calling.When a shopping apparatus has client operating When, master controller networking module has received information, and master controller has been known that and this equipment is classified as in use；Equal customers When after commodity having been selected with regard to proposing to check, networking module receives the information to be checked, at this moment the processor module of master controller Memory module is just transferred, just calculates cargo price total price preferential price etc., networking module is just calculating to carry out information and issue the purchase Object equipment；After equal customers check, networking module has received information, and the processor module of master controller 7 just transfers memory mould Merchandise location information in block, the networking module of master controller 7 are just issued this merchandise location information on the manipulator 4 for taking object, are taken The manipulator 4 of object just goes to take commodity；After taking the manipulator of object just commodity are all singly taken to take at object, master controller 7 Networking module have received this information, taking the manipulator 4 of object to be classified as the free time；Networking module sends information to shopping apparatus Customer can open door；Customer selects to open door in shopping apparatus 10, and networking module just receives information, and networking module is just Information solenoid valve is sent, is opened the door, customer takes commodity away.Each manipulator 1 has the Manipulator Controller 30 of oneself, to control 5 The movement of a above motor and the movement of several solenoid valves, such as Fig. 9, of motor servo-driver and solenoid valve in figure Number is uncertain, it may be possible to one, be also possible to many, be not that draw in figure several be exactly several, wherein mechanical manual 30 total interface of device processed is all serial line interface, and is not no Ethernet interface, is mainly manipulator there are also that solenoid valve Terminal grasping mechanism 31 firmly grasps release.Particularly this Manipulator Controller 30 has these modules, networking module, place Device module, memory module are managed, processor module is mainly that reasonably optimizing takes object sequence, recalls commodity storage location data, sends out Instruction is sent to give motor servo-driver, memory module mainly stores position of the commodity in warehouse district.When master controller is sent Shopping information takes object manipulator networking module to receive information；Processor module just optimizes picking sequence, transfers memory module quotient Simultaneously the kinematic parameter of each moving component is worked it out (when setting in motion, how much is movement) in product storage position；Join later These kinematic parameters are issued each moving component by net module, and manipulator 4 just goes to take commodity, since this manipulator is not done shopping Case takes 9 at object so commodity can only be taken one by one, waits commodity by being over, and networking module sends information, just tells master control 7 commodity of device processed, which have all been taken, to be over, and commodity are taking at object, such as Fig. 1.The operation system of software in this shop, Ke Yiyong Windows's, Android can also be used, the Mac OS of apple can also be used, since this equipment, system are only in this shop It is used in system, so this shop can also use other small operating system Linux, it might even be possible to self-developing one behaviour It is used as system to come, because this system is served only in this unmanned shop, with the external world without file transmission exchange, is not present one File is dealt into the case where other is not opened.A other unaccounted situation, situation about being specifically referred in chip mounter.

Pallet 2 is put by rows in warehouse district, and the manipulator 4 is placed on the upper of shop pallet 2 The mobile and horizontal guide rail 21 of side, manipulator is arranged above pallet 2, the commodity that can be taken on multiple pallets 2, manipulator It moves back and forth, so an operating space can be arranged at the both ends of the fixed horizontal guide rail 19 of manipulator, all may be used between shelves Come for customer's barcode scanning with putting commodity, both sides effect function is just as, and is also just had more one times in this way and is taken at object, if institute The top that manipulator 4 is not placed on shop pallet 2 is stated, the commodity on a pallet 2 then manipulator 4 can only take, The working efficiency of manipulator 4 is greatly lowered.Operating space 3 is inner can also to be some showcases 8, the quotient newly arrived to customer recommendation Product, commodity newly developed and the publicity of Discount Promotion etc..How many commodity taken away in each position system, how many is gone back This kind of commodity are all the records of real-time update, and report and submit entire store system control centre with the interval of certain time, in case Accounting and delivery, management etc. are used.What this system can be used in mixed way with other systems.

The manipulator 4 for unmanned shop in this shop is different from manipulator industrially, machine industrially The position that tool hand generally takes object to have is fixed, and there is certain sequence in the position for placing article, or the position of object is taken to have Certain sequence and the position of placement is fixed, and it is not fixed that the manipulator in shop, which takes the position of object and the position of placement, , it is the requirement with customer and becomes.The movement of industry mechanical arm be arranged every time after be it is duplicate, have repeatability, a movement Mode can do several days some months or several years, and this manipulator is then different, every time movement all may with the difference of last time, Can be identical, its movement is decided by the type of consumer purchases goods, as soon as long as order is different, its movement is different, Each order is exactly the formula of a movement, each order Exactly-once operation, it may also be said to check manipulator each time just Operation is primary.The generation of this robot movement formula is that Manipulator Controller first optimizes the sequencing for taking commodity once, A kind of that sequence of minimal path is found out, then this sequentially adds the instruction of each moving component just at a movement journey Formula.Key is that the order of customer will digitize, and can pass in time in controller and go to be formed a formula, meanwhile, in warehouse Commodity put and also to digitize, the type of commodity and position will will also be input in controller and go corresponding to well, digitize in this way Input, manipulator just can accurately take commodity according to digitized order.Commodity on manipulator, pallet, take Relative position between at object etc. is had to constant, to be fixed up, thus often between this several person with iron bar screwed lock Get up fixation, accomplish to standardize, multiple store datas want identical, convenient for management, operation.

This manipulator 4 commodity of taking all are commodity to be taken to take 9 at object one by one, or take elsewhere, When there is multiple commodity, this multiple commodity picking must have a sequence, must there is a method or rule for sequence.Manipulator Controller 30 determine method or rule, and such manipulator can automatically generate picking formula.This method rule can be with commodity Number of the feature or commodity of the goods themselves such as weight, volume, length in system, position are used as according to sorting, this A little rules are input to after system goes, and when there is order, Manipulator Controller 30 will be according to order, and automatically generating execution, this is ordered Single movement formula, manipulator 4 all take out commodity to be put into taking at object or other places just according to the movement of this formula.This A rule can be arranged in a crossed manner, and e.g., when weight is greater than N kilograms, at this moment using weight as sort by, big first the taking of weight is taken It is gone at object, in order to avoid subsequent commodity are damaged by pressure；When weight is less than N kilograms (N value can adjust setting in system), this When just using volume as sort by, first bulky commodity are taken take at object in go for those durable consumer goods, Ke Yixian Take and take at object, the commodity that those food etc. are easily broken can be taken later take at object in remove

Usual situation can be set are as follows:

When weight is greater than or equal to N kilograms, using weight as sort by, big first being taken of weight takes at object or other ground Side；

When weight is less than N kilograms, using length as sort by, long first the taking of length is taken at object or elsewhere；

Wherein when length is greater than or equal to L centimetres, using length as sort by, big first being taken of length takes at object or it He is local；

When length is less than L centimetres, using volume as sort by, bulky first take is taken at object or elsewhere；

It is sequence with number of the commodity in system, small first the taking of serial number takes at object or other ground when volume is equal Side.

This is one kind in multiple rule, and rule can be arranged in shop as the case may be, this rule is mainly root Come specified, such as weight, volume, the length of commodity according to the characteristic of commodity, setting this rule is for manipulator or machine People's controller can automatically generate movement formula, be the essential step for realizing really unmanned shop.

When manipulator 4 is connected to order, Manipulator Controller 30 is just according to order according to rule generation journey in system Formula just moves to the position of first commodity from the current position of manipulator 4, grabs commodity and moves at object to taking, Deng Daoliao Take at object, manipulator is just put into commodity take at object in go, then can be moved to the position of second commodity, grab commodity and to It takes and is moved at object, waited again to taking 9 at object, just commodity are put into and take at object 9 to go ... ..., so repeatedly, wait take last When a commodity, manipulator 4 can be moved to position of readiness or stop with regard to this standby.

There are also a kind of manipulator 4 for coming with shopping box, the mode that the movement formula of this manipulator generates is again different, this As soon as a little manipulators all come with a shopping box, then not having to take commodity one by one.This robot movement formula is automatic Exactly rule is arranged according to the feature of commodity in the method for generation, these features have weight, volume, length, commodity in shop Position, commodity are numbered etc. in system.It is usually arranged as: when commodity weight is greater than N1 kilograms or when commodity volume is greater than N2 When cubic centimetre when commodity length is greater than N3 centimetres, these commodity need to take one by one take at object 1 or other place or It is put into after shopping box to pour into again and take 1 at object, when commodity weight is less than N1 kilograms and commodity volume is less than N2 cubic centimetres and commodity When length is less than N3 centimetres, at this moment first commodity can be taken in shopping box, then take to take at object 1 and pour into taking together again 1 or other places are taken at object, and this multiple commodity sequencing is to optimize according to commodity in the position in shop, machine Shortest that in path that tool hand takes goods to be walked calculates, as robot movement formula.The movement journey of this manipulator Formula is the order (order after payment) according to customer purchase and automatically generates, so each movement formula of the manipulator is only held Row is primary.Manipulator Controller 30 is also assessed to being put into commodity in shopping box, and a shopping box can not load, manipulator control Device 30 will be divided into twice according to the volume weight of commodity to fill, and big according to a part of weight is first filled with weight priority Commodity.

It is put into commodity in a shopping box together for multiple, it is also possible that setting: usual situation can be set to (M Specifically set with the value of L according to shop conditions):

When weight is greater than or equal to M kilograms, using weight as sort by, weight it is big first take shopping box；

When weight is less than M kilograms, using length as sort by, length length first takes shopping box；

Wherein when length is greater than or equal to L centimetres, using length as sort by, length it is big first take shopping box；

It is bulky first to take shopping box using volume as sort by when length is less than L centimetres；

It is bulky first to take shopping using volume as sort by wherein when volume is greater than or equal to V cubic centimetres Case；

When volume is less than V cubic centimetres, using position of the commodity in shop as sort by, a commodity are often taken, It goes to take the commodity nearest from this commodity again, shortens the distance of robot movement as far as possible.Here be using weight as priority, Followed by length is thirdly volume, does not require finally just to sort by product locations when priority, from a variety of picking approach In, select a kind of shortest mode in path as robot movement formula.

From the above it can be seen that this manipulator formula generates the feature of itself for being mainly foundation commodity and commodity exist Position, commodity are numbered in system in shop.When commodity, some feature goes beyond the scope, this commodity is exactly singly to take It takes at object or other places, when product features are within the scope of some, Manipulator Controller 30 is just according to commodity in shop Path optimizing is carried out in position, that shortest one kind of robot movement path is found out and as formula (if there is N number of commodity needs It takes, then just there is N！Kind of approach picking, it is random at this moment first taking which commodity, then take which commodity be also it is random, take When commodity at random, so having N there are many kinds of combination！Kind, wherein there is a kind of shortest one kind in robot movement path, find out Come, as formula).

Preferably, it includes position, weight, volume, length that Manipulator Controller 30, which generates the foundation of movement formula,.

In short, a kind of method that robot movement formula automatically generates, this method or rule are mainly according to commodity Characteristic is set, such as weight, volume, the length of commodity, and the purpose for setting this rule is for Manipulator Controller 30 Movement formula can be automatically generated according to order.Rule can be arranged in shop as the case may be, this method rule is exactly machine Tool hand controls 30 can be with the position of number, commodity in shop of the weight of commodity, volume, length, commodity in system As according to sorting, determining that manipulator 4 takes goods sequencing, when there is order, Manipulator Controller 30 will according to order, The movement formula for executing this order is automatically generated, manipulator 4 is just moved according to this formula, commodity is all taken out to be put into taking 9 or other places at object.The movement formula of this manipulator 4 is order (payment of the Manipulator Controller 30 according to customer purchase Order afterwards) and automatically generate, so each movement formula Exactly-once of manipulator 4.

Above-mentioned the case where being unmanned shop, it can be seen that there are following characteristics in this unmanned shop:

Preferably, the formula of the manipulator 4 is the order according to consumer purchases goods and automatically generates.

Preferably, the formula of the manipulator 4 is Exactly-once, is not repeated.

Preferably, the manipulator 4 places the position that the position of commodity is multiple fixations, and will be first this multiple position Set what parameter input was wanted to go in Manipulator Controller 30, that is, taking at object 9 is multiple fixations, it be first this multiple position Parameter input is wanted to go in Manipulator Controller 30.

Preferably, the movement formula of manipulator 4 is the formula of multi-to-multi, i.e., each article on multiple positions is picked up Come, any one position of multiple and different positions can be put into up.

The position of the fixed horizontal guide rail 19 of the manipulator is the pallet 2 with warehouse district and to take between 9 at object be solid Fixed is constant.

Preferably, the motor of manipulator is servo motor or stepper motor, the servo motor all band motor servo-drives Device.

Preferably, the fixation horizontal guide rail motor 20 of manipulator and the non-concurrent movement of mobile and horizontal guide rail motor 25, that is, work as The mobile stopping of horizontal guide rail motor 25 when moving of fixed horizontal guide rail motor 20, is fixed when mobile and horizontal guide rail motor 25 moves Horizontal guide rail motor 20 stops, mobile upright guide rail rotation motor 22, mobile upright guide rail motor 27 and fixed horizontal guide rail horse It can be moved simultaneously up to 20, mobile upright guide rail rotation motor 22, mobile upright guide rail motor 27 and mobile and horizontal guide rail motor 25 can move simultaneously.

In specific embodiment, there is the unmanned shop for using this manipulator 4 to be generally divided into operating space 1 and the (Gu of warehouse district 3 Visitor cannot enter to go in warehouse district 3, can only be movable in operating space 1), in the commodity that operating space 1 is put (in operating space 1 Commodity are not for sale) two dimensional code of head store is all sticked, so as to customer's barcode scanning.Simultaneously the commodity of warehouse district 3 (in warehouse district 3 Commodity can not paste two dimensional code) it is well placed according to the numerical value position in system, when customer being allowed to buy these commodity well, only with one Manipulator 4, this manipulator 4 can take these commodity to go out.Manipulator 4 is first taken commodity in the shopping box of oneself, then It takes and is gone in taking 9 at object again, centre does not have to exchange manipulator or manipulator 4 does not have shopping box, directly one by one commodity It takes and is gone in taking 9 at object, such as Fig. 1.

Customer comes into store operations area 1, wants to buy commodity, the equipment such as adept machine is swept to the two dimensional code for wanting to buy commodity, Want after buying commodity barcode scanning Deng all, just pay the bill, at this moment manipulator is just instructed, and goes to take these commodity, wait bought commodity It all takes after taking and being confirmed at object, customer can take the door at object by mobile phone open, so that it may take bought commodity away .When returned work, after system confirmation is without damage, the original position of this commodity is just taken up by manipulator.Customer takes After walking commodity, takes and return to original state at object automatically.

In specific embodiment two, small-sized shop, two manipulators are with regard to enough, but medium-sized shop and large size Shop just needs several manipulators to share, after the commodity of oneself range are taken exchange point by every manipulator, then by other machinery Hand (this is called the manipulator of exchange, can be called the manipulator for taking object by commodity from shelf) is taken each from exchange point It takes and is gone at object, each list will not have to several exchanges of manipulator 4 as far as possible to take goods, can increase efficiency in this way, so taking at object When selection, selection is taken close to the storage position of the most of commodity of the shopping list at object as far as possible, this is to reduce exchange times Method, such as Figure 10, wherein annotation in 9 indicate take at object, 59 indicate exchange of commodities points, take the manipulator 4 of object that commodity are taken Here, it then is taken by the tool hand 4 of interchanger and is gone elsewhere, 4 indicate manipulator for taking object or for the manipulator of exchange, This for exchange manipulator 4 with for taking the manipulator 4 of object, be substantially it is the same, the position only placed is different, The exchange of commodities can be taken, a shopping chest can also be taken to come exchange point, allow and object manipulator 4 is taken to take in commodity to this chest It goes, that is, manipulator 4 can take is commodity for exchange, what can also be taken is a shopping chest.Manipulator can be set one A shopping box is first taken commodity in the shopping box of oneself, then takes after exchanging place and pour into the purchase of exchange manipulator again It is gone in object case or manipulator does not have shopping box, directly commodity taken exchange place one by one and be put into exchange manipulator It is gone in shopping box.

In specific embodiment three, when not having to exchange manipulator, only one when taking the manipulator of object, in order to be arranged one more It takes at object, it will usually make some guide grooves, be called commodity guide groove 60, mainly commodity are smoothly directed in each take 9 at object It goes, this commodity guide groove 60 especially has two to take the more of object manipulator, and such as Figure 11, wherein 60 indicate commodity guide groove, 4 are indicated It is a manipulator, 4 indicate another manipulator, this is a case where shop takes object manipulator 4 with two, is led by commodity Slot, so that it may commodity be slided into another manipulator 4 and gone over there, each take at object is made 9 can to take what two manipulators 4 were taken Commodity, distribution condition are that guide groove A1 and guide groove B6 are the guide grooves for taking A at object, and guide groove A2 and guide groove B5 are the guide grooves for taking B at object, Guide groove A3 and guide groove B4 is the guide groove for taking C at object, and guide groove A4 and guide groove B3 are the guide grooves for taking D at object, and guide groove A5 and guide groove B2 are The guide groove of E at object is taken, guide groove A6 and guide groove B1 are the guide grooves for taking F at object, and similarly, note 5 there in opposite side there also can be set Taking 9 at object as much, each manipulator carries a Manipulator Controller 30, controls the movement of this manipulator, together When there are one master controller 7, this master controller 7 mainly plays a part of to share out the work, co-ordination, this two manipulators 4 the case where, is particularly suitable for small convenience store.Manipulator 4 is first taken commodity in the shopping box of oneself, then takes and is taken 9 at object again In go, centre do not have to exchange manipulator.Or manipulator does not have shopping box, directly commodity is taken one by one in taking at object It goes.

In specific embodiment four, such as Figure 12, as soon as here it is the manipulator situation for only taking object, 60 in the annotation in figure It is commodity guide groove 60, is fixed to each other, secure between this guide groove and manipulator 4, pallet 2 and another pallet, Relative position between them just secures, and manipulator 4 takes the parameter of object that would not become, and such manipulator 4 can accurately take Commodity, such as Figure 12,61 be fixed link between guide groove in annotation, and 62 be the fixed link between shelf and manipulator, and 63 be shelf The big fixed link of bottom, 64 be the fixed link between big fixed link and guide groove, and 66 be manipulator and fixed link between the walls, and 65 are Fixed link between two shelf.

In specific embodiment five, there are also detection parts in some shops, that is manipulator 4 takes this movement manipulator of commodity It does, takes 9 at object as commodity either with or without taking, do not detect, therefore detection program, concrete operations can also be arranged in some shops It is as follows, when manipulator 4 takes commodity, it is not placed directly on instead of to take inside 9 at object and goes, be first put into one taken at object on 9 sides Barcode scanning point, often puts a commodity, system will from bar code may several direction barcode scannings, inform system after sweeping to bar code System, this commodity have been taken, and commodity propulsion is taken inside 9 at object and is gone.The commodity that customer is bought are with this detection It subject to the commodity that Programmable detection arrives, detects that commodity are just withholdd, has in order but what is do not detected does not withhold, withholdd and wanted reimbursement And inform customer.

In specific embodiment six, shop does not set shopping apparatus, only sets showcase, commodity are placed in showcase, commodity post The information such as two dimensional code, customer step on barcode scanning equipment with mobile phone and sweep two dimensional code on commodity, place an order and pay the bill in mobile phone, shop also by Mobile phone notify customer where picking.

In specific embodiment six, shop sets speech recognition shopping apparatus, and customer selects commodity by speaking, and checks.

In specific embodiment seven, shop sets online shopping equipment, and customer is surfed the Internet by online shopping, selects quotient in Shop Web Page Product, and check.

In specific embodiment eight, shop sets input shopping apparatus, customer by checking product name in store display cabinet, and Commodity are selected in input equipment input, and are checked.

In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.

Claims

1. a kind of unmanned shop, which is characterized in that including warehouse district, the warehouse district includes manipulator, takes at object, master control Device, pallet, wherein the warehouse district is impermissible for customer's entrance, the pallet includes slope slot, is placed on the slope slot There are commodity, the commodity on the pallet are taken by manipulator to taking object, and customer takes the commodity bought away from object from taking, institute The Manipulator Controller circuit connection of master controller and manipulator is stated, the manipulator includes fixed horizontal guide rail, fixed level Guide rail motor, mobile and horizontal guide rail motor, mobile and horizontal guide rail, Manipulator Controller, terminal of manipulator grasping mechanism, fixed water Flat guide sleeve, mobile and horizontal guide sleeve, the mobile and horizontal guide rail of the manipulator are placed on the top of the pallet in shop, the machinery The position of fixation horizontal guide rail and the position of pallet of hand and take fixed between position at object, described take is mounted at object On the wall of warehouse district, the Manipulator Controller of the manipulator automatically generates robot movement formula, machine according to customer's order The foundation that tool hand controls generates movement formula includes weight, volume, length, the robot movement formula Exactly-once.

2. a kind of unmanned shop according to claim 1, which is characterized in that be equipped with fixation on the fixed horizontal guide rail Horizontal guide sleeve is fixed on horizontal guide sleeve and is equipped with mobile and horizontal guide rail, and mobile and horizontal guide rail is equipped with mobile and horizontal guide sleeve, fixed Horizontal guide rail motor drives mobile and horizontal guide rail to move on fixed horizontal guide rail, and mobile and horizontal guide rail motor drives mobile and horizontal Guide sleeve moves on mobile and horizontal guide rail, Manipulator Controller and fixed horizontal guide rail motor, mobile and horizontal guide rail motor circuit Connection.

3. a kind of unmanned shop according to claim 2, which is characterized in that the fixation horizontal guide rail motor of the manipulator With the non-concurrent movement of mobile and horizontal guide rail motor, i.e., when fixed horizontal guide rail motor movement, mobile horizontal guide rail motor stops, When mobile and horizontal guide rail motor movement, fixed horizontal guide rail motor stops.

4. a kind of unmanned shop according to claim 1, which is characterized in that the mobile and horizontal guide rail of manipulator is in fixed water Mobile maximum distance (L1) on level gauge, 0.1 meter of 500 meters of < L1 <, the mobile upright guide rail of manipulator is in mobile and horizontal Mobile maximum distance (L2) on guide rail, 0.1 meter of 500 meters of < L2 <, terminal of manipulator grasping mechanism is in mobile upright guide rail Upper mobile maximum distance (L3), 0.1 meter of 100 meters of < L3 <.

5. a kind of unmanned shop according to claim 1, which is characterized in that the motor that the manipulator uses is servo horse It reaches or stepper motor, the servo motor all band motor servo-drivers.

6. a kind of unmanned shop according to claim 1, which is characterized in that nobody the upper shop further includes shopping apparatus, The input mode of shopping apparatus shopping information includes checking in operating space to input after product name number in showcase in operating space Product name number, in a speech recognition apparatus against equipment with say product name number, in operating space one set It can open this Shop Web Page for inner and be selected in webpage in three kinds of modes of product name number one or more；The shopping is set The standby means of payment includes that brush magnetic stripe card pays, the payment of brush chip card, incudes five kinds of payment, the payment of brush face, brush finger line payment payments One or more in mode, the input medium of the shopping apparatus shopping information includes touch screen input, mouse input, voice Input, keyboard input one or more in four kinds of means, shopping apparatus and master controller circuit connection.

7. a kind of unmanned shop according to claim 1, which is characterized in that the master controller include ethernet module, Wireless module, networking module, processor module, memory module, processor module and ethernet module, wireless module, networking Module, memory module circuit connection, wireless module include WIFI module, 4G module, 5G module, and the master controller stores The location parameter of all commodity, pricing information, commodity amount information.

8. a kind of unmanned shop according to claim 1, which is characterized in that it is described take be provided at object control preparation at open What is closed takes solenoid valve at object, takes solenoid valve and master controller circuit connection at object.

9. a kind of unmanned shop according to claim 1, which is characterized in that the unmanned shop further includes operating space, institute Operating space is stated equipped with showcase, the showcase is placed with displaying commodity, and the commodity customer that the showcase is put cannot take away.