CN105598937A - Automatic tallying robot for supermarket - Google Patents
Automatic tallying robot for supermarket Download PDFInfo
- Publication number
- CN105598937A CN105598937A CN201610071569.6A CN201610071569A CN105598937A CN 105598937 A CN105598937 A CN 105598937A CN 201610071569 A CN201610071569 A CN 201610071569A CN 105598937 A CN105598937 A CN 105598937A
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- robot
- supermarket
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- arm
- mechanical
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic tallying robot for a supermarket. The automatic tallying robot for the supermarket comprises a moving platform, an ascending and descending device, a grabbing mechanical hand, a scanning detection system and a controller, wherein the grabbing mechanical hand is connected with the ascending and descending device; the scanning detection system is arranged on the top of the ascending and descending device; the moving platform comprises a universal wheel, a driving wheel, a rotating round table and a mechanical hand claw base; the driving wheel realizes the reversing and the moving of the moving platform through being driven by a motor; a plurality of mechanical claws capable of being used for grasping different cargos are arranged in the mechanical hand claw base; the ascending and descending device comprises a material support frame, an I-shaped guide rail, a lead screw with a servo motor driver, a lead screw nut and an ascending and descending block; the material support frame is used for carrying cargos to be sorted; the lead screw nut is matched with the lead screw; the ascending and descending block is connected with the lead screw nut; the grasping mechanical hands move along with the ascending and descending block; the vertical movement of the ascending and descending block is realized through a lead screw nut mechanism; the controller controls the rotation stop and the sequences of all motors. The automatic tallying robot has the advantages that the fast sorting of various cargos can be realized; the labor and the materials are greatly reduced; the structure is stable and reliable; the efficiency is high.
Description
Technical field
The present invention relates to a kind of robot, the particularly automatic tally in a kind of supermarket robot of arranging.
Background technology
Along with social development, the raising of quality of life, some large supermarkets and market have become in people's daily lifeAn indispensable part, but for up to ten thousand kinds of goods, the efficiency of supermarket employee aspect carrying, arrangement, goods registration andAccuracy is difficult to be guaranteed, and more needs to consume a large amount of manpower and materials. Therefore,, from the actual conditions in each supermarket, grindA kind of simple in structure, stable performance taking " machine is for people " as theory of system, adaptable supermarket tally robot have businessPromotional value.
In recent years, Chinese scholars conducts in-depth research this field of supermarket robot. For example Zhejiang in 2014Polytechnical university invented a kind of vision supermarket robot (application number: 201410829429.1), by controller, footing, fuselage cradle,Storage trough and mechanical arm form. Old client can need to set needed commodity according to self, and this vision robot can helpClient completes the searching of many commodity and takes back. Within 2012, occurred the automobile-used assistant of a kind of supermarket shopping robot, it comprises letterBreath detection module, location identification module, route guidance module and user interactive module. Japanese ATR company research and development in 2009Robovie II supermarket shopping auxiliary robot has now dropped into supermarket and has used, and it can help accompanying the elderly to take goods, also gathers aroundThere is suggestion function. In November, 2015, the SimbeRobotics of company of robot issued a robot that can help tallyTally, it can be surveyed and scan everywhere in supermarket by keeping away barrier, then utilizes the sensor of self by the data that captureAnalyze. Complete after the step of data processing, Tally can process to user feedback scan report and suggestion according to high in the clouds,Such as which commodity need to supplement added, which merchandise valuation mistake or position is placed incorrect.
Due to the complexity of working environment and the diversity of kinds of goods kind, supermarket robot does not also drop into large-scale at presentProduction application. Therefore need to design the working environment and the adaptable robot that meet above-mentioned complexity.
Summary of the invention
The present invention mainly solves the tally automation issues in some large supermarkets and market, can be at short notice by someThe kinds of goods of accumulation at random are orderly putting in shelf successively, and can automatic detecting to ensure the sufficient state of commodity on shelf.This automatic tally robot can adapt to some Free Surface such as supermarket and market raising middle flask shape, box-like, ampuliform, bag-shaped and Some FruitsThe crawl of the commodity of face arranges.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is: a kind of supermarket automatic tally robot, itsBe characterised in that: comprise be positioned at bottom mobile platform, be located at the lowering or hoisting gear on mobile platform, the crawl being connected with lowering or hoisting gearManipulator, the scanning-detecting system of being located at lowering or hoisting gear top and controller;
Described mobile platform comprises universal wheel, driving wheel, be positioned at the rotation round platform that is connected with servomotor on platform, be positioned at platformInterior mechanical paw storehouse, described driving wheel drives the commutation and the movement that realize mobile platform by motor, and mechanical paw fills in storehouseThere are multiple mechanical paws that can capture different goods;
Described lowering or hoisting gear comprises bracket for placing kinds of goods to be arranged, I shape guide rail, silk with driven by servomotorThick stick, the feed screw nut matching with leading screw and the elevator that can move up and down that matches with I shape guide rail, described liftingPiece is connected with feed screw nut; Described catching robot is connected with elevator, is realized on elevator and being moved down by screw-nut bodyMoving, the above-mentioned all motor stallings of described controller control and order.
As improvement, described catching robot has two and be symmetrically distributed in the both sides of mobile platform.
As improvement, inner side, described rotation round platform below is provided with gear, drives a pair of inside engaged gear by servomotorTransmission realize its rotation.
As improvement, described catching robot comprises mechanical arm and execution end, and described mechanical arm is joint type, hasThree arms, are respectively the first arm, the second arm, the 3rd arm, have five frees degree, and each arm is respectively by biside plate and driving side plateThe motor composition rotating around joint, described execution end is connected with mechanical paw.
As improvement, in described mechanical paw storehouse, be provided with six mechanical paws, and mechanical paw is symmetrically distributed in mobile flatThe both sides of platform.
Described bracket in the course of the work, can fold or stretch out from lowering or hoisting gear, is L-type.
As improvement, described controller is PLC controller.
Beneficial effect is: the robot in the present invention has automatic leakage detection, replenishes and arrange the function of kinds of goods, can be by memberWork frees from the added task of heavy arrangement kinds of goods, simultaneously can avoid occurring in tally process shelf topple over andCause the danger that tally-man is injured, both reduced manpower, also greatly increased the added efficiency of tally. Robot knot in the present inventionStructure is reliable and stable, can realize the fast finishing of multiple kinds of goods, arranges efficiency high, greatly reduces manpower and materials, and Stability Analysis of Structures canHigh by, efficiency, have business promotion and be worth.
Brief description of the drawings
Fig. 1: overall structure figure of the present invention;
Fig. 2: rotation round platform Principle of Rotating figure;
Fig. 3: lowering or hoisting gear local structural graph;
Fig. 4: driving wheel structure chart;
Fig. 5: catching robot the 3rd arm figure that organizes work;
Fig. 6: catching robot the 3rd arm folds into work sheet.
In figure, 1 mobile platform, 11 universal wheels, 12 driving wheels, 13 rotation round platforms, 14 mechanical paw storehouses; 2 lowering or hoisting gears, 21Bracket, 22 I shape guide rails, 23 nut sleeve, 24 bearings, 25 feed screw nuts, 26 leading screws; 3 scanning-detecting systems; 4 capture machineryHand, 41 first arms, 42 second arms, 43 the 3rd arms, 44 mechanical paws.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is illustrated.
As shown in Figures 1 to 6, a kind of supermarket automatic tally robot, comprise be positioned at bottom mobile platform 1, be located at and moveLowering or hoisting gear 2 on moving platform 1, the catching robot 4 being connected with lowering or hoisting gear 2, the scanning of being located at lowering or hoisting gear 2 tops detectSystem 3 and controller;
Described mobile platform 1 comprises universal wheel 11, driving wheel 12, be positioned at the rotation round platform 13 that is connected with servomotor on platform,Be positioned at the mechanical paw storehouse 14 of platform, described driving wheel 11 drives the commutation and the movement that realize mobile platform 1, machine by motorSix mechanical paws 44 that can capture different goods are housed in tool paw storehouse 14, and six mechanical paws 44 are symmetricalIn the both sides of mobile platform 1.
Described lowering or hoisting gear 2 comprises bracket 21, I shape guide rail 22, the band servomotor for placing kinds of goods to be arrangedDrive leading screw 26, the feed screw nut 25 matching with leading screw 26 and match and can move up and down with I shape guide rail 22Elevator 27, described leading screw 26 is trapezoidal thread, adopts spiral to coordinate with described feed screw nut 25; Described feed screw nut 25Be connected by key with nut sleeve 23; Described bearing 24 symmetries are arranged on the two ends up and down of nut sleeve 23; Described elevator 27 withBearing 24 is connected; Described catching robot 4 is connected with elevator 27, and described leading screw 26 drives it to rotate by motor, and then bandThe motion of moving feed screw nut 25, thus realize moving both vertically of elevator 27, the above-mentioned all motor stallings of described controller controlAnd order.
Described catching robot 4 has two and be symmetrically distributed in the both sides of mobile platform 1.
Described rotation round platform 13 inner sides, below are provided with gear, drive the transmission of a pair of inside engaged gear real by servomotorExisting its rotation.
Described bracket 21 in the course of the work, can fold or stretch out from lowering or hoisting gear 2, is L-type.
Shown in kinds of goods bracket 21 be L-type.
Described catching robot 4 comprises mechanical arm and execution end, and described mechanical arm is joint type, has three arms,Be respectively the first arm 41, the second arm 42, the 3rd arm 43, have five frees degree, each arm is respectively by biside plate and driving side plateThe motor composition rotating around joint, described execution end is connected with mechanical paw 44.
Described controller is PLC controller.
Operation principle of the present invention is as follows: supermarket automatic tally robot scans the opening shape of kinds of goods in the process of patrolling and examiningAfter state, robot starts the added work of tally. The large or larger single kinds of goods of volume for weight, the 3rd arm 43 folds into theIn two arms 42, two symmetrical catching robots 4 are directly carried arrangement to it simultaneously; For weight, less or volumeLittle, and collect the single kinds of goods that are fitted together, the 3rd arm 43 first keeps invagination state, FCL kinds of goods has been removed to the holder of lowering or hoisting gear 2Thing frame 21 stretches out, and container is positioned on bracket 21, and now the 3rd arm 43 stretches out, and two catching robots 4 work alone,Automatically exchange for after suitable mechanical paw 44 kinds of goods successively orderly arrangement to corresponding position. Driving wheel 12 drives by motorMoving commutation and the movement that realizes robot. Moving both vertically of lowering or hoisting gear 2 is the rotation by driven by servomotor leading screw 26Complete, can realize the operation of differing heights.
Claims (7)
1. the automatic tally in a supermarket robot, is characterized in that: comprise be positioned at bottom mobile platform (1), be located at mobile flatLowering or hoisting gear (2), the catching robot (4) being connected with lowering or hoisting gear (2) on platform (1), be located at sweeping of lowering or hoisting gear (2) topRetouch detection system (3) and controller;
Described mobile platform (1) comprises universal wheel (11), driving wheel (12), is positioned at the rotational circle being connected with servomotor on platformPlatform (13), be positioned at the mechanical paw storehouse (14) of platform, described driving wheel (11) is driven and is realized mobile platform (1) by motorCommutation and mobile, is equipped with multiple mechanical paws (44) that can capture different goods in mechanical paw storehouse (14);
Described lowering or hoisting gear (2) comprises bracket (21), I shape guide rail (22) for placing kinds of goods to be arranged, is with servo electricityLeading screw (26), the feed screw nut (25) matching with leading screw (26) that machine drives and match with I shape guide rail (22) canWith the elevator (27) moving up and down, described elevator (27) is connected with feed screw nut (25); Described catching robot (4) and literFall piece (27) and be connected, realize elevator (27) by screw-nut body and move up and down, the above-mentioned all electricity of described controller controlMachine stall and order.
2. the automatic tally in a kind of supermarket robot as claimed in claim 1, is characterized in that: described catching robot (4) has twoIndividual and be symmetrically distributed in the both sides of mobile platform (1).
3. the automatic tally in a kind of supermarket robot as claimed in claim 2, is characterized in that: in described rotation round platform (13) belowSide is provided with gear, drives the transmission of a pair of inside engaged gear to realize its rotation by servomotor.
4. the automatic tally in a kind of supermarket robot as claimed in claim 3, is characterized in that: described catching robot (4) comprisesMechanical arm and carry out end, described mechanical arm is joint type, has three arms, be respectively the first arm (41), the second arm (42),The 3rd arm (43), has five frees degree, and the motor that each arm is rotated around joint by biside plate and driving side plate respectively forms, instituteStating execution end is connected with mechanical paw (44).
5. the automatic tally in a kind of supermarket robot as claimed in claim 4, is characterized in that: in described mechanical paw storehouse (14), establishHave six mechanical paws (44), and mechanical paw (44) is symmetrically distributed in the both sides of mobile platform (1).
6. the automatic tally in a kind of supermarket robot as claimed in claim 5, is characterized in that: described bracket (21) was being workedCheng Zhong can fold or stretch out from lowering or hoisting gear (2), is L-type.
7. the automatic tally in a kind of supermarket robot as claimed in claim 6, is characterized in that: described controller is PLC controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610071569.6A CN105598937A (en) | 2016-02-01 | 2016-02-01 | Automatic tallying robot for supermarket |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610071569.6A CN105598937A (en) | 2016-02-01 | 2016-02-01 | Automatic tallying robot for supermarket |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105598937A true CN105598937A (en) | 2016-05-25 |
Family
ID=55979543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610071569.6A Pending CN105598937A (en) | 2016-02-01 | 2016-02-01 | Automatic tallying robot for supermarket |
Country Status (1)
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| CN (1) | CN105598937A (en) |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272330A (en) * | 2016-08-31 | 2017-01-04 | 张玉华 | A kind of supermarket pop can automatic resetting machine device people |
| CN107025416A (en) * | 2017-05-05 | 2017-08-08 | 宁波领智机械科技有限公司 | Fast automatic barcode scanning equipment |
| CN107934334A (en) * | 2017-12-13 | 2018-04-20 | 周末 | Automatic supermarket tally machine |
| CN108229599A (en) * | 2016-12-21 | 2018-06-29 | 李汉忠 | A kind of ultrasound commodity intelligent reset method |
| CN108994809A (en) * | 2018-07-24 | 2018-12-14 | 昆山市工业技术研究院有限责任公司 | A kind of robot |
| CN109015699A (en) * | 2018-09-11 | 2018-12-18 | 广东宏穗晶科技服务有限公司 | A kind of kinds of goods cleaning consolidation robot |
| CN109132506A (en) * | 2018-05-28 | 2019-01-04 | 上海锐铎自动化有限公司 | A kind of gripper library device suitable for AGV vehicle |
| CN109214887A (en) * | 2018-08-16 | 2019-01-15 | 榆林学院 | A kind of teleshopping system and method |
| CN109760008A (en) * | 2019-01-29 | 2019-05-17 | 丽水学院 | One kind replenishes robot |
| CN110154033A (en) * | 2019-06-21 | 2019-08-23 | 哈工大机器人（合肥）国际创新研究院 | Omni-mobile tow-armed robot |
| WO2019222990A1 (en) * | 2018-05-23 | 2019-11-28 | 苏州元谋智能机器人系统有限公司 | Lifting mechanism and lifting apparatus using lifting mechanism |
| CN111295696A (en) * | 2017-12-28 | 2020-06-16 | 许恩奇 | Automatic vending store |
| CN111390907A (en) * | 2020-03-25 | 2020-07-10 | 浙江工业大学 | Novel multifunctional humanoid robot platform and control system thereof |
| CN112025718A (en) * | 2020-07-09 | 2020-12-04 | 浙江工业大学 | Novel unmanned supermarket intelligent replenishment mobile robot platform and control system thereof |
| CN112153923A (en) * | 2018-05-22 | 2020-12-29 | Thk株式会社 | Commodity replenishment control device and commodity replenishment system |
| CN112276897A (en) * | 2020-09-24 | 2021-01-29 | 南京大学 | Management robot |
| CN112757289A (en) * | 2020-12-09 | 2021-05-07 | 江苏电子信息职业学院 | Degree of freedom snatchs manipulator |
| CN112919130A (en) * | 2021-01-29 | 2021-06-08 | 四川恒格光电科技有限公司 | Transfer device for lens processing |
| US11148696B2 (en) | 2018-12-27 | 2021-10-19 | Toyota Research Institute, Inc. | Assistive robots including assemblies for accommodating obstacles and methods for using the same |
| CN113696216A (en) * | 2020-05-20 | 2021-11-26 | 北京机械设备研究所 | Vehicle leveling support leg assembling manipulator and assembling method thereof |
| US11420338B2 (en) | 2018-12-27 | 2022-08-23 | Toyota Research Institute, Inc. | Assistive robot systems for container tilting |
| US11453129B2 (en) | 2018-01-17 | 2022-09-27 | Toyota Research Institute, Inc. | User assisting robot for shopping applications |
| US11505017B2 (en) | 2018-12-27 | 2022-11-22 | Toyota Research Institute, Inc. | Devices including deployable hitch assemblies and autonomous engagement systems incorporating the same |
| US11827500B2 (en) | 2018-12-27 | 2023-11-28 | Toyota Research Institute, Inc. | Assistive robot systems for transporting containers |
| CN117246843A (en) * | 2023-11-15 | 2023-12-19 | 山东合信科技股份有限公司 | Automatic storage equipment for yarn bobbins |
| CN117342052A (en) * | 2023-12-06 | 2024-01-05 | 江苏环亚医用科技集团股份有限公司 | A material loading delivery coding equipment for medical auxiliary material |
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Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272330B (en) * | 2016-08-31 | 2018-12-25 | 绍兴顶多纺织有限公司 | A kind of supermarket's pop can automatic resetting machine device people |
| CN106272330A (en) * | 2016-08-31 | 2017-01-04 | 张玉华 | A kind of supermarket pop can automatic resetting machine device people |
| CN108229599A (en) * | 2016-12-21 | 2018-06-29 | 李汉忠 | A kind of ultrasound commodity intelligent reset method |
| CN107025416A (en) * | 2017-05-05 | 2017-08-08 | 宁波领智机械科技有限公司 | Fast automatic barcode scanning equipment |
| CN107025416B (en) * | 2017-05-05 | 2023-07-07 | 温州理工学院 | Quick automatic code scanning equipment |
| CN107934334A (en) * | 2017-12-13 | 2018-04-20 | 周末 | Automatic supermarket tally machine |
| CN111295696A (en) * | 2017-12-28 | 2020-06-16 | 许恩奇 | Automatic vending store |
| US11453129B2 (en) | 2018-01-17 | 2022-09-27 | Toyota Research Institute, Inc. | User assisting robot for shopping applications |
| CN112153923A (en) * | 2018-05-22 | 2020-12-29 | Thk株式会社 | Commodity replenishment control device and commodity replenishment system |
| US11603301B2 (en) | 2018-05-23 | 2023-03-14 | Suzhou Xinyouhua Investment Advisor Co., Ltd. | Lifting mechanism and lifting device with the lifting mechanism |
| WO2019222990A1 (en) * | 2018-05-23 | 2019-11-28 | 苏州元谋智能机器人系统有限公司 | Lifting mechanism and lifting apparatus using lifting mechanism |
| CN109132506A (en) * | 2018-05-28 | 2019-01-04 | 上海锐铎自动化有限公司 | A kind of gripper library device suitable for AGV vehicle |
| CN108994809A (en) * | 2018-07-24 | 2018-12-14 | 昆山市工业技术研究院有限责任公司 | A kind of robot |
| CN109214887A (en) * | 2018-08-16 | 2019-01-15 | 榆林学院 | A kind of teleshopping system and method |
| CN109015699A (en) * | 2018-09-11 | 2018-12-18 | 广东宏穗晶科技服务有限公司 | A kind of kinds of goods cleaning consolidation robot |
| CN109015699B (en) * | 2018-09-11 | 2022-05-03 | 广东宏穗晶科技服务有限公司 | Goods clearance arrangement robot |
| US11505017B2 (en) | 2018-12-27 | 2022-11-22 | Toyota Research Institute, Inc. | Devices including deployable hitch assemblies and autonomous engagement systems incorporating the same |
| US11827500B2 (en) | 2018-12-27 | 2023-11-28 | Toyota Research Institute, Inc. | Assistive robot systems for transporting containers |
| US11597098B2 (en) | 2018-12-27 | 2023-03-07 | Toyota Research Institute, Inc. | Assistive robot systems for container lifting |
| US11148696B2 (en) | 2018-12-27 | 2021-10-19 | Toyota Research Institute, Inc. | Assistive robots including assemblies for accommodating obstacles and methods for using the same |
| US11420338B2 (en) | 2018-12-27 | 2022-08-23 | Toyota Research Institute, Inc. | Assistive robot systems for container tilting |
| CN109760008A (en) * | 2019-01-29 | 2019-05-17 | 丽水学院 | One kind replenishes robot |
| CN110154033A (en) * | 2019-06-21 | 2019-08-23 | 哈工大机器人（合肥）国际创新研究院 | Omni-mobile tow-armed robot |
| CN111390907A (en) * | 2020-03-25 | 2020-07-10 | 浙江工业大学 | Novel multifunctional humanoid robot platform and control system thereof |
| CN113696216A (en) * | 2020-05-20 | 2021-11-26 | 北京机械设备研究所 | Vehicle leveling support leg assembling manipulator and assembling method thereof |
| CN112025718A (en) * | 2020-07-09 | 2020-12-04 | 浙江工业大学 | Novel unmanned supermarket intelligent replenishment mobile robot platform and control system thereof |
| CN112276897A (en) * | 2020-09-24 | 2021-01-29 | 南京大学 | Management robot |
| CN112757289A (en) * | 2020-12-09 | 2021-05-07 | 江苏电子信息职业学院 | Degree of freedom snatchs manipulator |
| CN112919130A (en) * | 2021-01-29 | 2021-06-08 | 四川恒格光电科技有限公司 | Transfer device for lens processing |
| CN112919130B (en) * | 2021-01-29 | 2023-03-10 | 四川恒格光电科技有限公司 | Transfer device for lens processing |
| CN117246843A (en) * | 2023-11-15 | 2023-12-19 | 山东合信科技股份有限公司 | Automatic storage equipment for yarn bobbins |
| CN117342052A (en) * | 2023-12-06 | 2024-01-05 | 江苏环亚医用科技集团股份有限公司 | A material loading delivery coding equipment for medical auxiliary material |
| CN117342052B (en) * | 2023-12-06 | 2024-02-09 | 江苏环亚医用科技集团股份有限公司 | A material loading delivery coding equipment for medical auxiliary material |
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Application publication date: 20160525 |
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