CN108945154B - A kind of smart supermarket shopping cart - Google Patents
A kind of smart supermarket shopping cart Download PDFInfo
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- CN108945154B CN108945154B CN201811135740.0A CN201811135740A CN108945154B CN 108945154 B CN108945154 B CN 108945154B CN 201811135740 A CN201811135740 A CN 201811135740A CN 108945154 B CN108945154 B CN 108945154B
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- steering engine
- warehousing
- outloading
- bottom plate
- car bottom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of smart supermarket shopping carts, the smart supermarket shopping cart includes vehicle frame, walking mechanism, grasping mechanism, warehousing mechanism, outloading mechanism, height regulating mechanism and control system for identifying, the walking mechanism, grasping mechanism, warehousing mechanism, outloading mechanism, height regulating mechanism and control system for identifying are set on the vehicle frame, the walking mechanism is set to below the vehicle frame, the grasping mechanism is set to the side of the warehousing mechanism, the outloading mechanism and warehousing mechanism is set on the height regulating mechanism, and the outloading mechanism is set to the lower section of the warehousing mechanism, the walking mechanism, grasping mechanism, warehousing mechanism, outloading mechanism, height regulating mechanism is connected with the control system for identifying；Present invention saves labour expenses；The present invention facilitates the consumption of ordinary consumer；Save consumed time and efforts when consumer spending；The present invention realizes the serialization of warehousing and shipment.
Description
Technical field
The present invention relates to transport automatic field, in particular to a kind of smart supermarket shopping carts.
Background technique
In previous supermarket shopping, often more time and efforts to be spent to look for required article, usually
In order to buy a common article spend many energy go out preparation, find supermarket, article is selected into supermarket, handed over to cashier
Expense takes article home, if article can waste more times too much and look for；In addition, supermarket during getting in stocks,
Accomplish to classify, gets in stocks, counts the human cost for being also required to many and time, inefficiency.
Summary of the invention
The object of the present invention is to provide a kind of smart supermarket shopping carts, to solve the problems mentioned in the above background technology.
To achieve the above object, the invention provides the following technical scheme:
A kind of smart supermarket shopping cart, the smart supermarket shopping cart include vehicle frame, walking mechanism, grasping mechanism, storage
Cargo aircraft structure, outloading mechanism, height regulating mechanism and control system for identifying, the walking mechanism, grasping mechanism, warehousing mechanism,
Outloading mechanism, height regulating mechanism and control system for identifying are set on the vehicle frame, and the walking mechanism is set to described
Vehicle frame below, the grasping mechanism be set to the warehousing mechanism side, the outloading mechanism and warehousing mechanism are set
In on the height regulating mechanism, and the outloading mechanism is set to the lower section of the warehousing mechanism, the vehicle with walking machine
Structure, grasping mechanism, warehousing mechanism, outloading mechanism, height regulating mechanism are connected with the control system for identifying.
The vehicle frame includes car bottom plate, crawl bracket, and height adjusts bracket, the crawl bracket and height adjustment branch
It is set up in above the car bottom plate, the grasping mechanism is set on the crawl bracket, the height regulating mechanism
On the height adjustment bracket.
The height adjustment bracket is the screw rod bracket perpendicular to the car bottom plate.
The screw rod bracket is equipped with screw rod, and screw rod is equipped with motor I, and the outloading mechanism is set to the upper of motor I
Side.
The walking mechanism includes motor II, electric machine support and the idler wheel driven by motor II, the electric machine support
It is connected with car bottom plate, the motor II is set on the electric machine support.
The grasping mechanism includes steering engine I, connecting plate, steering engine II, pawl pincers and camera on crawl bracket, institute
The output shaft of steering engine I stated is connected with one end of connecting plate, and the other end of the connecting plate is fixed on the steering engine II,
The output shaft of the steering engine II is connected with the pawl pincers, and the camera is set to the steering engine II far from connecting plate
On surface.
The connecting plate is two, and the pawl pincers are four, and one end of the pawl pincers is equipped with gear, the pawl
The other end of pincers is equipped with curved rod, set on the pincers of pawl described in two of them cogged one end each other mirror settings in the rudder
II upper surface of machine, and the gear intermeshing on the two pawls pincers being set on II upper surface of steering engine, the pawl pincers described in other two
On set cogged one end each other mirror settings in II lower surface of steering engine, and be set to II lower surface of steering engine on two pawls
Gear intermeshing on pincers, the pawl pincers set on II upper surface of steering engine are clamped with the pawl for being set to II lower surface of steering engine
Position it is corresponding, and the outside of corresponding pawl pincers is equipped with reinforcing bar, the output shaft of the steering engine II and two of them position
The gear shaft for setting corresponding gear is connected.
The warehousing mechanism includes between the car bottom plate in the slideway of 32 degree of angles, on the slideway
Several storage silos I, vertically be set to the slideway at left and right sides of baffle, above baffle and with the storage silo
The corresponding steering engine III in I position, the shelves item I on steering engine III and below the slideway and parallel with the car bottom plate
Flat storage silo II, the height of the slideway front end are higher than the height of the ways-end, the slideway front end with
The grasping mechanism position is corresponding, and the ways-end is corresponding with the position of storage silo II.
The outloading mechanism include parcel shelf, shipping baffle, rear push plate, translation support plate, translating rails, steering engine IV,
Steering engine V, connecting rod I and connecting rod II, the storage silo II is set on the parcel shelf, and, institute coplanar with the parcel shelf
The translation support plate stated is cuboid, and the upper surface of the translation support plate is equipped with the groove for extending to its right side, described
The left and right sides of groove be equipped with sliding slot, the left and right sides of the translating rails is set in the sliding slot, the translation
Support plate lower surface is connected with the steering engine IV, and the lower surface of the steering engine IV is fixedly connected with the parcel shelf, institute
The translation support plate stated is arranged in parallel with the car bottom plate, and the steering engine V is set on the translating rails far from crawl
One end of mechanism, the side of the steering engine IV are connected with the connecting rod I, and the connecting rod I is connected with connecting rod II, described
Connecting rod II is connected with the side of steering engine V, and the shipping baffle is set on the output shaft of the steering engine V, the shipment gear
Plate is arranged in parallel with the rear push plate, the upper table of the lower surface of the shipping baffle and rear push plate and the storage silo II
Face offsets.
The control system for identifying includes gray-scale sensor, near infrared sensor, touch sensor and Arduino processing
Device；The gray-scale sensor and near infrared sensor is set on the car bottom plate side close to one end of grasping mechanism, institute
The touch sensor stated is set on the car bottom plate side close to one end of outloading mechanism, the Arduino processor
With the gray-scale sensor, near infrared sensor, touch sensor, walking mechanism, grasping mechanism, warehousing mechanism, article delivery machine
Structure, height regulating mechanism are connected.
The advantageous effects of the present invention compared with the existing technology are,
1, present invention reduces artificial labor intensity, labour expenses are saved；2, the present invention facilitates ordinary consumer
Consumption；Save consumed time and efforts when consumer spending；3, the present invention realizes the serialization of warehousing and shipment.
Detailed description of the invention
Fig. 1 is perspective view of the invention.
Fig. 2 is the perspective view of outloading mechanism of the present invention.
Specific embodiment
With reference to the accompanying drawing and specific implementation fall the present invention is further illustrated.
As shown, a kind of smart supermarket shopping cart, the smart supermarket shopping cart includes vehicle frame, walking mechanism, grabs
Take mechanism, warehousing mechanism, outloading mechanism, height regulating mechanism and control system for identifying, the walking mechanism, grasping mechanism,
Warehousing mechanism, outloading mechanism, height regulating mechanism and control system for identifying are set on the vehicle frame, the walking mechanism
Below the vehicle frame, the grasping mechanism is set to the side of the warehousing mechanism, the outloading mechanism and storage
Cargo aircraft structure is set on the height regulating mechanism, and the outloading mechanism is set to the lower section of the warehousing mechanism, described
Walking mechanism, grasping mechanism, warehousing mechanism, outloading mechanism, height regulating mechanism be connected with the control system for identifying.
The vehicle frame includes car bottom plate 11, crawl bracket 14, and height adjusts bracket 1, the crawl bracket 14 and height
Degree adjustment bracket 1 is set to 11 top of car bottom plate, and the grasping mechanism is set on the crawl bracket 14, described
Height regulating mechanism is set on the height adjustment bracket 1.
The height adjustment bracket 1 is the screw rod bracket perpendicular to the car bottom plate 11.
The screw rod bracket is equipped with screw rod 2, and screw rod is equipped with motor I 9, and the outloading mechanism is set to motor I 9
Top.
The walking mechanism includes motor II, electric machine support and the idler wheel 12 driven by motor II, the motor branch
Frame is connected with car bottom plate 11, and the motor II is set on the electric machine support.
The grasping mechanism includes steering engine I 15, connecting plate 16, steering engine II 18, pawl pincers 20 on crawl bracket 14
And camera, the output shaft of the steering engine I 15 are connected with one end of connecting plate 16, the other end of the connecting plate 16 is fixed
In on the steering engine II 18, the output shaft of the steering engine II 18 is connected with the pawl pincers 20, and the camera is set to
On the surface of the steering engine II 18 far from connecting plate 16.
The connecting plate 16 is two, and the pawl pincers 20 are four, and one end of the pawl pincers 20 is equipped with gear 21,
The other end of the pawl pincers is equipped with curved rod, and mirror image is set 20 one end equipped with gear 21 of the pincers of pawl described in two of them each other
The gear 21 on two pawls pincers 20 for being placed in II 18 upper surface of steering engine, and being set on II 18 upper surface of steering engine is mutually nibbled
Close, pawl described in other two pincers 20 be equipped with one end of gear 21 each other mirror settings in II 18 lower surface of steering engine,
And the gear 21 on the two pawls pincers 20 being set on II 18 lower surface of steering engine is intermeshed, set on II 18 upper surface of steering engine
Pawl pincers 20 be set to II 18 lower surface of steering engine pawl pincers 20 position it is corresponding, and corresponding pawl clamp 20 outside
Equipped with reinforcing bar 19, the gear shaft of the output shaft of the steering engine II 18 gear 21 corresponding with two of them position is connected.
The warehousing mechanism includes between the car bottom plate 11 in the slideway 4 of 32 degree of angles, set on the cunning
Several storage silos I on road 4, the baffle 3 being set at left and right sides of the slideway vertically, be set to the top of baffle 3 and with it is described
The corresponding steering engine III in I position of storage silo, the shelves item I on steering engine III and set on the lower section of slideway 4 and with the vehicle
The parallel flat storage silo II 27 of bottom plate 11, the height of 4 front end of slideway are higher than the height of 4 end of slideway,
4 front end of slideway is corresponding with the grasping mechanism position, 4 end of slideway and the storage silo II 27
Position is corresponding.
The outloading mechanism includes parcel shelf 26, shipping baffle 6, rear push plate 25, translation support plate 17, translating rails
22, steering engine IV 8, steering engine V 7, connecting rod I 13 and connecting rod II 10, the storage silo II 27 are set on the parcel shelf 26, and
Coplanar with the parcel shelf 26, the translation support plate 17 is cuboid, and the upper surface of the translation support plate 17 is set
There is the groove for extending to its right side, the left and right sides of the groove is equipped with sliding slot, the left and right two of the translating rails 22
Side is set in the sliding slot, and 17 lower surface of translation support plate is connected with the steering engine IV 8, the steering engine IV 8
Lower surface be fixedly connected with the parcel shelf 26, the translation support plate 17 is arranged in parallel with the car bottom plate 11,
The steering engine V 7 is set to one end on the translating rails 22 far from grasping mechanism, the side of the steering engine IV 8 and institute
The connecting rod I 13 stated is connected, and the connecting rod I 13 is connected with connecting rod II 10, the side phase of the connecting rod II 10 and steering engine V 7
Even, the shipping baffle 6 is set on the output shaft of the steering engine V 7, and the shipping baffle 6 and the rear push plate 25 are flat
Row setting, the upper surface of the lower surface and the storage silo II 27 of the shipping baffle 6 and rear push plate 25 offsets.
The control system for identifying includes gray-scale sensor, near infrared sensor, touch sensor and Arduino processing
Device；The gray-scale sensor and near infrared sensor is set on 11 side of car bottom plate close to one end of grasping mechanism,
The touch sensor is set on 11 side of car bottom plate close to one end of outloading mechanism, at the Arduino
It manages device and the gray-scale sensor, near infrared sensor, touch sensor, walking mechanism, grasping mechanism, warehousing mechanism, go out
Cargo aircraft structure, height regulating mechanism are connected.
A kind of working principle of smart supermarket shopping cart is:
(1) walking mechanism carries out route identification according to the black line that prior ground on the scene is finished, and idler wheel can select metal good fortune
Specified position is run to take turns；
(2) grasping mechanism identifies article by the camera on pawl pincers 20, after recognizing the article for needing to grab, steering engine II
18 rotations, band pawl pincers 20 catch article, and then the steering engine I 15 of 20 lower section of pawl pincers rotates the direction that article is taken to warehousing mechanism
One end of grasping mechanism, steering engine II 18, which rotates backward, unclamps pawl pincers 20, and article is fallen in warehousing mechanism；
(3) after receiving first article, opening steering engine III slides article to storage silo II 27 for warehousing mechanism；
(4) walking mechanism moves to designated position again, the camera identification object on pawl pincers 20 and grab article put to
Warehousing mechanism, (for convenience, it is assumed that the storage silo I being equipped on slideway is two, close to depositing for II 27 one end of storage silo
Warehouse is I-I, and it is respectively I-I with the storage silo and storage silo is that the storage silo far from II 27 one end of storage silo, which is I-II,
I-II relative to steering engine be steering engine III-I and steering engine III-II 23), warehousing mechanism closes steering engine III-I, and shelves item 5 declines, and opens
Steering engine III-II 23 slides article to storage silo I-I；
(5) walking mechanism moves to designated position again, and pawl pincers 20 identify article and grab article and put to warehousing mechanism, storage
Cargo aircraft structure closes steering engine III-II 23, slides article to storage silo I-II；
(6) walking mechanism moves to corresponding inside picking position corresponding to the kinds of goods in storage silo II 27 or supermarket
Shelf location, judge whether the side of car bottom plate 11 offsets with shelf by touch sensor, when the two offsets, lead screw 2
Pallet height is turned to, steering engine IV 8 is opened, and by connecting rod I 13 and II 10, steering engine V 7 is released, push plate 25 and shipment after drive
The article of storage silo II 27 is released parcel shelf 26 by baffle 6, then turns on steering engine V 7, so that shipping baffle 6 is opened, steering engine IV 8
It rotates backward, V 7 return of steering engine, article is placed on shelf；
(7) walking mechanism moves to corresponding inside picking position corresponding to the kinds of goods in storage silo I-I or supermarket
Shelf location, judge whether the side of car bottom plate 11 offsets with shelf by touch sensor, when the two offsets, lead screw turn
It moves to pallet height, opens steering engine III-I, so that shelves item 5 thereon is rotated up, falls into and deposit positioned at the article that storage silo is I-I
Warehouse II 27, then steering engine IV 8 is opened, and by connecting rod I 13 and II 10, steering engine V 7 is released, push plate 25 and shipment gear after drive
The article of storage silo II 27 is released parcel shelf 26 by plate 6, then turns on steering engine V 7, so that shipping baffle 6 is opened, steering engine IV 8 is anti-
To rotation, V 7 return of steering engine, article is placed on shelf；
(8) walking mechanism moves to corresponding inside picking position corresponding to the kinds of goods in storage silo I-II or supermarket
Shelf location, judge whether the side of car bottom plate 11 offsets with shelf by touch sensor, when the two offsets, lead screw turn
It moves to pallet height, opens steering engine III-I and steering engine III-II 23, so that shelves item 24 and shelves item 5 thereon is rotated up, positioned at depositing
The article of warehouse I-II falls into storage silo II 27, and then steering engine IV 8 is opened, and by connecting rod I 13 and II 10, steering engine V 7 is released,
The article release parcel shelf 26 of storage silo II 27 is then turned on steering engine V 7, makes to obtain by push plate 25 and shipping baffle 6 after drive
Goods baffle 6 is opened, and steering engine IV 8 rotates backward, and V 7 return of steering engine, article is placed on shelf；
Preferably, the walking mechanism is taken turns using metal good fortune, and omnibearing ambulation may be implemented, in narrow space
It is interior particularly important.
Preferably, warehousing mechanism is used as using slideway 4, and several roller bearings can be set in slideway, make its sliding certainly
Such as, it is 32 ° that tilt angle also obtains best angle after multiple tests, to guarantee that any article can be in no external force shape
It can voluntarily fall under state.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to restrict the invention, it is all in spirit of the invention and
Within principle, made any modification, equivalent replacement, improvement etc. should all include within protection scope of the present invention.
Claims (5)
1. a kind of smart supermarket shopping cart, which is characterized in that the smart supermarket shopping cart includes vehicle frame, walking mechanism, grabs
Take mechanism, warehousing mechanism, outloading mechanism, height regulating mechanism and control system for identifying, the walking mechanism, grasping mechanism,
Warehousing mechanism, outloading mechanism, height regulating mechanism and control system for identifying are set on the vehicle frame, the walking mechanism
Below the vehicle frame, the grasping mechanism is set to the side of the warehousing mechanism, the outloading mechanism and storage
Cargo aircraft structure is set on the height regulating mechanism, and the outloading mechanism is set to the lower section of the warehousing mechanism, described
Walking mechanism, grasping mechanism, warehousing mechanism, outloading mechanism, height regulating mechanism be connected with the control system for identifying, institute
The vehicle frame stated includes car bottom plate, crawl bracket, and height adjusts bracket, and the crawl bracket and height adjustment branch are set up in described
Car bottom plate above, the grasping mechanism be set to the crawl bracket on, the height regulating mechanism be set to it is described
On height adjustment bracket, the height adjustment bracket is the screw rod bracket perpendicular to the car bottom plate, the screw rod branch
Frame is equipped with screw rod, and screw rod is equipped with motor I, and the outloading mechanism is set to the top of motor I, and the walking mechanism includes
Motor II, electric machine support and the idler wheel driven by motor II, the electric machine support are connected with car bottom plate, and the motor II is set
In on the electric machine support, the grasping mechanism includes steering engine I, connecting plate, steering engine II, pawl pincers on crawl bracket
And camera, the output shaft of steering engine I are connected with one end of connecting plate, the other end of the connecting plate is fixed on described
Steering engine II on, the output shaft of the steering engine II is connected with the described pawl pincers, and the camera is set on the steering engine II
On surface far from connecting plate.
2. a kind of smart supermarket shopping cart according to claim 1, which is characterized in that the connecting plate is two, institute
The pawl pincers stated are four, and one end of the pawl pincers is equipped with gear, and the other end of the pawl pincers is equipped with curved rod, wherein two
Cogged one end is set on a pawl pincers, and mirror settings and are set to II upper surface of steering engine in II upper surface of steering engine each other
On two pawls pincers on gear intermeshing, described in other two pawl pincers on set cogged one end each other mirror settings in
II lower surface of steering engine, and the gear intermeshing on the two pawls pincers being set on II lower surface of steering engine, set on described
The pawl pincers of II upper surface of steering engine are corresponding with the position that the pawl for being set to II lower surface of steering engine clamps, and corresponding pawl pincers
Outside is equipped with reinforcing bar, and the gear shaft of the output shaft of the steering engine II gear corresponding with two of them position is connected.
3. a kind of smart supermarket shopping cart according to claim 2, which is characterized in that the warehousing mechanism includes and institute
In the slideway of 32 degree of angles, several storage silos I on the slideway between the car bottom plate stated, it is set to vertically described
Baffle at left and right sides of slideway above baffle and steering engine III corresponding with I position of storage silo, is set to steering engine III
On shelves item I and below the slideway and the flat storage silo II parallel with the car bottom plate, before the slideway
The height at end is higher than the height of the ways-end, and the slideway front end is corresponding with the grasping mechanism position, described
Ways-end it is corresponding with the position of storage silo II.
4. a kind of smart supermarket shopping cart according to claim 3, which is characterized in that the outloading mechanism includes glove
Plate, shipping baffle, rear push plate, translation support plate, translating rails, steering engine IV, steering engine V, connecting rod I and connecting rod II, the storage
Storehouse II is set on the parcel shelf, and coplanar with the parcel shelf, and the translation support plate is cuboid, and described is flat
The upper surface for moving support plate is equipped with the groove for extending to its right side, and the left and right sides of the groove is equipped with sliding slot, described
The left and right sides of translating rails is set in the sliding slot, and the translation support plate lower surface is connected with the steering engine IV,
The lower surface of the steering engine IV is fixedly connected with the parcel shelf, and the translation support plate is parallel with the car bottom plate
Setting, the steering engine V be set to the translating rails on far from grasping mechanism one end, the side of the steering engine IV with
The connecting rod I is connected, and the connecting rod I is connected with connecting rod II, and the connecting rod II is connected with the side of steering engine V, it is described out
Goods baffle is set on the output shaft of the steering engine V, and the shipping baffle is arranged in parallel with the rear push plate, described
The lower surface of shipping baffle and rear push plate and the upper surface of the storage silo II offset.
5. a kind of smart supermarket shopping cart according to claim 1-4, which is characterized in that the identification control
System includes gray-scale sensor, near infrared sensor, touch sensor and Arduino processor；The gray-scale sensor and
Near infrared sensor is set on the car bottom plate side close to one end of grasping mechanism, and the touch sensor is set to described
Car bottom plate side on close to one end of outloading mechanism, the Arduino processor and the gray-scale sensor, near-infrared
Sensor, touch sensor, walking mechanism, grasping mechanism, warehousing mechanism, outloading mechanism, height regulating mechanism are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811135740.0A CN108945154B (en) | 2018-09-28 | 2018-09-28 | A kind of smart supermarket shopping cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811135740.0A CN108945154B (en) | 2018-09-28 | 2018-09-28 | A kind of smart supermarket shopping cart |
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| Publication Number | Publication Date |
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| CN108945154A CN108945154A (en) | 2018-12-07 |
| CN108945154B true CN108945154B (en) | 2019-10-29 |
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| CN109719729B (en) * | 2019-01-25 | 2022-02-18 | 丽水学院 | Rotating disc type automatic tracing mark code identification carrying trolley and use method thereof |
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| CN104924288A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Full-automatic picking car for warehouse and control method of full-automatic picking car |
| CN107571900A (en) * | 2017-09-09 | 2018-01-12 | 荆门创佳机械科技有限公司 | Can Automatic-searching commodity unmanned supermarket shopping car |
| CN207773195U (en) * | 2018-01-16 | 2018-08-28 | 赵建彪 | The super intelligent shopping trolley of quotient based on Internet of Things |
| CN108454657B (en) * | 2018-03-21 | 2020-12-25 | 厦门大学嘉庚学院 | Multifunctional supermarket automatic shopping guide vehicle |
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Application publication date: 20181207 Assignee: Zhejiang Youbel Toys Co.,Ltd. Assignor: LISHUI University Contract record no.: X2022330000918 Denomination of invention: An intelligent supermarket shopping cart Granted publication date: 20191029 License type: Common License Record date: 20221229 Application publication date: 20181207 Assignee: Lishui Zhongchi Network Technology Co.,Ltd. Assignor: LISHUI University Contract record no.: X2022330000919 Denomination of invention: An intelligent supermarket shopping cart Granted publication date: 20191029 License type: Common License Record date: 20221229 |