CN109719711A - A kind of twin shaft single arm robot - Google Patents
A kind of twin shaft single arm robot Download PDFInfo
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- CN109719711A CN109719711A CN201910192045.6A CN201910192045A CN109719711A CN 109719711 A CN109719711 A CN 109719711A CN 201910192045 A CN201910192045 A CN 201910192045A CN 109719711 A CN109719711 A CN 109719711A
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- horizontal guide
- guide rail
- mobile
- motor
- manipulator
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Abstract
The invention discloses a kind of twin shaft single arm robots, including fixed horizontal guide rail, fixed horizontal guide rail motor, mobile and horizontal guide rail, mobile and horizontal guide rail motor, fixed horizontal guide sleeve, mobile and horizontal guide sleeve, Manipulator Controller, arm component, the mobile and horizontal guide rail wherein fixed on the fixed horizontal guide sleeve of horizontal guide rail motor driving moves on fixed horizontal guide rail, arm component on mobile and horizontal guide rail motor driving mobile and horizontal guide sleeve moves on mobile and horizontal guide rail, the Manipulator Controller automatically generates robot movement formula according to customer's order, the foundation that the Manipulator Controller generates movement formula includes weight, volume, length, the robot movement formula Exactly-once.Beneficial effect by adopting the above technical scheme is: designing the manipulator that two guide rails and an arm are constituted by copying the principle of chip mounter, commodity can be taken from shelf and take from object to customer, store sales is made to be truly realized left unguarded.
Description
Technical field
The present invention relates to unmanned shop technical field, in particular to a kind of twin shaft single arm robot.
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 be enable position, orientation, state of object etc. output controlled volume follow input target (or to
Definite value) the automatic control system arbitrarily changed.Servo is positioned mainly by pulse, substantially it is to be understood that servo is electric
Machine receives 1 pulse, will rotate the corresponding angle of 1 pulse, so that displacement is realized, because servo motor itself has hair
The function of pulse out, so servo motor one angle of every rotation, can all issue the pulse of corresponding number, in this way and servo motor
The pulse shaping of receiving is echoed, or is closed loop, in this way, system will know that and send out how many pulse to servo motor,
Receive that how many pulse are returned again simultaneously, that is to say, that signal is transmitted to system at any time by it, while the signal that system provides is repaired
The just operating of oneself, 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, and the U/V/W three-phase electric forming electromagnetic field of driver control, rotor is herein
It is rotated under the action of magnetic field, while the encoder feedback signal that motor carries, to driver, driver is according to value of feedback and target
Value is compared, the angle of adjustment rotor rotation, can be with so the precision of servo motor is decided by the precision (line number) of encoder
Line number is determined 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, can be put into any one position of multiple and different positions up, just
This manipulator can be determined to be applied in unmanned shop and gone.This SMT equipment has all used tens in the electronics industry world
Nian Liao, technology are all very mature.Electronic component that the one it is small all there is no problem, have for this 100 times of electronic component big
Articles for daily use just more there is no problem, so the manipulator that this servo motor is done is being that there is no problem on unmanned shop
's.
It only needs to optimize patch portion in SMT equipment, so that it may a kind of twin shaft single arm robot is designed, this
The precision of manipulator will take a commodity well below this SMT chip mounter injection molding machine, and error, which is no more than one centimetre, all not to be had
Thing.Jingdone district has used so much small machine people running back and forth, on network also known as along Feng Deng enterprise when sorting package
One big invention of China, actually more suitable with this manipulator, cost is lower, more simply.Customer sweeps the sheet being attached on commodity
The information of bought commodity is inputted after the two dimensional code of shop or by other equipment, controller just will receive commodity letter in store system
Breath, merchandise news is just transferred to the manipulator in warehouse district, after waiting customer payments, manipulator just go in warehouse district this
A commodity (commodity in warehouse district can not paste two dimensional code) placed according to system designated position take system it is specified take object
Place, 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 removed.
There is the unmanned shop for using this manipulator to be spatially divided into operating space and warehouse district, operating space is mainly put
The commodity to be sold select barcode scanning for client, and warehouse district is mainly to store sold commodity, and warehouse district and operating space are
Separated, client can only see commodity in operating space, and barcode scanning not can enter warehouse district.When client is after commodity are seen in operating space,
Want to buy, adept machine or other barcode scanning equipment are swept to the head store two dimensional code being attached on commodity, thinks the information of purchase commodity just
The controller in the shop is passed to by the networks such as mobile phone or plate (3G, 4G, 5G, Wifi, BT etc.), controller just passes through this
Servo motor manipulator goes to be put by these commodity and take at object, and client, which goes to take at object, takes commodity can.Due to this machinery
Hand required precision can not be high, and after running many times, accumulative error may some be big, so to specify one to take object
Place be basic origin, when robot movement to here when, arm-and-hand system will automatically be zeroed location information, from the beginning all are counted
It calculates, error is just reset.A shop having there are two operating space because in warehouse district commodity put be by rows,
The both ends of several rows of shelf can be arranged to an operating space.Shop outline such as Fig. 1, wherein note 1 expression take at object, 2 tables
Show pallet, 3 indicate manipulator, and 4 indicate showcase, and 5 indicate warehouse district, and 6 indicate master controller, and 7 indicate Manipulator Controller,
8 indicate arm component, and 9 indicate pallet load-bearing pillar, and 10 indicate operating space.It can be seen that the unmanned store system is by this several part
Composition, operating space (commodity will stick the two dimensional code and price of head store in operating space), warehouse district (strictly press in warehouse district by commodity
Put institute's typing position), manipulator takes at object, the composition such as master controller.
The commodity shown in operating space put also have it is certain be particular about, articles for daily use consumption it is more to be placed in obvious ground
Side, 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, beverage
Also it is classified as a major class, is individually put together, foodstuff is also individually placed on another place, and what consumption was big individually can be several with plurality of pendulums
Likewise, so that multiple client's barcode scannings, etc. will classify, such as Fig. 2,11 mark (line number) for indicating row in annotation, 12
Indicate column mark (columns), 13 indicate two dimensional codes, 14 indicate be commodity label.Operating space setting is multiple to be taken at object,
It does shopping simultaneously for more people, nethermost one layer is taken at object substantially below operating space, and each customer sweeps on mobile phone
It checks and is over after code, system just passes through mobile phone and notifies which customer take to take commodity at object, when customers being waited to take at object to this,
It just opens and takes at object in switch setting in mobile phone, so that it may which the commodity purchased are gone away.Why to be arranged in mobile phone
The switch at object is taken, is just afraid of that the commodity of this customer are taken away by other customer.Taking the switch at object is the electricity by system power supply
Magnet valve control, when taking the door at object to close, solenoid valve, which can block to take to can not pull at object, to be come, only by the mobile phone of customer
Clicking opening, this takes at object, and solenoid valve is drawn back, and customer could take commodity away taking to pull out at object.In addition to that can be swept with mobile phone
Code shopping is outer, and customer can also be done shopping by shopping apparatus other in operating space, master control inside this equipment and shop
Device is connected, and can also be transmitted to master controller by the commodity of this equipment purchase, can also complete shopping.This equipment is just called
Shopping apparatus, customer buy commodity by it.
The commodity of warehouse district, 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 that manipulator is taken
The position of this commodity often obtains information, and manipulator just takes this commodity, and manipulator only takes commodity according to position, mechanical
Hand itself will not tell the type of commodity, and putting herein is exactly this commodity；First commodity can also be well placed, then
The position that commodity are put is gone in precisely inputting to system, when inputting product locations, first can measure number by coordinate system calculating
Value, then inputs in computer, can also press the button record position, and right directly the position for moving on to commodity of manipulator
The commodity barcode scanning of this position also inputs the type of commodity, the relationship of commodity and position can be thus established, than in computer
Input wants simpler.Why first to input in the position to system of commodity and go, be exactly in controller to these numerical value (commodity
Position coordinates) pretreatment is done, later when buy commodity, the information for merely entering commodity can be (it is considered that this letter
Breath is exactly a coding, is numbered, and is no longer the coordinate information of position, just as having done a bottom software), do not have to defeated again
Enter the co-ordinate position information of commodity.This has just done a conversion, and for customer, shopping is easy for more.For there is the shelf-life
Commodity, the storage of commodity will more have a sequencing, distinguish the commodity first put and after the commodity put, especially in supplement cargo
When, to accomplish that the commodity that the commodity first come in are come in after separate, it is necessary to accomplish first in first out.The slot that warehouse district places commodity can
To be made into the slot of ramp type, commodity automatic sliding is allowed to add to the position that manipulator takes object, the energy automatic sliding of mineral water etc,
But the light commodity such as paper handkerchief cannot automatic sliding, can on paper handkerchief plus heavy briquetting can automatic sliding, such as
Fig. 3, wherein 15 indicate is briquetting in annotation, 16 indicate ramp type slots, and 17 indicate one section of horizontal component before slots, and 18 indicate
Baffle part before cargo slot.Shop can accomplish that or so every one hour of the smallpox time supplements cargo in this way, or accomplish
Or so the hour time is spent to supplement a cargo over these days, customer if you have questions, come by the time that replenishes that as per advice can above say
Shop look for a job personnel processing, such as return goods the problems such as, mega-store can also arrange a people (such as to work in certain period
Time 8:00-18:00) it is on duty, handle exception and return question.Manipulator also wants periodic inspection, such as adds lubricating oil, especially infuses
Meaning regularly replaces those elements being prone to wear.
After customer's barcode scanning, a connection or interface are turned on its handset, and occur choosing the kind of head store commodity
The information of class quantity price etc, after customer is selected, followed by continuing to buy or check, commodity needed for having been bought to customer
Afterwards, it just checks, suggests that with wechat payment or Alipay is paid the bill or other way, just withhold, connect from the inside after selected
Suggest that your commodity bought of customer take at object in which number, after commodity are all taken and are taken at object, system suggest that customer you
The door taken at object can be opened, customer clicks the door opened and taken at object in mobile phone, can take bought commodity away.Customer takes
After walking commodity, takes and return to original state at object automatically.Each order only take one take at object in, there is customer once to do shopping too much
Or it is not of uniform size, several orders are segmented into handle.
Pallet is put by rows in warehouse district, and manipulator moves back and forth between pallet, so
An operating space can be arranged in the both ends of the fixation horizontal guide rail of manipulator, can put commodity and come for customer's barcode scanning, and two
Side effect function is just as, and is so also just had more one times and is taken at object.Operating space 10 is inner can also to do some showcases, to
The commodity that customer recommendation newly arrives, commodity newly developed and the publicity of Discount Promotion etc..It is taken away in system in each position
How many commodity, also how many this kind of commodity, are all the records of real-time update, and report and submit entire shop with the interval of certain time
System Control Center, in case accounting and delivery, management etc. are used.
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.3；Management cost can be reduced, because there is employee lazy etc., greatly reduces the management of this respect
Cost.4；Some StoreFronts can be fitted up less, greatly save decoration cost.5；Cold air only can be opened in operating space, save cost.6；
Space can be greatly saved, warehouse district can be accumulated more more dense.7；The shopping-time of customer can be saved.8；It can do very
It is multiple to take at object, it checks when doing shopping in this way and does not just have to wait in line, this bottleneck just disappears, and in addition unmanned shop is easy to
Accomplish to standardize, manage very well.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of twin shaft single arm robots, solve the automatic picking in unmanned shop
Problem.
In order to solve the above-mentioned technical problem, the technical solution of the present invention is as follows: a kind of twin shaft single arm robot, the manipulator
Mobile and horizontal guide rail be arranged above pallet, including fixed horizontal guide rail, fixed horizontal guide rail motor, mobile and horizontal are led
Rail, mobile and horizontal guide rail motor, fixed horizontal guide sleeve, mobile and horizontal guide sleeve, Manipulator Controller, arm component, wherein fixing
Fixed horizontal guide sleeve is installed on horizontal guide rail, mobile and horizontal guide rail, mobile and horizontal guide rail peace are installed on fixed horizontal guide sleeve
Equipped with mobile and horizontal guide sleeve, arm component is installed on mobile and horizontal guide sleeve, fixed horizontal guide rail motor drives fixed level to lead
Mobile and horizontal guide rail moves on fixed horizontal guide rail on set, and mobile and horizontal guide rail motor drives the hand on mobile and horizontal guide sleeve
Arm component moves on mobile and horizontal guide rail, and the Manipulator Controller automatically generates robot movement journey according to customer's order
Formula, the foundation that the Manipulator Controller generates movement formula includes weight, volume, length, and the robot movement formula is only
It executes primary.
Preferably, the mobile and horizontal guide rail of manipulator mobile maximum distance L1,0.1 meter of < on fixed horizontal guide rail
500 meters of L1 <.
Preferably, the mobile and horizontal guide sleeve of manipulator mobile maximum distance L2 on mobile and horizontal guide rail, 0.1 meter of <
500 meters of L2 <.
Preferably, the fixation horizontal guide rail motor of manipulator and the non-concurrent movement of mobile and horizontal guide rail motor, that is, work as fixation
Mobile horizontal guide rail motor stops when horizontal guide rail motor movement, the fixed horizontal guide rail horse when mobile and horizontal guide rail motor movement
Up to stopping.
Preferably, the movement formula of manipulator is that Manipulator Controller is automatically generated according to customer's order.
Preferably, the movement formula of manipulator is Exactly-once, is not repeated.
Preferably, the movement formula of manipulator is the formula of multi-to-multi, i.e., each article on multiple positions is taken up,
Any one position of multiple and different positions can be put into up.
Preferably, the pallet of the fixation horizontal guide rail of manipulator and warehouse district, to take the position between object be fixed.
Preferably, it includes weight, volume, length that Manipulator Controller, which generates the foundation of movement formula,.
Preferably, Manipulator Controller includes networking module, processor module, memory module, processor module and connection
Net module, memory module are electrically connected, networking module and fixed horizontal guide rail motor, mobile and horizontal guide rail motor, manipulator
Solenoid valve or motor are electrically connected in terminal grasping mechanism.
Preferably, the motor that manipulator uses is servo motor or stepper motor, the servo motor all band motor servos
Driver.
Preferably, the arm component includes at least a joint, and the joint includes at least a motor.
Preferably, the arm component includes shoulder joint, elbow joint, wrist joint, multi-chamber negative pressure tip component, assimilating type
Take object clip assembly, shoulder joint includes the joint connector of shoulder joint, motor, elbow joint packet under motor, shoulder joint in shoulder joint
Include the joint connector of elbow joint, motor under motor, elbow joint on elbow joint, wrist joint include carpal joint connector,
Motor under motor, wrist joint on wrist joint, on the joint connector and shoulder joint of shoulder joint under motor, shoulder joint motor with spiral shell
Nail connects, and motor is connected with screw under motor, elbow joint on the joint connector and elbow joint of elbow joint, carpal joint
Connector is connect with motor under motor, wrist joint on wrist joint with screw.
Beneficial effect by adopting the above technical scheme is: two guide rails are designed by copying the principle of chip mounter
The manipulator constituted with an arm is used in unmanned shop, commodity can be taken from shelf and take from object to customer, make shop
Sale is truly realized left unguarded, while the mobile and horizontal guide rail of manipulator is arranged above pallet, and can take multiple goods
Commodity on frame.
Detailed description of the invention
Fig. 1 is the perspective view in the unmanned shop of single manipulator；
Fig. 2 is operating space showcase schematic diagram；
Fig. 3 is shelf internal view；
Fig. 4 is the perspective view of manipulator；
Fig. 5 is the exploded view of multi-chamber negative pressure tip；
Fig. 6 is the perspective view that assimilating type takes object structure；
Fig. 7 is the schematic diagram of motor and threads of lead screw transmission；
Fig. 8 is the schematic diagram of guide sleeve and threads of lead screw transmission；
Fig. 9 is unmanned shop master controller wiring schematic diagram；
Figure 10 is Manipulator Controller wiring schematic diagram.
In figure, 1- is taken at object, 2- pallet, 3- manipulator, 4- showcase, 5- warehouse district, 6- master controller, 7- manipulator
Controller, 8- arm component, 9- pallet load-bearing pillar, the operating space 10-, the mark of 11- row, the mark of 12- column, 13- two dimensional code,
14- label, 15- briquetting, 16- ramp type slot, one section of horizontal component before 17- slot, the baffle part before 18- cargo slot,
19- fixation horizontal guide rail, the fixed horizontal guide rail motor of 20-, 21- mobile and horizontal guide rail, 22- mobile and horizontal guide rail motor, 23- are solid
Determine horizontal guide rail belt, 24- mobile and horizontal guide rail belt, the fixed horizontal guide rail shaft of 25-, 26- mobile and horizontal guide rail shaft,
The fixed horizontal guide sleeve of 27-, 28- mobile and horizontal guide sleeve, 29- terminal of manipulator grasping mechanism, the general guide sleeve of 30-, the general silk of 31-
Thick stick, 32- General guide rail, 33- general motor, 34- general motor shaft, 35- threads of lead screw, 36- multi-chamber negative pressure tip component,
37- clamping type takes object clip assembly, 38- shoulder joint, 39- elbow joint, 40- wrist joint, and 41- takes object terminal installation part, and 42- is soft
Glue, 43- multi-cavity 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,
55- first rotating shaft, the second shaft of 56-, 57- clip side plate, 58- clip mounting plate, 59- joint connector, 60- shoulder joint start
It reaches, motor under 61- shoulder joint, motor on 62- elbow joint, motor under 63- elbow joint, motor on 64- wrist joint, 65- wrist joint
Lower motor.
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 twin shaft single arm robot, the machinery is manually placed at the top of shop pallet 2, manipulator
Mobile and horizontal guide rail 21 be arranged pallet 2 above, the commodity that can be taken on multiple pallets 2, including fixation level lead
Rail 19, fixed horizontal guide rail motor 20, mobile and horizontal guide rail 21, mobile and horizontal guide rail motor 22, fixed horizontal guide rail belt 23,
Mobile and horizontal guide rail belt 24, fixed horizontal guide rail shaft 25, mobile and horizontal guide rail shaft 26, fixed horizontal guide sleeve 27, movement
Horizontal guide sleeve 28, Manipulator Controller 7, arm component 8, wherein fixed horizontal guide sleeve 27 is installed on fixed horizontal guide rail 19,
Mobile and horizontal guide rail 21 is installed on fixed horizontal guide sleeve 27, mobile and horizontal guide rail 21 is equipped with mobile and horizontal guide sleeve 28, mobile
Arm component 8, the mobile and horizontal on the fixed fixed horizontal guide sleeve 27 of the driving of horizontal guide rail motor 20 are installed on horizontal guide sleeve 28
Guide rail 21 moves on fixed horizontal guide rail 19, and mobile and horizontal guide rail motor 22 drives the arm component on mobile and horizontal guide sleeve 28
8 move on mobile and horizontal guide rail 21, and the Manipulator Controller 7 automatically generates robot movement formula according to customer's order,
The robot movement formula Exactly-once.
In specific embodiment, transmission is connected with belt between motor and guide rail, and such case is as follows:
Fixed horizontal guide sleeve 27, fixed horizontal guide rail motor 20, fixed horizontal guide rail are installed on fixed horizontal guide rail 19
Shaft 25 is cased with fixed horizontal guide rail belt 23, fixed water between fixed horizontal guide rail motor 20, fixed horizontal guide rail shaft 25
Level gauge belt 23 is connect with fixed horizontal guide sleeve 27 with screw, be equipped on fixed horizontal guide sleeve 27 mobile and horizontal guide rail 21,
Mobile and horizontal guide rail motor 22, mobile and horizontal guide rail shaft 26, mobile and horizontal guide rail motor 22, mobile and horizontal guide rail shaft 26 it
Between be cased with mobile and horizontal guide rail belt 24, mobile and horizontal guide rail belt 24 is connect with mobile and horizontal guide sleeve 28 with screw, mobile water
Mobile and horizontal guide sleeve 28 is installed on level gauge 21, arm component 8 is installed on mobile and horizontal guide sleeve 28.
When fixed horizontal guide rail 19, mobile and horizontal guide rail 21 are non-circular, fixed horizontal guide rail 19, mobile and horizontal are led
21 each, rail needs one can；When fixed horizontal guide rail 19, mobile and horizontal guide rail 21 are round, circular guide rail
It could be used with regard to needing at least two.
Arm component 8 takes including shoulder joint 38, elbow joint 39, wrist joint 40, multi-chamber negative pressure tip component 36, assimilating type
Object clip assembly 37, shoulder joint 38 include motor 61 under motor 60, shoulder joint in joint connector 59, shoulder joint, elbow joint 39
Including motor 63 under motor 62, elbow joint on joint connector 59, elbow joint, wrist joint 40 includes joint connector 59, wrist pass
Motor 65 under motor 64, wrist joint on section, in each joint there are two servo motor (other types of motor can also be used, this
In mainly say servo motor, the rotation axis of the two motors is angled, it is therefore desirable to orthogonal), each motor energy
180 degree is rotated, two motors stack up and can rotate the direction of half of spherical surface, share 3 and watch to (some have 4 pairs or more)
Take motor.Joint connector 59 is set there are two motor installation position, and the central axis of described two motor installation positions is orthogonal.Often
At least one servo motor in a joint, at least one joint of arm, L1 indicate the mobile and horizontal guide rail of manipulator
The mobile maximum distance on fixed horizontal guide rail, L2 indicate the mobile and horizontal guide sleeve 28 of manipulator in mobile and horizontal guide rail
Upper mobile maximum distance, L3 indicate that mobile and horizontal guide sleeve 28 arrives the distance between shoulder joint, and L4 indicates shoulder joint to elbow
The distance between joint, L5 are to indicate elbow joint the distance between to wrist joint, and L6 indicates wrist joint to the distance of end.Work as quotient
After shop master controller 6 is connected to shopping information, shop master controller 6 notes that Manipulator Controller 7, to take type, the number of commodity
Which is measured and is placed into take at object, Manipulator Controller 7 will issue the servo-driver of each motor and instruct, each horse
Up to can all rotate immediately, fixed horizontal guide rail motor 20 drives fixed horizontal guide rail belt 23 to move, fixed horizontal guide rail
Belt 23 and mobile and horizontal guide rail 21 are stuck locked, so fixed horizontal guide rail belt 23 just drives mobile and horizontal guide rail 21
It is moved on fixed horizontal guide rail 19, while mobile and horizontal guide rail motor 22 drives mobile and horizontal guide rail belt 24 in mobile and horizontal
Moved on guide rail 21, mobile and horizontal guide rail belt 24 and mobile and horizontal guide sleeve 28 be it is stuck locked, so mobile and horizontal guide rail
Belt 24 just drives mobile and horizontal guide sleeve 28 to move on mobile and horizontal guide rail 21, at the same in three joints motor also according to being taken
The position of commodity rotates simultaneously, and terminal of manipulator grasping mechanism 29 can reach the position of commodity and grab commodity, is then sent through and takes
1 at object, customer can take commodity away.This four sizes of L3, L4, L5, L6 can adjust as the case may be.This fixes water
Level gauge 19, mobile and horizontal guide rail 21 both can be used as guide rail, use as metering outfit, driven again by belt, so that it may
It calculates, 28 position of mobile and horizontal guide sleeve.The mobile distance of manipulator is big longer than in chip mounter, so L1 and L2 long
Have 5 meters of 10 meters of 30 meters of 50 meters etc., it is, in general, that a fixed horizontal guide rail 19 is fixed on the ground or on wall, one
As can topmost or bottom, determine start position (the namely origin, for determining the position of commodity of robot movement
) and 29 horizontal movement X-direction of terminal of manipulator grasping mechanism and Y direction, that vertical direction be exactly Z axis, establish
One coordinate system, then each commodity are gone in the inner coordinate input system of this coordinate system (3 dimension coordinate), these coordinates will
Terminal of manipulator grasping mechanism 29 moves within the scope of, cannot do it is mechanical beyond reach.Sometimes for save space,
Pallet height is until roof.Terminal of manipulator grasping mechanism 29 includes multi-chamber negative pressure tip component 36, the clamping type of assimilating type
Clamping type take object clip assembly 37, it is exactly to remove clamping commodity, multi-cavity with the clip of manipulator that clamping type, which takes object clip assembly 37,
Room negative pressure tip component 36 draws commodity by negative pressure, both will use, mineral water, beer according to different commodity
Etc. clamping type to be used, instant noodles, the assimilating type such as biscuit.Clamping type takes object clip assembly 37 to be equipped with a clip solenoid valve
51, it is to realize that clamping and release act, clip solenoid valve 51 is connect with clip, and clip solenoid valve 51 is flexible just to will drive clip
It opens or is closed；Multi-chamber negative pressure tip component 36 is equipped with a suction nozzle solenoid valve 44, is to realize to generate negative pressure absorbing and release
Negative pressure release movement, commodity and multi-chamber negative pressure tip 23 are formed a closed sky when suction nozzle solenoid valve 44 stretches
Between, with the stretching of suction nozzle solenoid valve 44, confined space becomes larger, and pressure reduces in confined space, and commodity are just adsorbed on multi-chamber
In negative pressure tip 23, the function of these solenoid valves can also be replaced with pneumatic cylinder or motor, to realize absorption and folder
The movement taken.
This manipulator is optimized in SMT equipment, but again different with SMT equipment, is led in fixed level
It is long in mobile maximum distance L ratio SMT on rail 19, the mobile maximum on similar fixed horizontal guide rail 19 in SMT
Distance, less than 1.0 meters.Single arm robot is longer than this, but also can be less than 500 meters.
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 and horizontal guide sleeve 28 of manipulator mobile maximum distance L2 on mobile and horizontal guide rail 21,0.1
500 meters of < of < L2 of rice.
There are one or a multi-section manipulator 3 in one shop, and every manipulator 3 has a Manipulator Controller 7 of oneself, but quotient
Shop is there are one data input and the received controller of data, master controller 6, this master controller 6 will also distribute, it is each to coordinate
The work of Manipulator Controller 7.This master controller 6 will be connected with cable network, to receive the merchandise news for carrying out automatic network,
(other than it can be done shopping with shopping apparatus, customer can also be with for the other purchase of equipment for having in communication cable and this shop again
It is done shopping by shopping apparatus other in operating space, this equipment is connected with master controller inside shop, passes through this equipment
The information of purchase commodity can also be transmitted to master controller 6, can also complete shopping.This equipment is just called shopping apparatus, 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 7 in shop connects this master controller 6 again, to can control these machinery
The movement of hand is connected with the computer in the shop again, so that the administrator in this shop can check information in time, sells feelings
Condition；It to communicate with the general headquarters, control centre of the said firm, be managed for shop, replenish management, and accounting etc. provides data, so
This master controller 6 will have many interfaces, interface such as Fig. 9, and the number of the manipulator in figure is uncertain, it may be possible to and one,
Be also possible to many, be not drawn in figure it is several be exactly it is several, wherein master controller 6 and the computer in the shop are to connect parallel
Mouth connection, master controller 6 with mster-control centre, the said firm is connect with Ethernet interface, remaining is connected with serial line interface,
Particularly this master controller 6 has these modules, and networking module (can also add a WIFI module, bluetooth module), processing
Device module, memory module, ethernet module, payment module, wherein networking module, bluetooth module are for receiving transmission information
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 takes commodity to go in suitably taking at object, calculates commodity price, completes merchandise sales；Memory module mainly stores quotient
Position of the product in warehouse district, the data such as commodity price, so as to processor calling.When a shopping apparatus has client operating,
6 networking module of master controller has received information, and master controller 6 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 6
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 6 just transfers memory mould
Merchandise location information in block, 6 networking module of master controller, which just issues this merchandise location information, takes object manipulator；Manipulator 3
Just commodity are all taken and are taken at object；Equal commodity, which are taken, to be over, and 6 networking module of master controller has received this information, manipulator 3
It is classified as the free time；6 networking module of master controller has received this information, and networking module sends information to shopping apparatus customer can be with
Door is opened；Customer selects to open door in shopping apparatus, and networking module just receives information, and networking module just sends information electricity
Magnet valve, opens the door, and customer takes commodity away.Each manipulator 3 has the Manipulator Controller 7 of oneself, to control 5 or more motors
The number of movement and the movement of several solenoid valves, such as Figure 10, motor servo-driver and solenoid valve in figure is uncertain
, it may be possible to one, be also possible to many, be not drawn in figure it is several be exactly it is several, wherein Manipulator Controller 7 is all connects
Mouthful all it is serial line interface, and is not no Ethernet interface, is mainly terminal of manipulator grasping mechanism there are also that solenoid valve
29 firmly grasp release.Particularly this Manipulator Controller 7 has these modules, networking module, processor module, storage
Device module, processor module are mainly that reasonably optimizing takes object sequence, recall commodity storage location data, send instructions to motor and watch
Driver is taken, memory module mainly stores position of the commodity in warehouse district.When master controller 6 sends shopping information, object is taken
Manipulator networking module receives information；Processor module just optimizes picking sequence, transfers memory module commodity storage position simultaneously
The kinematic parameter of each moving component is worked it out (when setting in motion, how much is movement)；Networking module is these later
Kinematic parameter issues each moving component, and manipulator 3 just goes to take commodity, since this manipulator 3 does not have shopping box, so can only
Commodity are taken one by one and are taken 1 at object, such as Fig. 1.The operation system of software in this shop can use Windows, can also use
Android's, the Mac OS of apple can also be used, since this equipment, system only use in this store system, so this
Shop can also use other small operating system Linux, it might even be possible to and one operating system of self-developing is used, because this
System is served only in this unmanned shop, with the external world without file transmission exchange, is dealt into other there is no a file and is not opened
The case where.A other unaccounted situation, situation about being specifically referred in chip mounter.
Multi-chamber negative pressure tip component 36 include flexible glue 42, multi-cavity chamber body 43, suction nozzle solenoid valve 44, type core 45, side plate 46,
Suction nozzle mounting plate 47, wherein flexible glue 42 and multi-cavity chamber body 43 are integrally formed, type core 45 be inserted into multi-cavity chamber body 43 after with commodity
It is formed closed chamber, flexible glue 42 plays auxiliary seal, and multi-cavity chamber body 43 is provided with multi-cavity chamber body stomata 48, type core 45
It is provided with air drain 49 and type core stomata 50, air drain 49 is connected to type core stomata 50.When type core 45 is inserted into multi-cavity chamber body 43 and commodity
When being formed closed chamber, when suction nozzle solenoid valve 44 is shunk, type core stomata 50 and multi-cavity chamber body stomata 48 are staggered, air
It not can enter, 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
When 44 elongation, negative pressure just becomes smaller, and just pine, type core stomata 50 are contacted with multi-cavity chamber body stomata 48 for commodity absorption, and 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, at this moment negative pressure is just disappeared.This is just
It is the working principle of multi-chamber negative pressure tip 23.
It includes clip solenoid valve 51, clip solenoid valve clamping plate 54, commodity clamping plate 52, decompression that clamping type, which takes object clip assembly 37,
Clamping plate 53, first rotating shaft 55, the second shaft 56, clip side plate 57, clip mounting plate 58, clip mounting plate 58 are led vertically with movement
The connection of 36 screws is covered, clip solenoid valve 51 connect with 58 screw of clip mounting plate, and clip mounting plate 58 and commodity clamping plate 52 are with the
The connection of one shaft, 55 shaft, commodity clamping plate 52 are connect with decompression clamping plate 53 with shaft, and commodity clamping plate 52 is pacified 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, subtracts
It presses clamping plate 53 to move, commodity can be clamped.Decompression clamping plate 53 be in order to increase clip and commodity contact area reduce pressure and
It is arranged.
The manipulator 3 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 Manipulator Controller 7 first the sequencing optimization one for taking commodity
Under, a kind of that sequence of minimal path is found out, then this instruction for sequentially adding each moving component is just moved at one
Formula.Key is that the order of customer will digitize, and can pass in time in Manipulator Controller 7 and go to be formed a formula, together
When, the commodity in warehouse are put and also to be digitized, and the type of commodity and position will will also be input in controller and go corresponding to well,
Input digitized in this way, manipulator 3 just can accurately take commodity according to digitized order.Manipulator 3, pallet
Commodity on 2, take at object 1 it is equal between relative position have to constant, to be fixed up, so often being used between this several person
Iron bar is fixed under lock and key with screw, accomplishes to standardize, and multiple store datas want identical, convenient for management, operation.
This manipulator 3 commodity of taking all are commodity to be taken to take 1 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
7 determine method or rule, and such manipulator 3 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 7 will be according to order, and automatically generating execution, this is ordered
Single movement formula, manipulator 3 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 the taking of weight take at object 1 or other
Place；
When weight is less than N kilograms, using length as sort by, long first the taking of length takes at object 1 or elsewhere；
Wherein when length is greater than or equal to L centimetres, using length as sort by, big first the taking of length take at object 1 or
Elsewhere；
When length is less than L centimetres, using volume as sort by, bulky first take takes at object 1 or elsewhere；
It is sequence with number of the commodity in system when volume is equal, small first the taking of serial number takes at object 1 or other ground
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 Controller 7
Movement formula can be automatically generated, is the essential step for realizing really unmanned shop.The length of the commodity refers to commodity
Full-size in three sizes of length, width and height.
When manipulator is connected to order, manipulator 3 is just according to order according to rule generation formula in system, with regard to slave
The current position of tool hand 3 moves to the position of first commodity, grabs commodity and to 1 movement at object is taken, and has waited until to take 1 at object,
Manipulator 3 is just put into commodity take 1 at object in go, then can be moved to the position of second commodity, grab commodity and to taking object
1 movement of place, waits again to taking 1 at object, just commodity is put into and take at object 1 to go ... ..., so repeatedly, wait take the last one
When commodity, manipulator 3 can be moved to position of readiness or stop standby with regard to this
The movement formula of this manipulator be Manipulator Controller 7 according to the order (order after payment) of customer purchase and
It automatically generates, so each movement formula of this manipulator 3 also Exactly-once.
In specific embodiment two, transmission is connected with lead screw between motor and guide rail, and such case is as follows:
Fixed horizontal guide sleeve 27 is installed on fixed horizontal guide rail 19, mobile and horizontal is installed on fixed horizontal guide sleeve 27 and is led
Rail 21, fixed horizontal guide rail motor 20, fixed horizontal guide sleeve 27 is connect with fixed horizontal guide rail motor 20 with screw and one starts shipment
It is dynamic, it is sequentially connected between fixed horizontal guide rail motor 20, fixed horizontal guide rail 19 with wire rod thread, is pacified on mobile and horizontal guide rail 21
Equipped with mobile and horizontal guide sleeve 28, mobile and horizontal guide rail motor 22, between mobile and horizontal guide rail motor 22 and mobile and horizontal guide rail 21
It is sequentially connected with wire rod thread, mobile and horizontal guide sleeve 28 is connect with screw with mobile and horizontal guide rail motor 22 and moved together, is moved
It moves and arm component 8 is installed on horizontal guide sleeve 28,8 lower part of arm component is equipped with multi-chamber negative pressure tip component 36, assimilating type
Take object clip assembly 37.The fixed horizontal guide rail 19, mobile and horizontal guide rail 21 are made of two poles, wherein a pole
Be equipped with the matched screw thread of drive motor, as the distance that the additional threaded pole of guide rail carrys out quantitative revolution is the same,
The fixed horizontal guide rail motor 20, mobile and horizontal guide rail motor 22 an external threaded driving member in its shaft,
The screw thread of the driving member is matched with guide rail screw thread, wherein pole be equipped with the matched screw thread of drive motor, have spiral shell
Threaded driving member is connected on the guide rail and motor of line with screw-driven.This mode lead screw does not rotate, and comes by motor rotation
Driving guide sleeve moves on guide rail, such as Fig. 7, and the screw thread on general motor 33 is matched with the screw thread 35 of general lead screw 31, general horse
Up on 33 fixed general guide sleeves 30, general lead screw 31 is placed in parallel with General guide rail 32, since motor lead screw guide rails are not special here
Refer to some, therefore use entitled general motor etc..
In specific embodiment three, this screw rod transmission is exactly that the shaft of motor and lead screw are fixed there are also another mode
Connection, lead screw is placed in parallel with guide rail, be provided on guide sleeve with the matched internal screw thread of lead screw external screw thread, guide sleeve and lead screw are with screw thread
Connection.This mode lead screw rotation is to drive guide sleeve to move on lead screw, and guide sleeve is not able to rotate, because there is other guide rail limit
System, connection relationship are as follows:
Fixed horizontal guide sleeve 27, fixed horizontal guide rail motor 20, fixed horizontal screw lead are installed on fixed horizontal guide rail 19,
The shaft of fixed horizontal guide rail motor 20 is fixedly connected with fixed horizontal screw lead with central axis, is fixed horizontal guide sleeve 27 and is fixed
Horizontal screw lead is threadedly coupled, and fixed horizontal guide rail 19 is placed in parallel with fixed horizontal screw lead, and fixed horizontal guide sleeve 27 is equipped with solid
Determine horizontal screw lead hole and fixed horizontal guide rail hole, fixed horizontal screw lead hole is equipped with and the fixed matched interior spiral shell of horizontal screw lead external screw thread
Line, fixed horizontal guide rail hole is non-threaded, and mobile and horizontal guide rail 21 is equipped on fixed horizontal guide sleeve 27, mobile and horizontal lead screw, is moved
Horizontal guide rail motor 22 is moved, mobile and horizontal guide sleeve 28, mobile and horizontal guide rail motor 22 and shifting are installed on mobile and horizontal guide rail 21
It is fixedly connected between dynamic horizontal screw lead with central axis, mobile and horizontal guide sleeve 28 is equipped with mobile and horizontal lead screw hole and mobile and horizontal is led
Rail hole, mobile and horizontal lead screw hole be equipped with the matched internal screw thread of mobile and horizontal lead screw external screw thread, mobile and horizontal guide rail hole is non-threaded,
Arm component 8 is installed on mobile and horizontal guide sleeve 28, such as Fig. 8, the outer spiral shell of internal screw thread and general lead screw 31 on general guide sleeve 30
Line 35 matches, and general lead screw 31 is placed with general motor 33 with central axis, and general lead screw 31 is placed in parallel with General guide rail 32,
Since motor lead screw guide rails are not specific to some here, therefore use entitled general motor etc..
The transmission effect of lead screw and belt be.So can be in fixed horizontal guide rail 19, shifting a manipulator
Inner selection 1 or 2 of dynamic horizontal guide rail 21 uses lead screw transmission form, i.e. there are two the kind of drive, mixing in a manipulator
, it is also possible.
In specific embodiment four, this manipulator can also have a barcode scanning function, and manipulator after commodity barcode scanning being known that
The type of the commodity, so that it may know the position to be placed of the commodity, product can also be gone to take shelf up like that, this
What sample can also be accomplished to return goods automatically, automatic goods loading (tally) can save some personnel's labour.In city, people live
Space it is small, there are many tools to buy and just do not have place to put, the time is also few, can thus develop shared economy, does
Shared shop, is placed on the commodity of the few tool of people usually etc here, people's barcode scanning takes use away, sweeps after being finished
Code is returned, and some expenses are collected in centre again.The use cost of people had not only been reduced in this way, but also reduced the waste of resource.This is also this
One scene of a manipulator application.
In specific embodiment five, all solenoid valves in embodiment can be replaced with cylinder, or with linear motion
Motor replaces.Suction nozzle solenoid valve 44, clip solenoid valve 51 especially in terminal of manipulator grasping mechanism 29, this kind of solenoid valve
It can be replaced with cylinder etc..
In specific embodiment six, mobile and horizontal guide rail 21 installs multiple mobile and horizontal guide sleeves 28, each mobile and horizontal guide sleeve
28 one arm component 8 of installation, all arm components 8 move together, or multiple arms are installed on mobile and horizontal guide sleeve 28
Component 8.
In specific embodiment seven, two of object clip assembly 37 are taken to press from both sides the clamping type in terminal of manipulator grasping mechanism 29
Son is replaced with two arm components 8, and can take bigger commodity in this way.
In specific embodiment eight, by the inner setting barcode scanning function of terminal of manipulator grasping mechanism 29, before taking to commodity first
Barcode scanning, so that it may know the merchandise news, can accomplish automatic goods loading.
Above-mentioned the case where being the occasion unmanned shop of manipulator and its application, it can be seen that this manipulator has following spy
Sign:
Preferably, the manipulator is for unmanned shop.
Preferably, the formula of the manipulator is the order according to consumer purchases goods and automatically generates.
Preferably, the formula of the manipulator is Exactly-once, is not repeated.
Preferably, the manipulator 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 7, that is, taking at object 1 is multiple fixations, it be first this multiple position
Parameter input is wanted to go in Manipulator Controller 7.
Preferably, the movement formula of manipulator is the formula of multi-to-multi, i.e., each article on multiple positions is taken up,
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 1 at object be solid
Fixed is constant.
Preferably, Manipulator Controller 7 includes networking module, processor module, memory module, processor module and connection
Net module, memory module are electrically connected, networking module and fixed horizontal guide rail motor 20, mobile and horizontal guide rail motor 22, machine
The inner solenoid valve of tool hand terminal grasping mechanism 29 or motor are electrically connected.
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 and horizontal guide sleeve 28 of manipulator mobile maximum distance L2 on mobile and horizontal guide rail 21,0.1
500 meters of < of < L2 of rice.
Preferably, the motor of manipulator is servo motor or stepper motor, the servo motor all band motor servo-drives
Device.
Preferably, the arm component 8 includes shoulder joint 38, elbow joint 39, wrist joint 40, multi-chamber negative pressure tip component
36, assimilating type takes object clip assembly 37, and shoulder joint 38 includes the joint connector 59 of shoulder joint, motor 60, shoulder joint in shoulder joint
Save lower motor 61, elbow joint 39 includes the joint connector 59 of elbow joint, motor 63, wrist under motor 62, elbow joint on elbow joint
Joint 40 includes motor 65 under motor 64, wrist joint on carpal joint connector 59, wrist joint, the joint connection of shoulder joint
Part 59 and motor 60, shoulder joint in shoulder joint get down from horse 61 up to connecting with screw, the joint connector 59 and elbow joint of elbow joint
Motor 63 is connected with screw under upper motor 62, elbow joint, and carpal joint connector 59 is closed with motor 64, wrist on wrist joint
Lower motor 65 is saved to connect with screw.
Preferably, the fixation horizontal guide rail motor 20 of manipulator and the non-concurrent movement of mobile and horizontal guide rail motor 22, that is, work as
The mobile stopping of horizontal guide rail motor 22 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.
Having the unmanned shop for using this manipulator to be generally divided into operating space and warehouse district, (customer cannot enter warehouse district
In go, can only be movable in operating space), all stick this in the commodity (commodity in operating space are not for sale) that operating space is put
The two dimensional code in shop, so as to customer's barcode scanning.Simultaneously the commodity (commodity in warehouse district can not paste two dimensional code) of warehouse district according to
Numerical value position in system is well placed, and when customer being allowed to buy these commodity well, manipulator can take these commodity to go out.
Customer comes into store operations area, wants to buy commodity, the equipment such as adept machine is swept to the two dimensional code for wanting to buy commodity, etc.
Want after buying commodity barcode scanning all, just pay the bill, at this moment manipulator is just instructed, and goes to take these commodity, all wait bought commodity
It 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 quotient away
After product, takes and return to original state at object automatically.
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 (9)
1. the mobile and horizontal guide rail of a kind of twin shaft single arm robot, the manipulator is arranged above pallet, which is characterized in that
Including fixed horizontal guide rail, fixed horizontal guide rail motor, mobile and horizontal guide rail, mobile and horizontal guide rail motor, fixed horizontal guide sleeve,
Mobile and horizontal guide sleeve, Manipulator Controller, arm component, wherein fixed horizontal guide sleeve is installed on fixed horizontal guide rail, it is fixed
Mobile and horizontal guide rail is installed on horizontal guide sleeve, mobile and horizontal guide sleeve is installed on mobile and horizontal guide rail, on mobile and horizontal guide sleeve
Arm component is installed, the mobile and horizontal guide rail on the fixed fixed horizontal guide sleeve of horizontal guide rail motor driving is in fixed horizontal guide rail
Upper movement, mobile and horizontal guide rail motor drives the arm component on mobile and horizontal guide sleeve to move on mobile and horizontal guide rail, described
Manipulator Controller automatically generates robot movement formula according to customer's order, and the Manipulator Controller generates movement formula
According to including weight, volume, length, the robot movement formula Exactly-once.
2. a kind of twin shaft single arm robot according to claim 1, which is characterized in that the mobile and horizontal of the manipulator is led
Rail mobile maximum distance L1,0.1 meter of 500 meters of < L1 < on fixed horizontal guide rail.
3. a kind of twin shaft single arm robot according to claim 1, which is characterized in that the mobile and horizontal of the manipulator is led
Cover the mobile maximum distance L2 on mobile and horizontal guide rail, 0.1 meter of 500 meters of < L2 <.
4. a kind of twin shaft single arm robot according to claim 1, which is characterized in that the fixation level of the manipulator is led
Rail motor and the non-concurrent movement of mobile and horizontal guide rail motor, the i.e. mobile horizontal guide rail motor when fixed horizontal guide rail motor movement
Stop, when mobile and horizontal guide rail motor movement, fixed horizontal guide rail motor stops.
5. a kind of twin shaft single arm robot according to claim 1, which is characterized in that the fixed horizontal guide rail of the manipulator
Position and warehouse district pallet position, to take the position between object be fixed.
6. a kind of twin shaft single arm robot according to claim 1, which is characterized in that the motor that the manipulator uses is
Servo motor or stepper motor, the servo motor all band motor servo-drivers.
7. a kind of twin shaft single arm robot according to claim 1, which is characterized in that the Manipulator Controller includes connection
Net module, processor module, memory module, processor module and networking module, memory module are electrically connected, networking module
It is electrically connected with solenoid valve or motor in fixed horizontal guide rail motor, mobile and horizontal guide rail motor, terminal of manipulator grasping mechanism.
8. a kind of twin shaft single arm robot according to claim 1, which is characterized in that the arm component includes shoulder joint
Section, elbow joint, wrist joint, multi-chamber negative pressure tip component, assimilating type take object clip assembly, and shoulder joint includes the joint of shoulder joint
Motor under motor, shoulder joint on connector, shoulder joint, elbow joint include the joint connector of elbow joint, motor, elbow on elbow joint
Motor under joint, wrist joint include carpal joint connector, motor, the pass of shoulder joint under motor, wrist joint on wrist joint
Section connector is connect with motor under motor, shoulder joint in shoulder joint with screw, on the joint connector and elbow joint of elbow joint
Motor is connected with screw under motor, elbow joint, and carpal joint connector and motor under motor, wrist joint on wrist joint are equal
It is connected with screw.
9. a kind of twin shaft single arm robot according to claim 1, which is characterized in that the arm component includes at least one
A joint, the joint include at least a motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/092120 WO2019242693A1 (en) | 2018-06-20 | 2019-06-20 | Single-armed manipulator |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810633458 | 2018-06-20 | ||
| CN2018106334589 | 2018-06-20 |
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| CN109719711A true CN109719711A (en) | 2019-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910192045.6A Pending CN109719711A (en) | 2018-06-20 | 2019-03-14 | A kind of twin shaft single arm robot |
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Application publication date: 20190507 |