CN110116899A

CN110116899A - A kind of manipulator of included shopping box

Info

Publication number: CN110116899A
Application number: CN201910200472.4A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Tai Hui Technology Co Ltd
Current assignee: Shenzhen Tai Hui Technology Co Ltd
Priority date: 2018-06-20
Filing date: 2019-03-16
Publication date: 2019-08-13

Abstract

The invention discloses a kind of manipulators of included shopping box, including fixed horizontal guide rail, fixed horizontal guide rail motor, mobile upright guide rail rotation motor, mobile and horizontal guide rail motor, mobile upright guide rail motor, mobile and horizontal guide rail, mobile upright guide rail, Manipulator Controller, terminal of manipulator grasping mechanism, fixed horizontal guide sleeve, mobile and horizontal guide sleeve, mobile vertical guide sleeve, shopping box assembly, horizontal guide rail motor driving mobile and horizontal guide rail is wherein fixed to move on fixed horizontal guide rail, mobile and horizontal guide rail motor drives mobile upright guide rail to move on mobile and horizontal guide rail, mobile upright guide rail motor-driven machine tool hand terminal grasping mechanism, shopping box assembly moves on mobile upright guide rail.Beneficial effect by adopting the above technical scheme is: designing a manipulator by copying the principle of chip mounter, commodity can be taken shopping box from shelf and poured into again taking from object to customer, store sales is made to be truly realized left unguarded.

Description

A kind of manipulator of included shopping box

Technical field

The present invention relates to unmanned store apparatus fields, more particularly to a kind of manipulator of included shopping box.

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

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 shelf, 3 indicate a kind of manipulator of included shopping box, and 4 indicate exchange manipulators, and 5 indicate the shopping box of exchange manipulators, 6 Indicate the electric rotating magnet valve or motor of exchange manipulator shopping box, 7 indicate the electric rotating magnet valve or motor of exchange manipulator hanging rod, 8 indicate exchange Manipulator Controller, and 9 indicate the electric rotating magnet valve or motor of a kind of manipulator hanging rod of included shopping box, 10 tables Show a kind of terminal of manipulator grasping mechanism of included shopping box.It can be seen that the unmanned store system is made of this several part, behaviour Make area (commodity will stick the two dimensional code and price of head store in operating space), (commodity strictly press institute's typing to warehouse district in warehouse district Put position), manipulator takes at object, the composition such as 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.

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 manipulators of included shopping box, solve unmanned shop and take automatically The problem of goods.

In order to solve the above-mentioned technical problem, the technical solution of the present invention is as follows: a kind of manipulator of included shopping box, it is described from The mobile and horizontal guide rail of manipulator with shopping box is arranged above pallet, the commodity that can be taken on multiple pallets, packet Fixed horizontal guide rail is included, fixation horizontal guide rail motor, mobile upright guide rail rotation motor, mobile and horizontal guide rail motor, moves and erects Straight guide motor, mobile and horizontal guide rail, mobile upright guide rail, Manipulator Controller, terminal of manipulator grasping mechanism, shopping box group Part is equipped with mobile and horizontal guide rail on fixed horizontal guide sleeve wherein being equipped with fixed horizontal guide sleeve on fixed horizontal guide rail, mobile Horizontal guide rail is equipped with mobile and horizontal guide sleeve, and mobile upright guide rail is equipped on mobile and horizontal guide sleeve, is pacified on mobile upright guide rail Equipped with the vertical guide sleeve of movement, terminal of manipulator grasping mechanism, fixed horizontal guide rail motor driving are installed on mobile vertical guide sleeve Mobile and horizontal guide rail moves on fixed horizontal guide rail, and mobile and horizontal guide rail motor drives mobile upright guide rail and shopping box assembly It is moved on mobile and horizontal guide rail, mobile upright guide rail motor-driven machine tool hand terminal grasping mechanism is moved up in mobile upright guide rail Dynamic, mobile upright guide rail rotation motor drives mobile upright guide rail rotation to exchange the crawl side of terminal of manipulator grasping mechanism Formula, the Manipulator Controller automatically generate robot movement formula according to customer's order, and the Manipulator Controller generates fortune The foundation of traverse formula includes position, weight, volume, length, the robot movement formula Exactly-once.

It is preferred:

The mobile and horizontal guide rail of manipulator mobile maximum distance L1,0.1 meter of < L1 < 500 on fixed horizontal guide rail Rice；

The mobile upright guide rail of the manipulator mobile maximum distance L2 on mobile and horizontal guide rail, 0.1 meter of < L2 < 500 Rice；

Terminal of manipulator grasping mechanism mobile maximum distance L3,0.1 meter of < L3 < 100 on mobile upright guide rail Rice.

It is further:

The mobile and horizontal guide rail of manipulator mobile maximum distance L1,0.1 meter of < L1 < 200 on fixed horizontal guide rail Rice；

The mobile upright guide rail of the manipulator mobile maximum distance L2 on mobile and horizontal guide rail, 0.1 meter of < L2 < 200 Rice；

Terminal of manipulator grasping mechanism mobile maximum distance L3,0.1 meter of 50 meters of < L3 < on mobile upright guide rail.

Further:

The mobile and horizontal guide rail of manipulator mobile maximum distance L1,5 meters of 20 meters of < L1 < on fixed horizontal guide rail；

The mobile upright guide rail of the manipulator mobile maximum distance L2 on mobile and horizontal guide rail, 5 meters of 20 meters of < L2 <；

Terminal of manipulator grasping mechanism mobile maximum distance L3,2 meters of 10 meters of < L3 < on mobile upright guide rail.

Again further:

The mobile and horizontal guide rail of manipulator mobile maximum distance L1,10 meters of < L1 < 15 on fixed horizontal guide rail Rice；

The mobile upright guide rail of the manipulator mobile maximum distance L2 on mobile and horizontal guide rail, 10 meters of < L2 < 15 Rice；

Terminal of manipulator grasping mechanism mobile maximum distance L3,3 meters of 5 meters of < L3 < on mobile upright guide rail.

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, mobile upright guide rail rotation motor, mobile upright guide rail motor and fixed horizontal guide rail motor can move simultaneously, move Dynamic upright guide rail rotation motor, mobile upright guide rail motor and mobile and horizontal guide rail motor can move simultaneously.

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, it is fixed that manipulator, which fixes the pallet of horizontal guide rail and warehouse district, takes the position between object,.

Preferably, it includes position, 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, and networking module and fixed horizontal guide rail motor, move mobile upright guide rail rotation motor Dynamic horizontal guide rail motor, mobile upright guide rail motor, suction nozzle solenoid valve, clip solenoid valve, shopping box solenoid valve, shopping box rotation Motor is electrically connected.

Preferably, the motor that manipulator uses is servo motor or stepper motor, the servo motor all band motor servos Driver.

Preferably, the shopping box assembly includes including shopping box, shopping box solenoid valve, shopping box guide sleeve, shopping box rotation Turn motor, shopping box connecting rod, shopping box hanging rod, shopping box guide sleeve is equipped with shopping box rotation motor, on shopping box rotation motor Shopping box hanging rod is installed, shopping box solenoid valve is installed on shopping box hanging rod, shopping box is installed on shopping box solenoid valve.

Preferably, the terminal of manipulator grasping mechanism includes that multi-chamber negative pressure tip component, clamping type take object clip group Part.

Beneficial effect by adopting the above technical scheme is: an included shopping is designed by copying the principle of chip mounter The manipulator that three guide rails of case are constituted is used in unmanned shop, commodity can be taken shopping box from shelf and pour into again taking object Place makes store sales be truly realized left unguarded to customer, and the mobile and horizontal guide rail of manipulator is arranged above pallet, can be with The commodity taken on multiple shelf, there is shopping box, just do not have to commodity of singly taking.

Detailed description of the invention

Fig. 1 is the unmanned shop warehouse district schematic drawing of the robot work of included shopping box.

Fig. 2 is the showcase schematic diagram of show area.

Fig. 3 is shelf partial sectional view.

Fig. 4 is the robot manipulator structure figure of included shopping box.

Fig. 5 is exchange manipulator structure chart.

Fig. 6 is the exploded view of multi-chamber negative pressure tip component；

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

Fig. 8 is the exploded view that clamping type takes object clip assembly；

Fig. 9 is unmanned shop master controller wiring schematic diagram；

Figure 10 is Manipulator Controller wiring schematic diagram；

Figure 11 is exchange Manipulator Controller wiring schematic diagram；

Figure 12 is the schematic diagram of motor and threads of lead screw transmission；

Figure 13 is the schematic diagram of guide sleeve and threads of lead screw transmission.

In figure, 1- is taken at object, 2- pallet, and 3- carries the manipulator of shopping box, and 4- exchanges manipulator, and 5- exchanges manipulator Shopping box, 6- exchange manipulator shopping box electric rotating magnet valve or motor, and 7- exchanges manipulator hanging rod electric rotating magnet valve or motor, 8- Manipulator Controller is exchanged, 9- exchanges the fixed horizontal guide rail of manipulator, and 10- exchange is mechanically fixed horizontal guide rail belt, 11- row It identifies, the mark of 12- column, 13- two dimensional code, 14- label, 15- briquetting, 16- ramp type slot, one section of horizontal part before 17- slot Point, the baffle part before 18- cargo slot, 19- fixes horizontal guide rail, the fixed horizontal guide rail motor of 20-, and 21- mobile and horizontal is led Rail, the mobile upright guide rail rotation motor of 22-, 23- multi-chamber negative pressure tip component, the mobile upright guide rail of 24-, 25- mobile and horizontal Guide rail motor, 26- clamping type take object clip assembly, the mobile upright guide rail motor of 27-, the fixed horizontal guide rail belt of 28-, 29- horse It is locked, 30- Manipulator Controller with the axis of movement herein up to belt, 31- terminal of manipulator grasping mechanism, 32- is fixed Horizontal guide rail shaft, 33- mobile and horizontal guide rail shaft, the mobile upright guide rail rotating shaft of 34-, the mobile upright guide rail shaft of 35-, The mobile vertical guide sleeve of 36-, the fixed horizontal guide sleeve of 37-, 38- mobile and horizontal guide sleeve, 39- mobile and horizontal guide rail belt, 40- are mobile perpendicular Straight guide belt, the mobile upright guide rail rotating belt of 41-, 42- flexible glue, 43- multi-cavity chamber body, 44- suction nozzle solenoid valve, 45- type core, 46- side plate, 47- guide rail sleeve fixed 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- suction nozzle mounting plate, 60- shopping box, 61- shopping box solenoid valve, 62- shopping box guide sleeve, 63- shopping box Rotation motor, 64- shopping box connecting rod, 65- shopping box hanging rod, the fixed horizontal guide rail 9 of 66- exchange manipulator will be fixed on herein On wall, 67- exchanges the fixed horizontal guide rail belt 10 of manipulator and exchange manipulator shopping box guide sleeve 68 is stuck herein, 68- Exchange manipulator shopping box guide sleeve, the fixed horizontal guide rail motor of 69- exchange manipulator, 70- shopping box assembly, the general guide sleeve of 71-, The general lead screw of 72-, 73- General guide rail, 74- general motor, 75- general motor shaft.

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 manipulator of included shopping box, the machinery is manually placed at the top of shop pallet 2, machine The mobile and horizontal guide rail 21 of tool hand is arranged above pallet 2, the commodity that can be taken on multiple pallets 2, including fixed water Level gauge 19, fixed horizontal guide rail motor 20, mobile upright guide rail rotation motor 22, mobile and horizontal guide rail motor 25, movement are perpendicular Straight guide motor 27, mobile and horizontal guide rail 21, mobile upright guide rail 24, Manipulator Controller 30, terminal of manipulator grasping mechanism 31, shopping box assembly 70, shopping box assembly 70 include shopping box 60, shopping box solenoid valve 61, shopping box guide sleeve 62, shopping box rotation Turn motor 63, shopping box connecting rod 64, shopping box hanging rod 65, wherein fixed horizontal guide sleeve 37 is installed on fixed horizontal guide rail 19, Mobile and horizontal guide rail 21 is installed, mobile and horizontal guide rail 21 is equipped with mobile and horizontal guide sleeve 38, shopping on fixed horizontal guide sleeve 37 Case guide sleeve 62 is equipped with mobile upright guide rail 24 on mobile and horizontal guide sleeve 38, and it is mobile vertical to be equipped on mobile upright guide rail 24 Guide sleeve 36 moves and is equipped with terminal of manipulator grasping mechanism 31 on vertical guide sleeve 36, and shopping box guide sleeve 62 is equipped with shopping box rotation Turn motor 63, shopping box hanging rod 65 is installed on shopping box rotation motor 63, shopping box solenoid valve is installed on shopping box hanging rod 65 61, shopping box 60 is installed, shopping box guide sleeve 62 and mobile and horizontal guide sleeve 38 are with shopping box connecting rod 64 on shopping box solenoid valve 61 It is connected and slides together, fixed horizontal guide rail motor 20 drives mobile and horizontal guide rail 21 to move on fixed horizontal guide rail 19, Mobile and horizontal guide rail motor 25 drives mobile upright guide rail 24 and shopping box 60 to move on mobile and horizontal guide rail 21, mobile vertical 27 driving manipulator terminal grasping mechanism 31 of guide rail motor moves on mobile upright guide rail 24, mobile upright guide rail rotation motor 22 drive the mobile rotation of upright guide rails 24 to exchange the grasp mode of terminal of manipulator grasping mechanism 31, Manipulator Controller 30 with Fixed horizontal guide rail motor 20, mobile upright guide rail rotation motor 22, mobile and horizontal guide rail motor 25, mobile upright guide rail motor 27, shopping box rotation motor 63,61 circuit connection of shopping box solenoid valve, the Manipulator Controller 30 are automatic according to customer's order Generate robot movement formula, 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 37, fixed horizontal guide rail motor 20, fixed horizontal guide rail are installed on fixed horizontal guide rail 19 Shaft 32 is cased with fixed horizontal guide rail belt 28, fixed water between fixed horizontal guide rail motor 20, fixed horizontal guide rail shaft 32 Level gauge belt 28 is connect with fixed horizontal guide sleeve 37 with screw, be equipped on fixed horizontal guide sleeve 37 mobile and horizontal guide rail 21, Mobile and horizontal guide rail motor 25, mobile and horizontal guide rail shaft 33, mobile and horizontal guide rail motor 25, mobile and horizontal guide rail shaft 33 it Between be cased with mobile and horizontal guide rail belt 39, mobile and horizontal guide rail belt 39 is connect with mobile and horizontal guide sleeve 38 with screw, mobile water Mobile and horizontal guide sleeve 38, shopping box guide sleeve 62 are installed on level gauge 21, movement is installed on mobile and horizontal guide sleeve 38 and is led vertically Rail 24, mobile upright guide rail motor 27, mobile upright guide rail rotation motor 22, mobile upright guide rail motor 27, movement are led vertically Mobile upright guide rail belt 40, mobile upright guide rail rotation motor 22 and mobile upright guide rail rotation are installed between rail shaft 35 Mobile upright guide rail rotating belt 41 is installed, mobile upright guide rail belt 40 and mobile vertical guide sleeve 36 are with spiral shell between shaft 34 Nail connection, mobile upright guide rail 24 are equipped with mobile vertical guide sleeve 36, mobile upright guide rail shaft 35, mobile upright guide rail rotation Shaft 34 moves and is equipped with terminal of manipulator grasping mechanism 31 on vertical guide sleeve 36, and shopping box guide sleeve 62 is equipped with shopping box rotation Turning motor 63, shopping box connecting rod 64, shopping box connecting rod 64 is connect with mobile and horizontal guide sleeve 38, shopping box guide sleeve 62 with screw, Shopping box hanging rod 65 is installed, shopping box is hung and is equipped with shopping box solenoid valve 61 on 65, shopping box electricity on object case rotation motor 63 Shopping box 60 is installed on magnet valve 61.

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

Mobile upright guide rail rotation motor 22 is arranged in the manipulator 3 of this included shopping box, mainly grabs terminal of manipulator It takes mechanism 31 to rotate in crawl commodity to be put into shopping box 60 and commodity, or is directly placed into and takes in 1 at object, Huo Zheyong To switch the grasp mode of terminal of manipulator grasping mechanism 31.Shopping box solenoid valve 61 mainly overturns shopping box 60, purchase Commodity in object case 60, which pour into, to be taken 1 at object, and shopping box rotation motor 63 mainly makes shopping box adjustment direction, keeps it convenient Commodity are poured into and are taken 1 at object.

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 37, fixed horizontal guide rail motor 20, fixed horizontal guide sleeve are installed on fixed horizontal guide rail 19 37 are connect with screw with fixed horizontal guide rail motor 20 and are moved together, fixed horizontal guide rail motor 20, fixed horizontal guide rail 19 Between be sequentially connected with wire rod thread, mobile and horizontal guide rail 21 is installed, on mobile and horizontal guide rail 21 on fixed horizontal guide sleeve 37 Mobile and horizontal guide sleeve 38, shopping box guide sleeve 62, mobile and horizontal guide rail motor 25, mobile and horizontal guide rail motor 25 and movement are installed It is sequentially connected between horizontal guide rail 21 with wire rod thread, shopping box guide sleeve 62, mobile and horizontal guide sleeve 38 and mobile and horizontal guide rail horse It is connected up to 25 with screw and is moved together, mobile upright guide rail 24, mobile upright guide rail rotation are installed on mobile and horizontal guide sleeve 38 Turn motor 22, mobile vertical guide sleeve 36, mobile upright guide rail motor 27, mobile upright guide rail are installed on mobile upright guide rail 24 Rotating shaft 34 is connected with screw between mobile upright guide rail motor 27, mobile upright guide rail 24 and is moved together, mobile vertical Mobile upright guide rail rotating belt 41 is installed between guide rail rotation motor 22 and mobile upright guide rail rotating shaft 34, it is mobile perpendicular Terminal of manipulator grasping mechanism 31 is installed on straight guide sleeve 36, shopping box guide sleeve 62 is equipped with shopping box rotation motor 63, object case Shopping box hanging rod 65 is installed, shopping box is hung and is equipped with shopping box solenoid valve 61, shopping box solenoid valve on 65 on rotation motor 63 Shopping box 60 is installed on 61.The fixed horizontal guide rail 19, mobile upright guide rail 24, mobile and horizontal guide rail 21 are by two circles Stick composition, 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 upright guide rail motor 27, mobile and horizontal guide rail motor 25 an external threaded driving member, institute in its shaft The screw thread for stating driving member is matched with guide rail screw thread, wherein pole be equipped with the matched screw thread of drive motor, have screw thread Guide rail and motor on threaded driving member connected with screw-driven.This mode lead screw does not rotate, and drives by motor rotation Dynamic guide bush movement.Such as Figure 12, the screw thread on general motor 74 is matched with the screw thread of general lead screw 72, and general motor 74 is solid with screw On fixed general guide sleeve 71, general lead screw 72 is placed in parallel with General guide rail 73, due to motor lead screw guide rails here be not specific to it is a certain It is a, therefore use entitled general motor 74 etc..The characteristics of this embodiment, does not rotate with regard to lead screw.

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, and guide sleeve is not able to rotate, because there is other guide rail limitation, connection relationship is as follows:

Fixed horizontal guide sleeve 37, 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 37 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 37 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 37, mobile and horizontal lead screw, is moved Horizontal guide rail motor 25 is moved, mobile and horizontal guide sleeve 38, shopping box guide sleeve 62 are installed on mobile and horizontal guide rail 21, mobile and horizontal is led It is fixedly connected between rail motor 25 and mobile and horizontal lead screw with central axis, shopping box guide sleeve 62, mobile and horizontal guide sleeve 38 are all provided with There are mobile and horizontal lead screw hole and mobile and horizontal guide rail hole, the two mobile and horizontal lead screw hole are equipped with and mobile and horizontal lead screw external screw thread Matched internal screw thread, the two mobile and horizontal guide rail holes are non-threaded, and mobile and horizontal guide sleeve 38, shopping box guide sleeve 62 are connected with shopping box Bar 64 links together and moves together, and shopping box guide sleeve 62 is equipped with shopping box rotation motor 63, on object case rotation motor 63 Shopping box hanging rod 65 is installed, shopping box is hung and is equipped with shopping box solenoid valve 61 on 65, and purchase is equipped on shopping box solenoid valve 61 Object case 60 is equipped with mobile upright guide rail 24, mobile upright guide rail rotation motor 22, mobile vertical thread on mobile and horizontal guide sleeve 38 Thick stick, mobile upright guide rail motor 27, mobile vertical lead screw is fixedly connected with mobile upright guide rail motor 27 with central axis, mobile Mobile vertical guide sleeve 36, mobile upright guide rail rotating shaft 34 are installed, mobile vertical guide sleeve 36, which is equipped with, to be moved on upright guide rail 24 Vertical lead screw hole and mobile upright guide rail hole are moved, mobile vertical lead screw hole is equipped with and the matched interior spiral shell of the vertical lead screw external screw thread of movement Line, mobile upright guide rail hole is non-threaded, pacifies between mobile upright guide rail rotation motor 22 and mobile upright guide rail rotating shaft 34 Equipped with mobile upright guide rail rotating belt 41, terminal of manipulator grasping mechanism 31 is installed on mobile vertical guide sleeve 36.Such as Figure 13, Internal screw thread on general guide sleeve 71 is matched with the general lead screw external screw thread of general lead screw 72, general lead screw 72 and general motor shaft 75 place with central axis, and general lead screw 72 is placed in parallel with General guide rail 73, since motor lead screw guide rails are not specific to certain here One, therefore use entitled general motor 74 etc..The characteristics of this embodiment, can be with general motor shaft 75 1 with regard to lead screw Play rotation.

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

In specific embodiment four, shopping box fall commodity mode it is different, shopping box solenoid valve 61 can should not, be arranged one Mechanism take the bottom cover of shopping box 60 can with horizontal direction away, and such shopping box 60 can also pour into commodity and take 1 at object.

In specific embodiment five, shopping box fall commodity mode it is different, shopping box solenoid valve 61 can should not, be arranged one Mechanism, overturns the bottom cover of shopping box 60 along a side, and such shopping box 60 can also pour into commodity and take 1 at object.

In specific embodiment six, shopping box guide sleeve 62 can also directly be connect with mobile and horizontal guide rail belt 39 with screw, Shopping box connecting rod 64 in this way can should not.

In specific embodiment seven, 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, shopping box electromagnetism especially in terminal of manipulator grasping mechanism 31 Valve 61, this kind of solenoid valve can be replaced with cylinder or with motor of linear motion etc..

In specific embodiment eight, object clip assembly 26 is taken to cancel the clamping type in terminal of manipulator grasping mechanism 31, only Retain multi-chamber negative pressure tip component 23, only draws commodity and commodity are taken with multi-chamber negative pressure tip component 23 and take 1 at object In go.

In specific embodiment nine, the multi-chamber negative pressure tip component 23 in terminal of manipulator grasping mechanism 31 is cancelled, only Retain clamping type and take object clip assembly 26, only takes object clip assembly 26 to clamp commodity and commodity are taken with clamping type and take 1 at object In go.

In specific embodiment ten, shopping box hanging rod rotation motor 63 is cancelled, and shopping box hanging rod 65 cannot rotate, then purchasing Object case 60 cannot adjustment direction.

In specific embodiment 11, shopping box guide sleeve 62 can also directly be done with mobile and horizontal guide sleeve 38 together, be merged , it may also be said to shopping box assembly 70 is mounted on mobile and horizontal guide sleeve 38, mobile and horizontal guide sleeve 38 and mobile and horizontal guide rail Belt 39 is connected with screw, and such shopping box connecting rod 64 can should not.

In specific embodiment 12, the cross section of guide rail can be non-circular such as rectangular diversified forms.

In specific embodiment 13, increase a barcode scanning mechanism in terminal of manipulator grasping mechanism 31, in crawl commodity Manipulator elder generation barcode scanning before, and know the type of the commodity, and can be automatically placed in somewhere, can thus it accomplish automatic It gets in stocks.

Key equipment in this unmanned shop is the manipulator of that included shopping box, the manipulator of three-dimensional motion, such as Fig. 4, wherein fixed horizontal guide rail 19 is sometimes with two or one, L1 indicates the mobile and horizontal guide rail 21 of manipulator fixed horizontal Mobile maximum distance on guide rail 19, L2 indicate that the mobile upright guide rail 24 of manipulator can move on mobile and horizontal guide rail 21 Dynamic maximum distance, L3 indicate terminal of manipulator grasping mechanism 31 on mobile upright guide rail 24 it is mobile it is maximum away from From.This manipulator mainly have fixed horizontal guide rail 19, mobile and horizontal guide rail 21, mobile this 3 big part of upright guide rail 24 with And terminal of manipulator grasping mechanism 31 takes the composition such as sucker or clip, shopping box of commodity, has a servo horse in each guide rail Up to (can also use other types of motor, mainly say servo motor here), belt or lead screw (measurement distance is used) share 3 A (some have 4 or more) servo motors and belt or lead screw (ratio with lead screw is with the more accurate of belt), purchase What object case guide sleeve 62 and the mobile upright guide rail 24 of manipulator were connected to, it moves together, naturally it is also possible to be arranged to transport respectively Dynamic, such mechanism will be complicated.The mobile distance of this manipulator is big longer than in chip mounter, moves in 3 axis 5 meters of 10 meters of 30 meters for having 50 meters of distance etc., it is, in general, that a fixed horizontal guide rail 19 it is fixed on the ground or On wall, generally the start position and manipulator horizontal movement X of robot movement can be determined topmost or bottom Axis direction and Y direction, that vertical direction are exactly Z axis, establish a coordinate system, then each commodity in this coordinate system (3 Dimension coordinate) it goes in inner coordinate input system, these coordinates will be within the scope of robot movement, the manipulator that cannot do It can't reach.Sometimes for space is saved, pallet height is until roof.Terminal of manipulator grasping mechanism 31 divides for clamping type and suction Modus ponens, clamping type are exactly to remove clamping commodity with the clip of manipulator, and assimilating type draws commodity by negative pressure, both are wanted According to different commodity come using, mineral water, the clamping type such as beer, instant noodles, the assimilating type such as biscuit.Work as controller After being connected to shopping information, Manipulator Controller 30 will issue the servo-driver of each motor and instruct, and each motor all can It rotates immediately, in Fig. 4, the X-direction movement of terminal of manipulator grasping mechanism 31 is the motor pulling shifting by note 19 Dynamic upright guide rail moves on mobile and horizontal guide rail 24 come what is realized, and the Y direction movement of terminal of manipulator grasping mechanism 31 is It pulls mobile and horizontal guide rail to move on fixed horizontal guide rail 19 by the motor of note 14 to realize, terminal of manipulator gripper The Z-direction movement of structure 31 is to pull terminal of manipulator grasping mechanism 31 to move up in mobile upright guide rail 24 by annotating 9 motor It moves to realize, by moving on these three directions, terminal of manipulator grasping mechanism 31 can be complete on the space for put commodity Covering ground is mobile, can reach the placement position of commodity, just take required commodity away and be sent in shopping box and go, be then sent to and take object Place is gone；There is mobile upright guide rail rotation motor 22 on 24 top of mobile upright guide rail of manipulator, is to take object for switching clamping type Object is taken with assimilating type；Clamping type, which takes in object clip assembly 26, a clip solenoid valve 51, is to realize clamping and release movement , clip solenoid valve 51 is connect with clip, and the flexible clip that just will drive of clip solenoid valve 51 is opened or is closed；Multi-chamber negative pressure is inhaled There is a suction nozzle solenoid valve 44 in head assembly 23, is to realize that generating negative pressure absorbing and release negative pressure release acts, suction nozzle electromagnetism Commodity and multi-chamber negative pressure tip component 23 are formed a closed space when valve 44 stretches, with suction nozzle solenoid valve 44 It stretching, confined space becomes larger, and pressure reduces in confined space, and commodity are just adsorbed on multi-chamber negative pressure tip component 23, this The function of a little solenoid valves can also be replaced with pneumatic cylinder, to realize the movement of absorption and clamping.

Small-sized shop, as soon as two manipulators, with regard to enough, but medium-sized shop and large-scale shop need several portions Manipulator shares, and after every manipulator is taken the commodity of oneself range in shopping box 60, just pours into the exchange of other machinery hand (this is called exchange manipulator 4, and the machinery that can be called included shopping box of commodity is taken from shelf in manipulator shopping box 5 Hand), after pouring into commodity in this exchange manipulator shopping box 5, can be moved to it is specified take 1 at object, and commodity are poured into and take object Locate 1 (60 commodity of shopping box that at this moment can also receive other manipulators pour into), such as Fig. 1.What exchange manipulator 4 was taken is a purchase Object chest, that than the manipulator 3 of included shopping box is big, in the shopping box 60 for catching the manipulator 3 of included shopping box well Commodity.When being over by goods for the manipulator 3 for carrying shopping box, commodity in its shopping box 60 are just poured into this exchange manipulator The manipulator 3 of shopping box 5, included shopping box just then goes to execute other orders, the quotient in exchange manipulator shopping box 5 Product are just taken by exchange manipulator 4 and are taken by object 1, then pour into that take at object 1 can.This exchange manipulator 4, such as Fig. 5, In 66 indicate that the fixed horizontal guide rails of exchange manipulators will be fixed on the wall herein, 10 indicate that the fixed levels of exchange manipulators are led Rail belt, 9 indicate the fixed horizontal guide rail of exchange manipulator, and 67 indicate that the fixed horizontal guide rail belt of exchange manipulator and exchange are mechanical Hand shopping box guide sleeve 68 is stuck herein, and 69 indicate the fixed horizontal guide rail motor of exchange manipulator, and 7 indicate exchange manipulator hanging rod Electric rotating magnet valve or motor, 5 indicate exchange manipulator shopping box, and 6 indicate exchange manipulator shopping box electric rotating magnet valve or motor, 68 indicate exchange manipulator shopping box guide sleeve, and 8 indicate that exchange Manipulator Controller, L indicate exchange manipulator shopping box guide sleeve 68 The mobile maximum distance on the fixed horizontal guide rail 9 of exchange manipulator.This exchange manipulator 4 is mainly this included purchase The distance that the manipulator 3 of object case cannot be walked is gone on, and is caught commodity in the shopping box 60 of the manipulator of included shopping box, is sent to and takes It is gone in 1 at object, wherein exchange manipulator hanging rod electric rotating magnet valve or motor 7 are for adjusting exchange 5 direction of manipulator shopping box 's.Manipulator fixed horizontal guide rail motor 69 is exchanged when work drives the fixed horizontal guide rail belt 10 of exchange manipulator to rotate, and hands over Change the fixed horizontal guide rail belt 10 of manipulator drives exchange manipulator shopping box guide sleeve 68 mobile again, to drive exchange manipulator Shopping box 5 is mobile, and exchange manipulator shopping box 5 has the electric rotating magnet valve or motor 6, Ke Yirang of exchange manipulator shopping box below Exchange manipulator shopping box 5, which pours into commodity, to be taken 1 at object.Since shelf are to place by rows, so in included shopping box 3 both ends of manipulator exchange manipulator 4 can be set, taking 1 at object as much can be set.

Multi-chamber negative pressure tip component 23 include flexible glue 42, multi-cavity chamber body 43, suction nozzle solenoid valve 44, type core 45, side plate 46, Guide rail sleeve fixed plate 47, suction nozzle mounting plate 59, wherein flexible glue 42 and multi-cavity chamber body 43 are integrally formed, and type core 45 is inserted into multi-cavity Closed chamber is formed after chamber body 43 with commodity, flexible glue 42 plays auxiliary seal, and multi-cavity chamber body 43 is provided with multi-chamber Body stomata 48, type core 45 are provided with air drain 49 and type core stomata 50, and air drain 49 is connected to type core stomata 50.When type core 45 be inserted into it is more When chamber body 43 and commodity are formed closed chamber, when suction nozzle solenoid valve 44 is shunk, type core stomata 50 and multi-cavity chamber body gas Hole 48 is staggered, and air not can enter, and negative pressure is formed, and the extraction of type core 45 is more, and negative pressure is bigger, and what commodity just adsorbed gets over Tightly.When suction nozzle solenoid valve 44 extends, negative pressure just becomes smaller, and commodity absorption is just loose, type core stomata 50 and multi-cavity chamber body stomata 48 contact, at this moment air is born just from multi-cavity chamber body stomata 48 to type core stomata 50 to the chamber closed to front again of air drain 49 Pressure just disappears.Here it is the working principles of multi-chamber negative pressure tip component 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 26, 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.

Manipulator 3 of this included shopping box be optimize in SMT equipment, but with SMT equipment and different, As mobile and horizontal guide rail 21 on fixed horizontal guide rail 19 mobile maximum distance L1, mobile upright guide rail 24 is in mobile and horizontal Mobile maximum distance L2 on guide rail 21, terminal of manipulator grasping mechanism on mobile upright guide rail 24 it is mobile it is maximum away from From L3 all than long in SMT, mobile maximum distance on horizontal guide rail 19 is fixed similar in SMT, in similar mobile water Mobile maximum distance is both less than 1.0 meters on level gauge 21, and similar mobile upright guide rail 24 is smaller, is less than 0.5 meter. Manipulator is longer than this, but also can be less than 200 meters.These three parameter (namely this machines of this manipulator in this shop Tool hand characteristic parameter) it is desirable, mobile maximum distance is greater than 0.1 meter and less than 500 meter on fixed horizontal guide rail, in movement Mobile maximum distance is greater than 0.1 meter and less than 500 meters on horizontal guide rail, in height can more dot, take 100 meters, therefore Mobile maximum distance is greater than 0.1 meter and less than 100 meter on mobile upright guide rail.But this manipulator be with SMT not With.

It is preferred:

Mobile and horizontal guide rail 21 mobile maximum distance L1,0.1 meter of 500 meters of < L1 < on fixed horizontal guide rail 19；

The mobile mobile maximum distance L2 on mobile and horizontal guide rail 21 of upright guide rail 24,0.1 meter of 500 meters of < L2 <；

Terminal of manipulator grasping mechanism 31 can move maximum distance L3,0.1 meter of < L3 < 100 on mobile upright guide rail 24 Rice.

It is further:

Mobile and horizontal guide rail 21 mobile maximum distance L1,0.1 meter of 200 meters of < L1 < on fixed horizontal guide rail 19；

The mobile mobile maximum distance L2 on mobile and horizontal guide rail 21 of upright guide rail 24,0.1 meter of 200 meters of < L2 <；

Terminal of manipulator grasping mechanism 31 mobile maximum distance L3,0.1 meter of < L3 < on mobile upright guide rail 24 50 meters.

Further:

The mobile and horizontal guide rail 21 of manipulator mobile maximum distance L1,5 meters of < L1 < on fixed horizontal guide rail 19 20 meters；

The mobile upright guide rail 24 of the manipulator mobile maximum distance L2 on mobile and horizontal guide rail 21,5 meters of < L2 < 20 meters；

Terminal of manipulator grasping mechanism 31 mobile maximum distance L3,2 meters of < L3 < 10 on mobile upright guide rail 24 Rice.

Again further:

Mobile and horizontal guide rail 21 mobile maximum distance L1,10 meters of 15 meters of < L1 < on fixed horizontal guide rail 19；

The mobile mobile maximum distance L2 on mobile and horizontal guide rail 21 of upright guide rail 24,10 meters of 15 meters of < L2 <；

Terminal of manipulator grasping mechanism 31 mobile maximum distance L3,3 meters of < L3 < 5 on mobile upright guide rail 24 Rice.

When only one manipulator of shop, the input of this data and the received controller of data and manipulator control Device 30, which can be made one, will not generally be made into one, but when there is multi-section manipulator in a shop, every manipulator has Oneself Manipulator Controller 30, but shop is inputted there are one data and the received controller of data, total controller, this Master controller will also distribute, coordinate the work of each manipulator.This master controller will be connected with cable network, be come to receive The merchandise news of automatic network has other purchase of equipment in communication cable and this shop (in addition to that can use mobile phone shopping again Outside, customer can also be done shopping by shopping apparatus other in operating space, and this equipment is connected with master controller inside shop, It can be also transmitted to master controller by the information of this equipment purchase commodity, can also complete shopping.This equipment is just called purchase Object equipment, customer buy commodity by it) it is connected, the shopping information from these equipment is received, all can be received in a word Shopping information in this shop, while the controller connection of this master controller other machinery hand in shop again, so as to energy The movement of these manipulators is controlled, is connected again with the computer in the shop, so that the administrator in this shop can look into time See information, sales situation；It to communicate, be managed for shop, replenish management, accounting etc. with the general headquarters, control centre of the said firm Data are provided, so this master controller will have many interfaces, interface such as Fig. 9, of the manipulator 3 of the included shopping box in figure Number is uncertain, it may be possible to one, be also possible to many, be not that draw in figure several be exactly several, wherein master controller It with the computer in the shop is connect with parallel interface, master controller with mster-control centre, the said firm is connect with Ethernet interface, Remaining is connected with serial line interface, and particularly this master controller has these modules, and networking module (can also add a WIFI module, bluetooth module), processor module, memory module, ethernet module, payment module, wherein networking module, blue Tooth module is to send information to each equipment for receiving；Ethernet module is connection outer net；Processor module is mainly used Coordinate resource in shop, arranges suitable manipulator that commodity is taken to go in suitably taking at object, calculate commodity price, complete commodity Sale；Memory module mainly stores position of the commodity in warehouse district, the data such as commodity price, so as to processor calling.When When one shopping apparatus has client operating, master controller networking module has received information, and master controller has been known that and this A equipment is classified as in use；When equal customers check after commodity have been selected with regard to proposition, networking module receives the information to be checked, this When master controller processor module just transfer memory module, just calculate cargo price total price preferential price etc., networking module is just Calculating to carry out information and issue the shopping apparatus；After equal customers check, networking module has received information, the processing of master controller Device module just transfers merchandise location information in memory module, and master controller networking module just issues this merchandise location information The manipulator 3 of included shopping box；After the manipulator 3 of included shopping box is just all taken commodity in the shopping box 60 of oneself, master control Device networking module processed sends information to exchange manipulator 4 and goes to exchange place；Networking module receives information, and exchange manipulator 4 is Exchange place is reached, the manipulator 3 that networking module sends information to included shopping box goes to exchange place and commodity are poured into exchange In manipulator shopping box 5, master controller networking module has received this information, and networking module notice exchange manipulator 4 It goes to take at object, and the manipulator of included shopping box 3 is classified as the free time；Deng exchange manipulator 4 to after taking 1 at object just commodity It pours into and takes in 1 at object, master controller networking module has received this information, and exchange manipulator 4 is classified as the free time, is networked simultaneously Module sends information to shopping apparatus customer and door can be opened；Customer selects to open door, networking module in shopping apparatus Information is just received, networking module just sends information solenoid valve, opens the door, and customer takes commodity away.Each manipulator has the control of oneself Device processed, controller 5 or more the movements of motor and the movement of several solenoid valves, such as Figure 10, the motor servo-drive in figure The number of device and solenoid valve is uncertain, it may be possible to one, be also possible to many, be not that draw in figure several be exactly several A, wherein 30 total interface of Manipulator Controller is all serial line interface, and is not no Ethernet interface, and there are also that electromagnetism Valve is mainly 31 release of terminal of manipulator grasping mechanism.Particularly this Manipulator Controller 30 has these modules, Networking module, processor module, memory module, processor module are mainly that reasonably optimizing takes object sequence, recall commodity storage Position data, sends instructions to motor servo-driver, and memory module mainly stores position of the commodity in warehouse district.When total Controller sends shopping information, and 3 networking module of manipulator for carrying shopping box receives information；It is suitable that processor module just optimizes picking Sequence, transfers memory module commodity storage position and the kinematic parameter of each moving component is worked it out and (when start to transport Dynamic, how much is movement)；These kinematic parameters are issued each moving component by networking module later, carry the manipulator 3 of shopping box just It goes to take commodity, since this manipulator has shopping box 60, so commodity first can be taken one by one for the machinery of included shopping box Hand shopping box 60 is waited commodity by being over, and networking module sends information, and master controller commodity is just told all to take oneself certainly In manipulator shopping box 60 with shopping box, master controller notes that exchange manipulator 4 goes to exchange place, and networking module receives letter Breath, exchange manipulator 4 reach exchange place, and the manipulator 3 of included shopping box just removes the machine behind exchange place included shopping box The commodity of the inside of tool hand shopping box 60 pour into exchange manipulator shopping box 5, such as Fig. 1.Each exchange manipulator has oneself Controller, controller 1 or more the movement of motor and the movement of several solenoid valves, such as Figure 11, and the motor servo in figure is driven The number of dynamic device and solenoid valve is uncertain, it may be possible to one, be also possible to many, be not that draw in figure several be exactly several It is a, it wherein exchange 8 total interface of Manipulator Controller is all serial line interface, and is not no Ethernet interface, there are also that Solenoid valve is mainly to exchange manipulator terminal rotating.Particularly this exchange Manipulator Controller 8 has these modules, Networking module, processor module, memory module, processor module, which mainly recalls, the storage location datas such as takes at object, sends It instructs and gives motor servo-driver, memory module mainly stores the position taken at object etc. in warehouse district.When exchange manipulator Networking module receives master controller and sends information, and the manipulator 3 of included shopping box has all been taken commodity；Processor module It just transfers the specified exchange place position in memory module and the kinematic parameter of each moving component is worked it out (what when Between setting in motion, movement how much)；These kinematic parameters are issued each moving component by networking module later, and exchange manipulator 4 is just Exchange place is moved to, waits networking modules to receive information and carry the manipulator 3 of shopping box and the commodity in its shopping box 60 is fallen After in exchange manipulator shopping box 5, exchange manipulator 4 just goes to take 1 at object, and the quotient of 5 the inside of exchange manipulator shopping box Product, which pour into, to be taken 1 at object；Networking module sends information, just tells master controller commodity all have been poured into take 1 at object, master controller is just Customer is notified to take commodity away.

The operation system of software in this shop can use Windows, can also use Android, can also use apple Mac OS, since this equipment, system only use in this store system, so this shop can also be with other small Operating system Linux, it might even be possible to which one operating system of self-developing is used, because this system is served only for this unmanned shop Interior, with the external world without file transmission exchange, there is no a files to be dealt into the case where other is not opened.A other unaccounted feelings Condition, situation about being specifically referred in chip mounter.

When the manipulator 3 of included shopping box is connected to the information that master controller is sent, that is, when order, just first analyze The sequencing of object is taken, thus can be completed to take object task with the distance most saved with so that some waste distances, because from Manipulator 3 with shopping box has shopping box 60, is just put into shopping box 60 after taking a commodity, so that it may directly go to take down one A commodity, and the commodity for not having to this to take are put into after going in taking 1 at object and take next commodity back again.It will be first It analyzes and takes object sequencing, seek to the Manipulator Controller 30 of included shopping box in various distances, carry shopping box That the smallest one kind of the distance to be walked of manipulator 3 find out, generate program, as included shopping box manipulator 3 as this It is secondary that object is taken to execute program.The generation of this robot movement formula is Manipulator Controller 30 first the sequencing for taking commodity Optimize, find out a kind of that sequence of minimal path, then this sequentially adds the instruction of each moving component just at one A movement formula.It can be seen that the execution program that shop carries the manipulator 3 of shopping box is automatically generated by customer purchase order , and Exactly-once.

Pallet 2 is put by rows in warehouse district, and the machinery is manually placed at the upper of shop pallet 2 The mobile and horizontal guide rail 21 of side, manipulator is arranged above pallet 2, the commodity that can be taken on multiple pallets 2, manipulator It moves back and forth between shelves, so can be arranged at the both ends of the fixation horizontal guide rail 19 of the manipulator 3 of included shopping box One operating space can be arranged and take at object 1 to use for customer, and both sides effect function is just as, and also just has more one in this way Times take 1 at object.That can also make some showcases in operating space, the commodity newly arrived to customer recommendation, commodity newly developed with And publicity of Discount Promotion etc..How many commodity taken away in each position system, also how many this kind of commodity, has all been real-time The record of update.What this system can be used in mixed way with other systems.If the mobile and horizontal guide rail 21 of manipulator is set It sets below pallet 2, the commodity of two pallets 2 then manipulator can only take, three or more pallets 2 cannot be taken Goods.

The manipulator in this shop is different from manipulator industrially, and manipulator industrially generally takes object to have Position is fixed, and there is certain sequence in the position for placing article, or take that there is certain sequence in the position of object and place Position be fixed, and the manipulator in shop takes the position of object and the position of placement is not fixed, is wanted with customer It asks and becomes, the position for placing article is that have certain sequence.The movement of industry mechanical arm be arranged every time after be it is duplicate, have Repeatability, an action mode can do several days some months or several years, and this manipulator is then different, and movement all may every time , can also be identical with the difference of last time, its movement is decided by the type of consumer purchases goods, as long as an order is different, Its movement is just different, and each order is exactly the formula of a movement, each order Exactly-once operation, it may also be said to each Secondary manipulator of checking just operates once.The generation of this robot movement formula is Manipulator Controller first the elder generation for taking commodity Sequential optimization once, finds out a kind of that sequence of minimal path, then this sequentially adds the instruction of each moving component just afterwards At a movement formula.Key is that the order of customer will digitize, and can be passed in Manipulator Controller 30 in time and go shape At a formula, meanwhile, the commodity in warehouse, which are put, will also digitize, and the type of commodity and position will will also input corresponding to well It is gone in Manipulator Controller 30, input digitized in this way, manipulator just can accurately be taken according to digitized order To commodity.The fixation horizontal guide rail 19 of the manipulator 3 of this included shopping box, pallet 2, the commodity on shelf, take at object 1 with And to be fixed to each other between the fixed horizontal guide rail 68 of exchange manipulator of exchange manipulator 4, it secures, the opposite position between them It sets and just secures, the manipulator 3 of included shopping box takes the parameter of object that would not become, and manipulator each in this way can be executed accurately Task.Generally the manipulator 3 of each included shopping box, pallet 2, the relative position between 1 etc. at object is taken to be used with iron bar Screw is fixed under lock and key, accomplishes to standardize, and multiple store datas want identical, convenient for management, operation.

As soon as these manipulators all come with a shopping box 60, then not having to take commodity one by one.This manipulator The method that automatically generates of movement formula, is exactly arranged rule according to the feature of commodity, these features have weight, volume, length, Commodity position, commodity in shop are numbered etc. in system.It is usually arranged as: when commodity weight is greater than N1 kilograms or working as quotient When product volume is greater than N2 cubic centimetres when commodity length is greater than N3 centimetres, these commodity, which need to take one by one, to be taken 1 at object Or other places or be put into after shopping box 60 to pour into again and take 1 at object, when commodity weight is less than N1 kilograms and commodity volume is less than N2 Cubic centimetre and commodity length be less than N3 centimetres when, at this moment first commodity can be taken in shopping box 60, then taken together again It takes at object 1 to taking at object 1 and pouring into or takes other places, and this multiple commodity sequencing is according to commodity in shop Position optimizes, and shortest that in path that manipulator takes goods to be walked is calculated, as robot movement formula.This The movement formula of a manipulator is the order (order after payment) according to customer purchase and automatically generates, so the manipulator Each movement formula Exactly-once.Manipulator Controller 30 is also assessed to being put into commodity in shopping box 60, a shopping Case 60 can not load, and is just divided into and filling twice, and first fill the big commodity of a part of weight according to weight priority.

It is put into commodity in a shopping box 60 together for multiple, it is also possible that setting: usual situation can be set to (value of M and L are specifically set according to shop conditions):

When weight is greater than or equal to M kilograms, using weight as sort by, weight it is big first take shopping box 60；

When weight is less than M kilograms, using length as sort by, length length first takes shopping box 60；

Wherein when length is greater than or equal to L centimetres, using length as sort by, length it is big first take shopping box 60；

It is bulky first to take shopping box 60 using volume as sort by when length is less than L centimetres；

It is bulky first to take shopping box using volume as sort by wherein when volume is greater than or equal to V cubic centimetres 60；

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

Certainly, manipulator can not have to shopping box 60 to fill commodity, only take commodity with manipulator crawl terminal mechanism 31, So at this moment formula of manipulator are as follows: the movement formula generation of this manipulator in this way is exactly another sample, and this manipulator is taken Commodity are all commodity to be taken to take 1 at object one by one, or take elsewhere, and when there is multiple commodity, this is multiple Commodity picking must have a sequence, must there is a method or rule for sequence.Manipulator Controller 30 determines method or rule, in this way Manipulator can automatically generate picking formula.This method rule can be with goods themselves such as the weight, volume, length of commodity Number in system of feature or commodity, position be used as according to sorting, these rules are input to after system goes, when having When order, Manipulator Controller 30 will according to order, automatically generate execute this order movement formula, manipulator just according to The movement of this formula all takes out commodity to be put into taking at object or other places.This rule can be arranged in a crossed manner, e.g., when weight When amount is greater than N kilograms, at this moment using weight as sort by, big first the taking of weight is gone in taking at object, in order to avoid subsequent commodity It damages by pressure；When weight is less than N kilograms (N value can adjust setting in system), at this moment just using volume as sort by, first Bulky commodity are taken take at object in go for those durable consumer goods, can first take and take at object, those food etc. be easy Broken commodity 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 30 can automatically generate movement formula, be the essential step for realizing really unmanned shop.The length of the commodity refers to commodity Three sizes of length, width and height in full-size.

When manipulator is connected to order, manipulator is just according to order according to rule generation formula in system, with regard to slave The current position of tool hand 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, machine Tool hand 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 1 at object Movement waits again to taking 1 at object, and just commodity are put into and take at object 1 to go ... ..., so repeatedly, wait take the last one commodity When, manipulator can be moved to position of readiness or stop standby with regard to this

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

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

Above-mentioned the case where being the occasion unmanned shop of the manipulator 3 of included shopping box and its application, it can be seen that this from Manipulator 3 with shopping box has following characteristics:

The manipulator 3 of the included shopping box is for unmanned shop.

The manipulator 3 of the included shopping box is that the information of acquisition commodity is by mobile phone plane plate computer, and speech recognition is set Standby and other input information equipments and be input to master controller and forward.

The movement formula of the manipulator 3 of the included shopping box is that Manipulator Controller 30 is given birth to automatically according to customer's order At.

The formula of the manipulator 3 of the included shopping box is Exactly-once, is not repeated.

The manipulator 3 of the included shopping box take object position be multiple fixations position, and it is first that this is multiple Location parameter input is wanted to go in Manipulator Controller 30.

The position of the placement commodity of manipulator 3 of the included shopping box is the position of multiple fixations, and will be first this What the input of multiple location parameters was wanted to go in Manipulator Controller 30, that is, taking at object 1 is multiple fixations, it is first that this is more What the input of a location parameter was wanted to go in Manipulator Controller 30.

Preferably, the movement formula for carrying the manipulator 3 of shopping box is the formula of multi-to-multi, i.e., every on multiple positions A article takes up, and can be put into any one position of multiple and different positions up.

The position of the fixation horizontal guide rail 19 of the manipulator 3 of the included shopping box be with the pallet 2 of warehouse district and Taking between 1 at object is the constant of fixation.

Preferably, the mobile and horizontal guide rail 21 for carrying the manipulator 3 of shopping box is mobile on fixed horizontal guide rail 19 Maximum distance L1,0.1 meter of 500 meters of < L1 <.

Preferably, the mobile upright guide rail 24 for carrying the manipulator 3 of shopping box is mobile on mobile and horizontal guide rail 21 Maximum distance L2,0.1 meter of 500 meters of < L2 <.

Preferably, the manipulator for carrying shopping box grabs the mobile maximum on mobile upright guide rail 24 of terminal mechanism 31 Distance L3,0.1 meter of 100 meters of < L3 <.

The motor of the manipulator 3 of the included shopping box is servo motor.

The manipulator 3 of the included shopping box is that have an included shopping box 60.

The manipulator crawl terminal mechanism 31 and shopping box 60 of the manipulator 3 of the included shopping box move together.

Preferably, there are a electric rotating magnet valve or rotation horse on the shopping box hanging rod 65 of the manipulator 3 of the included shopping box Up to 63.

Preferably, a electric rotating magnet valve 61 or rotation motor are arranged at 60 bottom of shopping box.

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

Preferably, Manipulator Controller 30 include networking module, processor module, memory module, processor module with Networking module, memory module are electrically connected, networking module and fixed horizontal guide rail motor 20, mobile upright guide rail rotation motor 22, mobile and horizontal guide rail motor 25, mobile upright guide rail motor 27, suction nozzle solenoid valve 44, clip solenoid valve 51, shopping box electromagnetism Valve 61, shopping box rotation motor 63 are electrically connected.

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

1. the mobile and horizontal guide rail of a kind of manipulator of included shopping box, the manipulator of the included shopping box is arranged in pallet Top, which is characterized in that including fixed horizontal guide rail, fixed horizontal guide rail motor, mobile upright guide rail rotation motor, mobile water Level gauge motor, mobile upright guide rail motor, mobile and horizontal guide rail, mobile upright guide rail, Manipulator Controller, terminal of manipulator Grasping mechanism, shopping box assembly are equipped on fixed horizontal guide sleeve wherein being equipped with fixed horizontal guide sleeve on fixed horizontal guide rail Mobile and horizontal guide rail, mobile and horizontal guide rail are equipped with mobile and horizontal guide sleeve, mobile upright guide rail are equipped on mobile and horizontal guide sleeve, Mobile vertical guide sleeve is installed on mobile upright guide rail, terminal of manipulator grasping mechanism is installed on mobile vertical guide sleeve, it is fixed Horizontal guide rail motor drives mobile and horizontal guide rail to move on fixed horizontal guide rail, and the driving of mobile and horizontal guide rail motor is mobile vertical Guide rail and shopping box assembly move on mobile and horizontal guide rail, and mobile upright guide rail motor-driven machine tool hand terminal grasping mechanism exists It is moved on mobile upright guide rail, mobile upright guide rail rotation motor drives mobile upright guide rail rotation to grab to exchange terminal of manipulator The grasp mode of mechanism is taken, the Manipulator Controller automatically generates robot movement formula, the machinery according to customer's order The foundation that hand controls generates movement formula includes position, weight, volume, length, and the robot movement formula only carries out one It is secondary.

2. a kind of manipulator of included shopping box according to claim 1, which is characterized in that the mobile water of the manipulator Level gauge mobile maximum distance L1,0.1 meter of 500 meters of < L1 < on fixed horizontal guide rail.

3. a kind of manipulator of included shopping box according to claim 1, which is characterized in that the movement of the manipulator is perpendicular The straight guide mobile maximum distance L2 on mobile and horizontal guide rail, 0.1 meter of 500 meters of < L2 <.

4. a kind of manipulator of included shopping box according to claim 1, which is characterized in that the terminal of manipulator crawl Mechanism mobile maximum distance L3,0.1 meter of 100 meters of < L3 < on mobile upright guide rail.

5. a kind of manipulator of included shopping box according to claim 1, which is characterized in that the manipulator is fixed horizontal The pallet of guide rail and warehouse district, to take the position between object be fixed.

6. a kind of manipulator of included shopping box according to claim 1, which is characterized in that the horse that the manipulator uses Up to for servo motor or stepper motor.

7. a kind of manipulator of included shopping box according to claim 1, which is characterized in that the Manipulator Controller packet Networking module, processor module, memory module are included, processor module and networking module, memory module are electrically connected, networking Module and fixed horizontal guide rail motor, mobile upright guide rail rotation motor, mobile and horizontal guide rail motor, mobile upright guide rail horse It reaches, suction nozzle solenoid valve, clip solenoid valve, shopping box solenoid valve, shopping box rotation motor are electrically connected.

8. a kind of manipulator of included shopping box according to claim 1, which is characterized in that the shopping box assembly includes Including shopping box, shopping box solenoid valve, shopping box guide sleeve, shopping box rotation motor, shopping box connecting rod, shopping box hanging rod, shopping Case guide sleeve is equipped with shopping box rotation motor, and shopping box hanging rod is equipped on shopping box rotation motor, is installed on shopping box hanging rod There is shopping box solenoid valve, shopping box is installed on shopping box solenoid valve.

9. a kind of manipulator of included shopping box according to claim 1, which is characterized in that the terminal of manipulator crawl Mechanism includes that multi-chamber negative pressure tip component, clamping type take object clip assembly.