CN116986190B - Bar code-based unmanned commodity super-advancing and selling inventory management system - Google Patents
Bar code-based unmanned commodity super-advancing and selling inventory management system Download PDFInfo
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- CN116986190B CN116986190B CN202311248479.6A CN202311248479A CN116986190B CN 116986190 B CN116986190 B CN 116986190B CN 202311248479 A CN202311248479 A CN 202311248479A CN 116986190 B CN116986190 B CN 116986190B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/08—Adjustable and/or adaptable to the article size
Abstract
The invention belongs to the technical field of supergoods management systems of unmanned merchants, in particular to a bar code-based supermarket stock management system of the unmanned merchants, which comprises a goods conveying sliding rail and a sales stock management system, wherein the goods conveying sliding rail is paved at the indoor top of the supermarket of the unmanned merchants, the lower end of the goods conveying sliding rail is open, the sales stock management system is used for realizing management action on goods sales, and a rotating mechanism for realizing rotation action on the clamping angle of goods, a clamping and adjusting mechanism for realizing clamping action on goods with different sizes and a manipulator for realizing double clamping action on the goods are sequentially arranged below the goods conveying sliding rail from top to bottom. This unmanned merchant goes beyond to sell stock management system based on bar code through setting up the manipulator, can realize carrying out dual centre gripping's effect to commodity goods, and the manipulator is carrying out dual centre gripping to the goods through the cooperation of side direction pivoted plate and bottom pivoted plate to the in-process of goods centre gripping from the both sides and the bottom direction of goods.
Description
Technical Field
The invention relates to the technical field of unmanned commodity super-goods management systems, in particular to a bar code-based unmanned commodity super-sales stock management system.
Background
The unmanned super-market has no salesmen, and shopping and payment are completed by customers by self-service: firstly, through an image recognition technology, an unmanned merchant performs rapid facial feature recognition and identity verification on a consumer to finish 'face brushing and store entering'; secondly, through article identification and tracking technology, and combining with consumer behavior identification, unmanned merchant can judge settlement intention of consumers, and finally through intelligent gate, thereby completing 'non-inductive payment'.
In the business process, when the corresponding commodity on the commodity shelf is sold out, the existing commodity supplementing mode is generally as follows: after the business is stopped at night by the unmanned merchant, the special store manager enters the store, and the goods are uniformly replenished to the goods shelf manually according to the selling condition of the goods on the goods shelf, but the goods replenishing mode is slow in goods replenishing, so that consumers are easy to experience worse, and due to the fact that the night working is tired than the daytime working, the store manager is easy to go out errors in the night goods replenishing process, and labor cost investment is large.
Disclosure of Invention
Based on the technical problems that the existing goods supplementing mode of the unmanned commodity is slow, the experience of consumers is poor easily, and due to the fact that the night work is tired compared with the day work, store manager is prone to error in the process of supplementing goods at night, and labor cost investment is large, the invention provides the bar code-based stock management system for the unmanned commodity.
The invention provides a bar code-based unmanned commodity super-sales stock management system, which comprises a cargo conveying sliding rail and a sales stock management system, wherein the cargo conveying sliding rail is paved at the top of an unmanned commodity super-room, the lower end of the cargo conveying sliding rail is in an opening shape, the sales stock management system is used for realizing management actions on cargo sales states, and a rotating mechanism for realizing rotating actions on the clamping angles of cargoes, a clamping adjusting mechanism for realizing clamping actions on cargoes with different sizes and a manipulator for realizing double clamping actions on cargoes are sequentially arranged below the cargo conveying sliding rail from top to bottom.
The rotary mechanism comprises a rotary motor and a driving gear, and the rotary motor drives the driving gear to rotate and then drives the clamping and adjusting mechanism and the manipulator to circularly move by taking the axis of the driven gear as the center of a circle.
The clamping and adjusting mechanism comprises an adjusting motor, a left displacement block and a right displacement block, wherein the adjusting motor drives the left displacement block and the right displacement block to perform folding or separating actions along the length direction of the goods conveying sliding rail, and further the clamping actions of the mechanical arm on goods with different sizes are conveniently realized.
The manipulator comprises a lateral rotating plate and a bottom rotating plate, and the manipulator is used for realizing double clamping actions on goods from two sides and the bottom direction of the goods through the cooperation of the lateral rotating plate and the bottom rotating plate in the process of clamping the goods.
Preferably, the stock management system for the goods in and out is composed of a goods bar code, a goods selling and cashing platform, a controller, a comparison analysis module and a database, wherein after the goods selling and cashing platform finishes scanning the goods bar code, the goods data information corresponding to the goods bar code is fed back to the controller, the controller sends the processed goods data information to the comparison analysis module, the comparison analysis module firstly calls quantitative data of the goods in the database, secondly carries out comparison analysis on the quantitative data information called from the database and the processed goods data information, finally feeds back an analysis result analyzed by the comparison analysis module to the controller, the controller controls the manipulator to walk along the inner wall of the goods conveying sliding rail, and conveys the goods to be supplemented to the corresponding goods shelves through the manipulator according to the position information of the goods bar code, so that the actions of automatically supplementing the goods are realized.
Preferably, tooth grooves which are symmetrically distributed are formed in the inner walls of two sides of the goods conveying sliding rail, tooth sleeves are meshed with the inner walls of the tooth grooves, travelling wheels driven by a motor are fixedly sleeved on the inner walls of the tooth sleeves, lifting cylinders are mounted on the outer surfaces of mandrels of the travelling wheels, mounting blocks are fixedly connected to one ends of piston rods of the lifting cylinders, connecting rods are mounted on the axis positions of the lower surfaces of the mounting blocks through bearings, driven meshing grooves meshed with driving gears are formed in the outer surfaces of the connecting rods, and mounting frames of guide grooves are formed in the bottoms of the bottom end fixedly connected with the connecting rods.
Preferably, the rotating motor is fixedly arranged on the lower surface of the mounting block, the output shaft of the rotating motor is fixedly provided with a rotating shaft through a coupler, the driving gear is fixedly arranged on the outer surface of the rotating shaft, the rotating mechanism further comprises a supporting frame arranged on the lower surface of the mounting block, one end of the rotating shaft is arranged at the axle center of the supporting frame through a bearing, and the lower surface of the supporting frame is fixedly provided with a rotary encoder connected with the bottom end of the rotating shaft.
Preferably, the clamping and adjusting mechanism further comprises a driving bevel gear, the adjusting motor is fixedly arranged on the lower surface of the mounting frame, an adjusting shaft is fixedly arranged on an output shaft of the adjusting motor through a coupler, the driving bevel gear is fixedly arranged on the outer surface of the adjusting shaft, a fixing plate in a U shape is fixedly arranged on the lower surface of the mounting frame, a transmission shaft is arranged at the axis of the fixing plate through a bearing, and a driven bevel gear meshed with the driving bevel gear is fixedly arranged on the outer surface of the transmission shaft, which is positioned on the inner side of the fixing plate.
Preferably, the clamping shafts which are symmetrically distributed are arranged below the mounting frame through bearings, left-handed thread grooves and right-handed thread grooves are respectively formed in two ends of the surface of the clamping shaft with the center as a boundary, and transmission motion is realized between the transmission shaft and the clamping shaft through a chain transmission mechanism.
Preferably, the inner wall of the left displacement block is in threaded sleeve joint with the inner wall of the left-handed thread groove, the inner wall of the right displacement block is in threaded sleeve joint with the inner wall of the right-handed thread groove, and the outer surfaces of the left displacement block and the right displacement block are in sliding sleeve joint with the inner wall of the guide groove at the bottom of the mounting frame.
Preferably, the manipulator further comprises a connecting plate, the two connecting plates are respectively arranged on the lower surfaces of the left displacement block and the right displacement block, the lower surfaces of the connecting plates are respectively connected with a lateral clamping cylinder and a bottom clamping cylinder which are distributed in a staggered symmetrical mode through pin shafts in a rotating mode, the two lateral clamping cylinders are located between the two bottom clamping cylinders, the lower surfaces of the connecting plates are respectively and fixedly provided with a lateral supporting plate and a bottom supporting plate, and the two lateral supporting plates are located on the outer sides of the two bottom supporting plates.
Preferably, the bottom touch switch for controlling the rotation angle of the bottom rotating plate is fixedly installed on the inner walls of two sides of the bottom supporting plate, the bottom touch switch is electrically connected with the bottom clamping cylinder, a connecting shaft is rotationally sleeved at the axle center of the lateral supporting plate, the four bottom rotating plates are rotationally sleeved at two corresponding ends of the connecting shaft respectively in a symmetrical mode in a group, one end of a piston rod of each bottom clamping cylinder is rotationally sleeved with one end of each bottom rotating plate respectively through a pin shaft, the connecting shaft is fixedly sleeved with a bottom rotating limiting plate which is symmetrically distributed on the outer surface of the outer side of the bottom rotating plate, and the four bottom rotating plates are fixedly installed with bottom clamping jaws on the lower surfaces of the bottom rotating plates in a group through bolts.
Preferably, the middle end surface of the connecting shaft is rotatably sleeved with a connecting sleeve through a bearing, four lateral rotating plates are symmetrically sleeved at two corresponding two connecting sleeve ends respectively in a pair mode, one end of a piston rod of each lateral clamping cylinder is rotatably sleeved with one end of each lateral rotating plate through a pin shaft, the middle end surface of the connecting sleeve is fixedly sleeved with a lateral rotating limiting plate, the inner side inner wall of each lateral supporting plate is fixedly provided with a limiting frame, the surface of each limiting frame is fixedly provided with a lateral touch switch for controlling the rotating angle of each lateral rotating plate, the lateral touch switches are electrically connected with the corresponding lateral clamping cylinders, the lower surfaces of the corresponding lateral rotating plates in a pair of the lateral rotating plates are fixedly provided with lateral clamping jaws through bolts respectively, and one ends of piston rods of the corresponding lateral clamping cylinders are rotatably sleeved with one ends of the corresponding two lateral rotating plates through pin shafts respectively.
The beneficial effects of the invention are as follows:
1. through setting up rotary mechanism, can realize receiving the centre gripping angle to commodity goods and realize rotating, and then make things convenient for the manipulator to carry out better centre gripping to commodity goods, have the advantage that the centre gripping is stable, the reliability is high.
2. Through setting up clamping adjustment mechanism, can realize the effect of centre gripping to not unidimensional goods, do the action of folding or separating along the length direction of goods transport slide rail through accommodate motor drive left displacement piece and right displacement piece, and then so that the manipulator realizes the centre gripping to not unidimensional goods.
3. Through setting up the manipulator, can realize carrying out dual centre gripping's effect to commodity goods, the manipulator is at the in-process to the goods centre gripping, through the cooperation of side direction pivoted board and bottom pivoted board, carries out dual centre gripping to the goods from both sides and the bottom direction of goods.
Drawings
FIG. 1 is a schematic diagram of a bar code based unmanned supermarket inventory management system;
FIG. 2 is a perspective view of a cargo conveying skid configuration of a bar code based unmanned superlift inventory management system;
FIG. 3 is a perspective view of a road wheel configuration of a bar code based unmanned superlift inventory management system;
FIG. 4 is a perspective view of a tooth slot configuration of a bar code based unmanned superlift inventory management system;
FIG. 5 is a perspective view of the adjustment shaft configuration of a bar code based unmanned superlift inventory management system;
FIG. 6 is a perspective view of the adjustment motor configuration of a bar code based unmanned superlift inventory management system;
FIG. 7 is a perspective view of the drive shaft configuration of a bar code based unmanned superlift inventory management system;
FIG. 8 is a perspective view of a connecting sleeve structure of a bar code based unmanned supermarket inventory management system;
FIG. 9 is a perspective view of a bottom rotational limit plate structure of a bar code based unmanned superlift inventory management system.
In the figure: 1. a cargo conveying slide rail; 2. a rotating electric machine; 201. a rotation shaft; 202. a rotary encoder; 3. a drive gear; 4. adjusting a motor; 401. a drive bevel gear; 402. an adjusting shaft; 403. a fixing plate; 404. a transmission shaft; 405. a driven bevel gear; 406. a clamping shaft; 407. a chain transmission mechanism; 5. a left shift block; 6. a right displacement block; 7. a lateral rotation plate; 701. a connecting plate; 702. a lateral clamping cylinder; 703. a bottom clamping cylinder; 704. a lateral support plate; 705. a bottom support plate; 706. a bottom touch switch; 707. a connecting shaft; 708. the bottom rotates a limiting plate; 709. a bottom jaw; 7010. connecting sleeves; 7011. laterally rotating the limiting plate; 7012. a limiting frame; 7013. a lateral touch switch; 7014. a lateral jaw; 8. a bottom rotating plate; 9. a commodity bar code; 10. goods are sold out of the cashier platform; 11. a controller; 12. a contrast analysis module; 13. a database; 14. tooth slots; 15. a tooth sleeve; 16. a walking wheel; 17. a lifting cylinder; 18. a mounting block; 19. a connecting rod; 20. a driven engagement groove; 21. and (5) mounting a frame.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-9, an unmanned commodity super-sales stock management system based on bar codes comprises a cargo conveying slide rail 1 and a sales stock management system, wherein the cargo conveying slide rail 1 is paved at the top of an unmanned commodity super-room, the lower end of the cargo conveying slide rail is in an opening shape, the sales stock management system is used for realizing management actions on cargo sales states, and a rotating mechanism for realizing rotating actions on the clamping angles of cargoes, a clamping adjusting mechanism for realizing clamping actions on cargoes with different sizes and a manipulator for realizing double clamping actions on cargoes are sequentially arranged below the cargo conveying slide rail 1 from top to bottom.
The rotary mechanism comprises a rotary motor 2 and a driving gear 3, and the rotary motor 2 drives the driving gear 3 to rotate and then drives the clamping and adjusting mechanism and the manipulator to circularly move by taking the axis of the driven gear as the center of a circle.
The clamping and adjusting mechanism comprises an adjusting motor 4, a left displacement block 5 and a right displacement block 6, wherein the adjusting motor 4 drives the left displacement block 5 and the right displacement block 6 to perform folding or separating actions along the length direction of the goods conveying sliding rail 1, and further the clamping actions of the mechanical arm on goods with different sizes are conveniently realized.
Wherein, the manipulator includes side direction pivoted board 7 and bottom pivoted board 8, and the manipulator is at the in-process to the goods centre gripping, through the cooperation of side direction pivoted board 7 and bottom pivoted board 8, realizes dual centre gripping action to the goods from both sides and the bottom direction of goods.
Further, the stock and stock management system is composed of a commodity bar code 9, a commodity selling and cashing platform 10, a controller 11, a comparison analysis module 12 and a database 13, after the commodity selling and cashing platform 10 scans the commodity bar code 9, commodity data information corresponding to the commodity bar code 9 is fed back to the controller 11, the controller 11 sends the processed commodity data information to the comparison analysis module 12, the comparison analysis module 12 firstly retrieves quantitative data of the commodity in the database 13, secondly, the quantitative data information retrieved from the database 13 and the processed commodity data information are subjected to comparison analysis, finally, an analysis result analyzed by the comparison analysis module 12 is fed back to the controller 11, the controller 11 controls a manipulator to walk along the inner wall of the commodity conveying slide rail 1, and according to position information of the commodity bar code 9, the commodity to be supplemented is transported to a corresponding commodity shelf through the manipulator, and further, the action of automatically supplementing the commodity is achieved.
Further, in order to realize that the manipulator stably walks in the goods conveying slide rail 1, tooth grooves 14 which are symmetrically distributed are formed in the inner walls of the two sides of the goods conveying slide rail 1, tooth sleeves 15 are meshed with the inner walls of the tooth grooves 14, the tooth sleeves 15 are made of natural rubber, the natural rubber is a natural polymer compound which takes cis-1, 4-polyisoprene as a main component, 91% -94% of the natural rubber is rubber hydrocarbon cis-1, 4-polyisoprene, the rest is non-rubber substances such as protein, fatty acid, ash and sugar, the natural rubber is universal rubber which is the widest in application, walking wheels 16 which are driven by motors are fixedly sleeved on the inner walls of the tooth sleeves 15, the friction force between the tooth grooves 14 and the walking wheels 16 is increased through the cooperation of the walking wheels 16 and the tooth sleeves 15, the stable walking of the walking wheels 16 is realized in the goods conveying slide rail 1, a lifting cylinder 17 is mounted on the outer surface of a mandrel of the walking wheels 16, a mounting block 18 is fixedly connected with one end of a piston rod of the lifting cylinder 17, the lifting cylinder 17 drives the mounting block 18 to realize lifting movement along the vertical direction of the lifting cylinder 17, further facilitates the manipulator to realize clamping and transportation, a driven connecting rod 19 is mounted on the bottom surface of the mounting bracket 19 through a driving connecting rod 19, and a driven connecting rod 19 is meshed with the bottom of a driving connecting rod 20 through a driving connecting rod 19, and a circle center of a driving connecting rod 20 is meshed with a driving connecting rod 20.
Further, in order to realize providing the actuating source to rotary mechanism, rotary motor 2 fixed mounting is at the lower surface of installation piece 18, set up rotary motor 2 and play the effect that provides the actuating source to rotary mechanism, the output shaft of rotary motor 2 has rotation axis 201 through shaft coupling fixed mounting, driving gear 3 fixed mounting is in the surface of rotation axis 201, rotary motor 2 converts the electric energy into mechanical energy, the driving gear 3 on drive rotation axis 201 and rotation axis 201 surface rotates, driving gear 3 realizes the meshing with driven meshing groove 20 after, drive mounting bracket 21, the centre gripping adjustment mechanism who is located mounting bracket 21 below and manipulator use the axle center of connecting rod 19 to realize circular motion as the centre of a circle, and then make things convenient for the manipulator to carry out stable centre gripping to commodity, rotary mechanism still includes the support frame of installing at installation piece 18 lower surface, the one end of rotation axis 201 passes through the axle center department installation of bearing and support frame, the lower surface fixed mounting of support frame has the rotary encoder 202 who is connected with the rotation axis 201 bottom, through the cooperation of rotary encoder 202 and rotation axis 201, the real-time detection is realized to the operational rotation axis 201, and then realize controlling to the rotation angle realization of manipulator, in addition, can also adopt by worm wheel 2 to realize circular motion mechanism through worm 21 through worm wheel mechanism, the worm that the drive mechanism is located in the worm 21 is realized to the advantage of the manipulator in this application: the self-locking property of the worm and gear mechanism is utilized to prevent the reverse rotation of the mounting frame 21 in the rotating process.
Through setting up rotary mechanism, can realize receiving the centre gripping angle to commodity goods and realize rotating, and then make things convenient for the manipulator to carry out better centre gripping to commodity goods, have the advantage that the centre gripping is stable, the reliability is high.
Further, in order to facilitate clamping of commodities of different sizes, the clamping and adjusting mechanism further comprises a driving bevel gear 401, an adjusting motor 4 is fixedly arranged on the lower surface of the mounting frame 21, the adjusting motor 4 is arranged to provide a driving source for the clamping and adjusting mechanism, an adjusting shaft 402 is fixedly arranged on an output shaft of the adjusting motor 4 through a coupler, the driving bevel gear 401 is fixedly arranged on the outer surface of the adjusting shaft 402, the adjusting motor 4 converts electric energy into mechanical energy to drive the driving bevel gear 401 to rotate circumferentially by taking the axis of the adjusting shaft 402 as a center, a fixing plate 403 in a U shape is fixedly arranged on the lower surface of the mounting frame 21, a transmission shaft 404 is arranged at the axis of the fixing plate 403 through a bearing, a driven bevel gear 405 meshed with the driving bevel gear 401 is fixedly arranged on the outer surface of the inner side of the transmission shaft 404, and after the adjusting motor 4 drives the driving bevel gear 401 to mesh with the driven bevel gear 405, the transmission shaft 404 is driven to rotate circumferentially by taking the axis of the transmission shaft 404 as the center.
Further, in order to realize power transmission, a clamping shaft 406 which is symmetrically distributed is installed below the mounting frame 21 through a bearing, a left-handed thread groove and a right-handed thread groove are respectively formed at two ends of the surface of the clamping shaft 406 with the center as a boundary, transmission motion is realized between the transmission shaft 404 and the clamping shaft 406 through a chain transmission mechanism 407, and the chain transmission mechanism 407 is a transmission mode for transmitting motion and power of a driving sprocket with a special tooth shape to a driven sprocket with a special tooth shape through a chain; the chain drive 407 has many advantages, such as no elastic slip or slip, accurate average gear ratio, reliable operation, and high efficiency, compared to belt drive; the transmission power is high, the overload capacity is high, and the transmission size under the same working condition is small; the required tension is small, and the pressure acting on the shaft is small; can work in severe environments such as high temperature, humidity, dustiness, pollution and the like.
Further, in order to guide the movement direction of the left displacement block 5 and the right displacement block 6, the inner wall of the left displacement block 5 is in threaded sleeve connection with the inner wall of the left-handed thread groove, the inner wall of the right displacement block 6 is in threaded sleeve connection with the inner wall of the right-handed thread groove, the outer surfaces of the left displacement block 5 and the right displacement block 6 are in sliding sleeve connection with the inner wall of the bottom guide groove of the mounting frame 21, the movement direction of the left displacement block 5 and the movement direction of the right displacement block 6 are guided through the cooperation of the left-handed thread groove, the right displacement block 6, the right-handed thread groove and the bottom guide groove of the mounting frame 21, after the driving bevel gear 401 is driven by the adjusting motor 4 to be meshed with the driven bevel gear 405, the driving shaft 404 is driven to rotate, power is transmitted to the clamping shafts 406 at two sides of the driving shaft 404 through the chain transmission mechanism 407, the clamping shafts 406 rotate around the axes of the clamping shafts 406, and then the left displacement block 5 and the right displacement block 6 are driven to perform folding or separating motion along the length direction of the clamping shafts 406 through the positive and negative rotation of the adjusting motor 4.
Through setting up clamping adjustment mechanism, can realize the effect of centre gripping to not unidimensional goods, do on the length direction of goods transport slide rail 1 through accommodate motor 4 drive left displacement piece 5 and right displacement piece 6 and fold or separate the action, and then so that the manipulator realizes the centre gripping to not unidimensional goods.
Further, in order to realize dual clamping to commodity, the manipulator still includes connecting plate 701, two connecting plates 701 are installed respectively at the lower surface of left displacement piece 5 and right displacement piece 6, the lower surface of connecting plate 701 is rotated respectively through the round pin axle and is connected with side direction grip cylinder 702 and bottom grip cylinder 703 that are dislocation symmetry form distribution, set up side direction grip cylinder 702 and bottom grip cylinder 703 and play the effect that provides the power supply to the manipulator, wherein two side direction grip cylinder 702 are located between two bottom grip cylinder 703, the lower surface of connecting plate 701 is fixed mounting respectively has side direction backup pad 704 and bottom backup pad 705, wherein two side direction backup pads 704 are located the outside of two bottom backup pads 705.
Further, in the process of clamping the bottom of the commodity by the manipulator, in order to avoid the condition that the commodity is damaged by clamping, bottom touch switches 706 for controlling the rotation angle of bottom rotating plates 8 are fixedly installed on the inner walls of two sides of a bottom supporting plate 705, the bottom touch switches 706 are electrically connected with bottom clamping cylinders 703, connecting shafts 707 are rotationally sleeved at the axes of the lateral supporting plates 704, four bottom rotating plates 8 are rotationally sleeved at two ends of the corresponding connecting shafts 707 in a symmetrical mode in a group mode, one ends of piston rods of the two bottom clamping cylinders 703 are rotationally sleeved with one ends of the two bottom rotating plates 8 respectively through pin shafts, bottom rotating limiting plates 708 which are symmetrically distributed are fixedly sleeved on the outer surfaces of the connecting shafts 707, bottom clamping jaws 709 are fixedly installed on the lower surfaces of the four bottom rotating plates 8 in a group mode through bolts, and when the bottom clamping cylinders 703 extend out, the bottom rotating plates 8 and the bottom clamping cylinders 709 are driven to take the axes of the connecting shafts 707 as circle centers, an arc-shaped picking action from outside to inside is realized, and further an upward supporting effect is realized on the bottom of the commodity, and the bottom rotating limiting plates 708 are in contact with the bottom clamping jaws 706 in a required control process of the rotation angle;
when the bottom clamping cylinder 703 contracts, the bottom rotating plate 8 and the bottom clamping jaw 709 are driven to take the axis of the connecting shaft 707 as the center of a circle, so that an arc-shaped releasing action from inside to outside is realized, and further, the effect of releasing the support and supporting to the bottom of the commodity is realized, at the moment, the bottom rotating limiting plate 708 is contacted with the bottom touch switch 706, and the effect of controlling the required rotating angle of the bottom clamping jaw 709 in the commodity releasing process is realized.
Further, in the process of clamping two sides of a commodity by a manipulator, in order to avoid the condition that the commodity is damaged by clamping, the middle end outer surface of the connecting shaft 707 is rotationally sleeved with the connecting sleeve 7010 through a bearing, the bottom clamping cylinder 703 drives the bottom clamping jaw 709 to clamp the commodity, the connecting sleeve 7010 cannot rotate together under the action of the bearing, further, the condition that motion interference occurs is avoided, the four lateral rotating plates 7 are rotationally sleeved at two ends of the corresponding two connecting sleeves 7010 in a symmetrical mode in a group mode, one end of a piston rod of the two lateral clamping cylinders 702 is rotationally sleeved with one end of one of the two lateral rotating plates 7 through a pin shaft, the middle end outer surface of the connecting sleeve 7010 is fixedly sleeved with the lateral rotating limiting plate 7011, the inner side wall of the lateral supporting plate 704 is fixedly provided with the limiting frame 7012, the surface of the limiting frame 7012 is fixedly provided with the lateral touch switch 7013 for controlling the rotating angle of the lateral rotating plate 7, the lateral touch switch 7013 is electrically connected with the lateral clamping cylinder 702, the lower surfaces of the four lateral rotating plates 7 in a group are fixedly provided with the lateral clamping plates 7014 through bolts, and one end of the two lateral clamping plates 702 are sleeved with one end of the piston rod of the two lateral clamping plates 702 respectively.
Through setting up the manipulator, can realize carrying out dual centre gripping's effect to commodity goods, the manipulator is at the in-process to the goods centre gripping, through the cooperation of side direction pivoted plate 7 and bottom pivoted plate 8, carries out dual centre gripping to the goods from the both sides and the bottom direction of goods.
Working principle: when the unmanned commodity is out of business, the commodity selected and purchased by a consumer in the unmanned commodity is scanned and cashed through the commodity cash-out and cashing platform 10, after the commodity barcode 9 is scanned by the commodity cash-out and cashing platform 10, commodity data information corresponding to the commodity barcode 9 is fed back to the controller 11, the controller 11 sends the processed commodity data information to the contrast analysis module 12, the contrast analysis module 12 firstly invokes quantitative data of the commodity in the database 13, secondly, the quantitative data information invoked from the database 13 and the processed commodity data information are subjected to contrast analysis, finally, the analysis result analyzed by the contrast analysis module 12 is fed back to the controller 11, the controller 11 controls the manipulator to walk along the inner wall of the commodity conveying slide rail 1, and according to the position information of the commodity barcode 9, the commodity which needs to be supplemented is transported to the corresponding commodity shelf through the manipulator, and further, the action of automatically supplementing the commodity is realized, and in addition, the quantitative data in the database 13 means that: the goods placed on each goods shelf have a corresponding fixed quantity, and when the quantity of the sold goods is lower than the percentage of the quantitative data in the database 13, the controller 11 controls the manipulator to work;
the specific process of automatically supplementing cargoes by the mechanical arm is as follows:
the motor drives the travelling wheel 16 to rotate by taking the axle center of the mandrel as the circle center, and drives the tooth sleeve 15 sleeved on the surface of the travelling wheel 16 to be meshed with the tooth grooves 14 on the inner walls of the two sides of the goods conveying sliding rail 1, so as to drive the rotating mechanism, the clamping and adjusting mechanism and the manipulator to realize travelling motion along the inner walls of the goods conveying sliding rail 1, wherein the friction between the tooth grooves 14 and the travelling wheel 16 is increased by the cooperation of the travelling wheel 16 and the tooth sleeve 15, so that the travelling wheel 16 can stably walk in the goods conveying sliding rail 1;
step three, the lifting cylinder 17 is completely extended, the mounting block 18 is driven to move downwards along the height direction of the lifting cylinder 17, the lateral clamping cylinder 702 is extended, the lateral rotating plate 7 and the lateral clamping jaw 7014 are driven to rotate in an arc shape from outside to inside by taking the axle center of the connecting shaft 707 as the center of a circle, clamping is realized on two sides of a commodity, and at the moment, the lateral rotating limiting plate 7011 is contacted with the lateral touch switch 7013, so that the effect of controlling the rotation angle required by the lateral clamping jaw 7014 in the commodity clamping process is realized;
the bottom clamping cylinder 703 extends out to drive the bottom rotating plate 8 and the bottom clamping jaw 709 to take the axis of the connecting shaft 707 as the center of a circle, so that an arc-shaped shoveling action from outside to inside is realized, and further, an upward supporting effect is realized on the bottom of the commodity, at the moment, the bottom rotating limiting plate 708 is contacted with the bottom touch switch 706, the effect of controlling the required rotating angle of the bottom clamping jaw 709 in the commodity clamping process is realized, and further, double clamping of the commodity is completed;
step four, the mechanical arm conveys the clamped commodity to the corresponding commodity shelf according to the position information of the commodity bar code 9 through the cooperation of the mechanical arm, the cargo conveying sliding rail 1, the travelling wheel 16 driven by a motor and the tooth sleeve 15, and the commodity starts to be released;
the bottom clamping cylinder 703 contracts to drive the bottom rotating plate 8 and the bottom clamping jaw 709 to take the axle center of the connecting shaft 707 as the center of a circle, so as to realize an arc-shaped release action from inside to outside, further realize the effect of releasing the support and the support on the bottom of the commodity, and at the moment, the bottom rotating limiting plate 708 is contacted with the bottom touch switch 706 to realize the effect of controlling the required rotating angle of the bottom clamping jaw 709 in the commodity release process;
the lateral clamping cylinder 702 contracts to drive the lateral rotating plate 7 and the lateral clamping jaw 7014 to rotate in an arc shape from inside to outside by taking the axle center of the connecting shaft 707 as the center of a circle, so that release action is realized on the commodity, at the moment, the lateral rotating limiting plate 7011 contacts with the lateral touch switch 7013, the effect of controlling the required rotating angle of the lateral clamping jaw 7014 in the commodity release process is realized, and further automatic replenishment of the commodity is completed;
step five, after the driving bevel gear 401 and the driven bevel gear 405 are driven by the adjusting motor 4 to be meshed, the driving bevel gear 401 and the driven bevel gear 405 are driven to rotate, power is transmitted to the clamping shafts 406 located on two sides of the driving shaft 404 through the chain transmission mechanism 407, so that the clamping shafts 406 rotate around the self axle centers, and further the left displacement block 5 and the right displacement block 6 are driven to perform folding or separating actions along the length direction of the clamping shafts 406 through forward and reverse rotation of the adjusting motor 4, and therefore the mechanical arm is convenient to clamp commodities with different sizes.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (1)
1. The utility model provides an unmanned merchant goes beyond to sell stock management system based on bar code, is open-ended goods transport slide rail (1) and is used for realizing the business turn over to sell stock management system of management action, its characterized in that including laying at the indoor top of unmanned merchant super and lower extreme: the lower part of the goods conveying sliding rail (1) is sequentially provided with a rotating mechanism for realizing the rotating action of the clamping angle of the goods, a clamping adjusting mechanism for realizing the clamping action of the goods with different sizes and a manipulator for realizing the double clamping action of the goods from top to bottom;
the rotary mechanism comprises a rotary motor (2) and a driving gear (3), and the rotary motor (2) drives the driving gear (3) to rotate and then drives the clamping and adjusting mechanism and the manipulator to circularly move by taking the axis of the driven gear as the circle center;
tooth grooves (14) which are symmetrically distributed are formed in the inner walls of two sides of the goods conveying sliding rail (1), tooth sleeves (15) are meshed with the inner walls of the tooth grooves (14), travelling wheels (16) driven by a motor are fixedly sleeved on the inner walls of the tooth sleeves (15), lifting cylinders (17) are mounted on the outer surfaces of mandrels of the travelling wheels (16), mounting blocks (18) are fixedly connected to one ends of piston rods of the lifting cylinders (17), connecting rods (19) are mounted on the axis positions of the lower surfaces of the mounting blocks (18) through bearings, driven meshing grooves (20) meshed with driving gears (3) are formed in the outer surfaces of the connecting rods (19), and mounting frames (21) with guide grooves are formed in the bottoms of the bottom ends of the connecting rods (19) in a fixedly connected mode;
the clamping and adjusting mechanism comprises an adjusting motor (4), a left displacement block (5) and a right displacement block (6), wherein the adjusting motor (4) drives the left displacement block (5) and the right displacement block (6) to perform folding or separating actions along the length direction of the goods conveying sliding rail (1), so that the mechanical arm can conveniently clamp goods with different sizes;
the mechanical arm comprises a lateral rotating plate (7) and a bottom rotating plate (8), and double clamping actions are realized on the goods from the two sides and the bottom direction of the goods through the matching of the lateral rotating plate (7) and the bottom rotating plate (8) in the process of clamping the goods;
the manipulator further comprises a connecting plate (701), wherein the two connecting plates (701) are respectively arranged on the lower surfaces of the left displacement block (5) and the right displacement block (6), lateral clamping cylinders (702) and bottom clamping cylinders (703) which are distributed in a staggered symmetrical mode are respectively connected to the lower surfaces of the connecting plates (701) in a rotating mode through pin shafts, the two lateral clamping cylinders (702) are located between the two bottom clamping cylinders (703), lateral supporting plates (704) and bottom supporting plates (705) are respectively fixedly arranged on the lower surfaces of the connecting plates (701), and the two lateral supporting plates (704) are located on the outer sides of the two bottom supporting plates (705);
the bottom touch switch (706) for controlling the rotation angle of the bottom rotating plate (8) is fixedly mounted on the inner walls of the two sides of the bottom supporting plate (705), the bottom touch switch (706) is electrically connected with the bottom clamping air cylinder (703), a connecting shaft (707) is rotationally sleeved at the axle center of the lateral supporting plate (704), four bottom rotating plates (8) are rotationally sleeved at the two ends of the corresponding connecting shafts (707) in a symmetrical mode in a group mode, one ends of piston rods of the two bottom clamping air cylinders (703) are rotationally sleeved with one ends of the two bottom rotating plates (8) respectively through pin shafts, bottom rotating limiting plates (708) which are symmetrically distributed are fixedly sleeved on the outer surfaces of the connecting shafts (707), and bottom clamping claws (709) are fixedly mounted on the lower surfaces of the four bottom rotating plates (8) in a group mode through bolts;
the outer surface of the middle end of the connecting shaft (707) is rotationally sleeved with a connecting sleeve (7010) through a bearing, four lateral rotating plates (7) are symmetrically sleeved at two ends of the corresponding two connecting sleeves (7010) in a group in a rotating mode, one end of a piston rod of each lateral clamping cylinder (702) is rotationally sleeved with one end of each lateral rotating plate (7) through a pin shaft, the outer surface of the middle end of each connecting sleeve (7010) is fixedly sleeved with a lateral rotating limiting plate (7011), the inner side inner wall of each lateral supporting plate (704) is fixedly provided with a limiting frame (7012), the surface of each limiting frame (7012) is fixedly provided with a lateral touch switch (7013) for controlling the rotating angle of each lateral rotating plate (7), each lateral touch switch (7013) is electrically connected with each lateral clamping cylinder (702), the lower surfaces of each group of the four lateral rotating plates (702) are fixedly provided with lateral clamping jaws (7014) through bolts, and one end of each lateral clamping cylinder (702) is fixedly sleeved with one end of each piston rod of each lateral rotating plate (7) through a pin shaft;
the commodity sales management system comprises a commodity bar code (9), a commodity sales cashing platform (10), a controller (11), a comparison analysis module (12) and a database (13), wherein after the commodity sales cashing platform (10) scans the commodity bar code (9), commodity data information corresponding to the commodity bar code (9) is fed back to the controller (11), the controller (11) sends the processed commodity data information to the comparison analysis module (12), the comparison analysis module (12) firstly calls quantitative data of the commodity in the database (13), secondly compares the quantitative data information obtained from the database (13) with the processed commodity data information, finally feeds back an analysis result analyzed by the comparison analysis module (12) to the controller (11), controls a manipulator to walk along the inner wall of a commodity conveying sliding rail (1) according to the position information of the commodity bar code (9), and conveys the commodity which needs to be supplemented to the corresponding commodity storage rack through a manipulator, so that automatic commodity supplementing action is realized;
the clamping and adjusting mechanism further comprises a drive bevel gear (401), the adjusting motor (4) is fixedly arranged on the lower surface of the mounting frame (21), an output shaft of the adjusting motor (4) is fixedly provided with an adjusting shaft (402) through a coupler, the drive bevel gear (401) is fixedly arranged on the outer surface of the adjusting shaft (402), a U-shaped fixing plate (403) is fixedly arranged on the lower surface of the mounting frame (21), a transmission shaft (404) is arranged at the axis of the fixing plate (403) through a bearing, and a driven bevel gear (405) meshed with the drive bevel gear (401) is fixedly arranged on the outer surface of the transmission shaft (404) positioned on the inner side of the fixing plate (403);
clamping shafts (406) which are symmetrically distributed are arranged below the mounting frame (21) through bearings, left-handed thread grooves and right-handed thread grooves are respectively formed in two ends of the surface of the clamping shaft (406) with the center as a boundary, and transmission movement is realized between the transmission shaft (404) and the clamping shaft (406) through a chain transmission mechanism (407);
the inner wall of the left displacement block (5) is in threaded sleeve joint with the inner wall of the left-handed thread groove, the inner wall of the right displacement block (6) is in threaded sleeve joint with the inner wall of the right-handed thread groove, and the outer surfaces of the left displacement block (5) and the right displacement block (6) are in sliding sleeve joint with the inner wall of the guide groove at the bottom of the mounting frame (21);
the rotary motor (2) is fixedly arranged on the lower surface of the mounting block (18), a rotary shaft (201) is fixedly arranged on an output shaft of the rotary motor (2) through a coupler, the driving gear (3) is fixedly arranged on the outer surface of the rotary shaft (201), the rotary mechanism further comprises a support frame arranged on the lower surface of the mounting block (18), one end of the rotary shaft (201) is arranged at the axle center of the support frame through a bearing, and a rotary encoder (202) connected with the bottom end of the rotary shaft (201) is fixedly arranged on the lower surface of the support frame.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311248479.6A CN116986190B (en) | 2023-09-26 | 2023-09-26 | Bar code-based unmanned commodity super-advancing and selling inventory management system |
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| CN202311248479.6A CN116986190B (en) | 2023-09-26 | 2023-09-26 | Bar code-based unmanned commodity super-advancing and selling inventory management system |
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| CN116986190B true CN116986190B (en) | 2023-12-26 |
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| CN214604402U (en) * | 2021-03-01 | 2021-11-05 | 六安中诺自动化设备有限公司 | Industrial stacking robot manipulator |
| CN214878408U (en) * | 2021-06-16 | 2021-11-26 | 东莞市宇捷实业投资有限公司 | Material bag clamp |
| CN218664190U (en) * | 2022-12-23 | 2023-03-21 | 广州蓝海机器人系统有限公司 | Automatic stacking equipment |
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| CN108100652A (en) * | 2017-12-14 | 2018-06-01 | 倪敏芳 | It is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code |
| CN207810614U (en) * | 2017-12-27 | 2018-09-04 | 安徽嘉熠智能科技有限公司 | A kind of mechanism for 90 ° of rotation transfers of pallet |
| CN212197489U (en) * | 2020-05-03 | 2020-12-22 | 江苏宇光精工科技有限公司 | Manipulator for clamping and lifting articles |
| CN214604402U (en) * | 2021-03-01 | 2021-11-05 | 六安中诺自动化设备有限公司 | Industrial stacking robot manipulator |
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| CN218664190U (en) * | 2022-12-23 | 2023-03-21 | 广州蓝海机器人系统有限公司 | Automatic stacking equipment |
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| CN116986190A (en) | 2023-11-03 |
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