CN209803897U - Multi-cavity negative pressure suction head - Google Patents

Abstract

the utility model discloses a multi-chamber negative pressure suction head, including front end flexible glue, multi-chamber die cavity, multi-chamber core, solenoid valve, wherein the multi-chamber core is provided with a plurality of cores, the multi-chamber die cavity is provided with a plurality of die cavities, the multi-chamber core is installed in the multi-chamber die cavity with the male mode, every die cavity of multi-chamber die cavity all is provided with the die cavity gas pocket, every core gas pocket all is provided with core gas pocket, core gas pocket in the multi-chamber core, the core gas pocket and the core gas pocket intercommunication of every core, the multi-chamber core is with screw connection with the solenoid valve, multi-chamber die cavity and multi-chamber core are interference fit, the central line of core gas pocket with the central line of core gas pocket is the different face straight line. The beneficial effect of adopting above-mentioned technical scheme is: through setting up multicavity room die cavity and multicavity room core, make the suction head produce a plurality of independent negative pressure spaces, always will have at least one cavity and can produce the negative pressure to realize the function of taking goods of manipulator.

Description

Multi-cavity negative pressure suction head

Technical Field

The utility model relates to an unmanned shop equipment field, in particular to multi-chamber negative pressure suction head.

Background

At the earliest, the goods sold in a shop are all owned, a counter is arranged, a salesperson is informed of what to buy, the salesperson takes what to buy, the buying and selling are completed on the counter, and the customer cannot enter the shop; then, people can make a big shop or a supermarket and buy a bill after selecting the goods; later, people find an unmanned shop to allow customers to select commodities and buy a bill; some shops can automatically sense the commodity and the price thereof by sticking the sensing label on the commodity. At present, a vending machine is already available on the market, the vending machine can only sell a few commodities, namely a few commodities, more than ten kinds of commodities, the daily life needs of people cannot be met fundamentally, an automatic medicine taking machine is also arranged in a hospital, only a few kinds of medicines can be taken, and the vending machine cannot be called an unmanned store. While there are delivery purchases, those services are subject to additional service charges. It is of interest to develop unmanned store facilities.

The earliest shop had a salesman who took out the goods and traded on the counter, and it is good to do a manipulator equipment to replace this salesman, and so can open an unmanned shop. The technology is developed, and the manipulator is easy to do. The robot device is abstracted from SMT devices (i.e., pick and place machines in electronic factories), and an SMT device is briefly described as follows:

the SMT equipment is to take various materials, mainly some very small electronic components, some very small, the component 201, only one millimeter, these small materials are taken up, put on various different positions of the mainboard, go to the high temperature tin stove again, wait for the upper side to be stained with tin, these electronic components just fix firmly on it after the temperature drops, certainly the position of each material and the position that needs to paste on the mainboard all need to be set up in advance in the computer, and the order of pasting also sets up in advance. Each board has hundreds or even thousands of electronic components, and SMT equipment can pick up these components without error and place them in the place where they are placed. The precision of the size of the device is very high and can reach one thousandth of millimeter, and the device is naturally very expensive, namely one set of 200 ten thousand RMB coins, and one set of 2 ten thousand RMB coins which are not high in precision requirement and cheap. The device is mainly based on the servo motor to realize the conversion from a numerical parameter (only one numerical value is input in a computer and other devices) to a distance (the distance is the distance the manipulator moves), that is, when a numerical value to be moved is given, the servo motor moves according to the requirement until the target is reached. The mode is a many-to-many mode, namely, a plurality of materials are taken up at a feeding position and are sent to different positions on the main board. Because a main board is provided with hundreds or thousands of parts, the total time for pasting the parts cannot be too long, when the chip mounter pastes the components, the movement speed of the manipulator is high, the movement of the manipulator is nearly invisible, and the efficiency of the device is high. The injection molding machine is more precise than the injection molding machine with the oil cylinder, the injection molding quantity of one injection molding machine can be accurately obtained when the injection molding quantity reaches one hundredth of one gram, when various parameters are adjusted, the motor can move to different positions according to the numerical value every time a numerical value is set.

This servo system (servo) is an automatic control system that enables the output controlled quantity of the position, orientation, state, etc. of an object to follow any change of an input target (or a given value). The servo is mainly positioned by pulses, and basically, the servo motor can rotate by an angle corresponding to 1 pulse after receiving 1 pulse, so that displacement is realized, and the servo motor has the function of sending the pulse, so that the servo motor can send a corresponding number of pulses every time the servo motor rotates by an angle, and the pulses received by the servo motor form a response or a closed loop, so that the system can know how many pulses are sent to the servo motor and how many pulses are received back, namely the system transmits signals to the system at any time, and corrects the operation of the system by the signals given by the system, so that the rotation of the motor can be accurately controlled, and the accurate positioning can be realized and can reach 0.001 mm. The rotor in the servo motor is a permanent magnet, the U/V/W three-phase electricity controlled by the driver forms an electromagnetic field, the rotor rotates under the action of the magnetic field, meanwhile, an encoder of the motor feeds back a signal to the driver, the driver compares a feedback value with a target value and adjusts the rotation angle of the rotor, the precision of the servo motor is determined by the precision (number of lines) of the encoder, and the number of lines can be determined according to the needs of a shop.

the manipulator is not in problem of size due to the principle and method of the manipulator, and the manipulator can be determined to be applied to the unmanned store according to the many-to-many mode that each article on a plurality of positions is taken up and can be placed on any one of a plurality of different positions. The SMT equipment has been used for decades in the electronics industry world and the technology has matured. The problem is not caused when the electronic components are small, and the problem is not caused when the daily necessities with the electronic components 100 times as large as the daily necessities with the electronic components, so that the manipulator made of the servo motor is not problematic when the manipulator is used in an unmanned shop.

A manipulator for an unmanned shop can be designed only by optimizing a chip mounting part in SMT equipment, the precision of the manipulator is far lower than that of an injection molding machine of the SMT chip mounter, a commodity is taken, and the error is not more than one centimeter. Enterprises in Jingdong, Shunfeng and the like use as many small robots to run back and forth when sorting packages, and the robot is also called a big creation in China on the network. The unmanned shop system comprises a manipulator, a goods taking place, a master controller and a goods shelf, wherein a customer opens a shop webpage in an operation area through a mobile device to select goods to be purchased, after the purchase order is selected, the controller in the system receives goods information and transmits the goods information to the manipulator in the storage area, the manipulator takes the goods placed at the specified position of the system in the storage area to the goods taking place specified by the system, after all the goods are taken to the goods taking place, the mobile device prompts the customer to open a door of the goods taking place, and the customer can open the door of the goods taking place through the mobile device to take the goods to be purchased.

The unmanned store is spatially divided into an operation area and a storage area, the operation area is mainly a place where a customer shops, the operation area is provided with a fetching place, the customer can open a webpage of the store through own mobile equipment and can shop commodities in the webpage; the storage area is mainly used for storing the sold commodities, the storage area is separated from the operation area, and customers can only purchase the commodities in the operation area but cannot enter the storage area. When a client selects to buy commodities on the mobile equipment in an operation area, after a bill is bought, the information of the commodities to be bought is transmitted to the master controller of the shop through the network (Bluetooth, 3G4G5G, WIFI and the like) of the mobile equipment, the master controller instructs the controller of the manipulator, the manipulator controller takes the commodities to be placed at the fetching position through the servo motor manipulator, and the customer can take the commodities at the fetching position. Since the precision requirement of the manipulator is not high, the accumulated error may be large after many times of operation, so that an object taking position is designated as a basic original point, when the manipulator moves to the original point, the manipulator system automatically returns position information to zero, and all the errors are cleared from the beginning. Therefore, the unmanned store system is composed of an operation area (commodities in the operation area are attached with the two-dimensional code and the price of the store), a storage area (the commodities in the storage area are strictly arranged according to the recorded position), a mechanical arm, a fetching part, a controller and the like, wherein the comment 10 display cabinet and the comment 6 are commodity guide grooves which can not be found in the existing unmanned stores.

the operation area is provided with a plurality of fetching places for a plurality of people to shop simultaneously. After each customer purchases the commodity after selecting the commodity on the mobile device, the system holds the commodity to the commodity taking position through a mechanical handle, and after the purchased commodity is taken out, the system informs the customer that the commodity can be taken out from the commodity taking position through the mobile device for shopping, and the customer can go away the purchased commodity. The fetching parts are also separated, and some commodities are larger, such as quilts, chairs and small bagged commodities, the fetching parts of the commodities are larger, but the fetching parts of the commodities are not required to be larger, such as mineral water, small foods and the like. The switch of the article taking place is controlled by a solenoid valve supplied with power by a system, when the door of the article taking place is closed, the solenoid valve can prevent the article taking place from being pulled out, and only when the article taking place is opened through the operation of the mobile equipment which has been purchased, the solenoid valve is pulled back, and a customer can pull out the article taking place to take a commodity. In addition to shopping by mobile devices such as mobile phones, customers can also shop by other shopping devices in the operating area, the devices are connected with the main controller in the shop, and the goods purchased by the devices are also transmitted to the main controller to finish shopping. This device is called a shopping device through which the customer purchases goods.

The commodity placement displayed in the operation area is also a certain of special lines, more daily commodities are placed in a conspicuous place, fewer daily commodities can be placed in corners and clearly placed according to categories, if paper commodities are placed together, beverages are classified into a large category and placed together independently, food commodities are placed in another place independently, more consumed commodities can be placed in the same manner for a plurality of clients to scan codes, and the like are placed in a classified manner, as shown in fig. 2, 11 in the comment shows the identification (row number) of a row, 12 shows the identification (column number) of a column, 13 shows the two-dimensional code, and 14 shows the label of the commodity. The system is characterized in that the operation area is provided with a plurality of article taking positions, a plurality of people can shop simultaneously, the article taking positions are basically arranged on the lowest layer below the operation area, after each customer scans a code on the mobile phone, the customer is informed of the article taking positions to take the articles through the mobile phone, and when the customer arrives at the article taking positions, the article taking positions are opened in the switch arrangement in the mobile phone, and the purchased articles can be removed. Therefore, the switch at the article taking position is arranged in the mobile phone, so that the commodity of the customer is afraid to be taken away by other customers. The switch of getting the thing department is by the solenoid valve control of system power supply, and when the door of getting the thing department closed, the solenoid valve can block and get the thing department and can not pull out, and only click in through customer's the cell-phone and open this thing department of getting, the solenoid valve is taken back, and customer could pull out the thing department and take away commodity. In addition to shopping by using a mobile phone code scanning device, a customer can also shop by using other shopping equipment in an operation area, the equipment is connected with a main controller in a shop, and commodities purchased by the equipment are also transmitted to the main controller to finish shopping. This device is called a shopping device through which the customer purchases goods.

The goods in the storage area are placed strictly according to the position of a recording system, the positions of the goods in the system can be set firstly, then the goods are placed, each kind of goods has one or more storage positions, the position recorded by the system is the position for a manipulator to take the goods, the manipulator takes the goods when information is obtained, the manipulator takes the goods only according to the positions, the manipulator cannot distinguish the kinds of the goods, and the goods are placed in the manipulator; the commodity can be put well firstly, then the commodity placing position is accurately input into the system, when the commodity position is input, the measured value can be calculated according to the coordinate system firstly and then input into the computer, or the manipulator can be directly moved to the commodity position, the position is recorded by pressing the key, and the commodity at the position is input by scanning the code, so that the relation between the commodity and the position can be established, and the input is simpler than the input from the computer. The position of the commodity is input into the system, namely the numerical values (commodity position coordinates) are preprocessed in the controller, and then when the commodity is purchased, only the information of the commodity is input (the information can be considered to be a code and a number and is not the coordinate information of the position any more), and the coordinate position information of the commodity is not input any more. This makes the conversion, and makes shopping much easier for the customer. The data input and data reception controller and the manipulator controller may be implemented as one when a store has only one manipulator, but when a store has a plurality of manipulators, each manipulator has its own controller, but the store also has a data input and data reception controller and an overall controller which also distributes and coordinates the operations of the individual manipulators. For commodities with a shelf life, the storage of the commodities is sequential, the commodities which are put first are distinguished from the commodities which are put later, and particularly when the commodities are supplemented, the first-in commodities and the later-in commodities are clearly distinguished, and the first-in and first-out are required. The slot for placing the goods can be made into a slope type slot, the goods can automatically slide and supplement to the position of a mechanical arm for fetching, mineral water and the like can automatically slide, but light goods such as paper towels and the like can not automatically slide, a heavy pressing block can be added on the paper towels to enable the paper towels to automatically slide, as shown in figure 3, wherein the comment 1 represents the pressing block, the comment 2 represents the slope type slot, the comment 3 represents a horizontal part in front of the slot, and the comment 4 represents a baffle part in front of the goods slot. The stock preparation amount is based on the amount of goods sold in a few days, which is determined by the actual situation, for example, 3 days, for example, 7 days. The shop aims at selling daily consumer goods, does not sell commodities which are rarely used, and can buy commodities which are rarely used on the Internet of merchants such as Jingdong and the like, because the commodities are not cost-effective for community service, the commodities can be found on the Internet regardless of rare and bizarre commodities most generously sold on the Internet such as Alibaba, Jingdong and the like, and the commodities can be sold to places which can be reached by the network regardless of the commodities. Therefore, for commodities which can not be sold in one month, the commodities do not need to be sold in the market, and the fresh agricultural products do not need to be sold in the market, because the fresh products are not good for being taken by a manipulator, but can be sold in the market after being packaged in a certain mode, so that the benefit of the store can be maximized. In addition, the store can be divided into three types of large, medium and small, generally, a small store can be opened in about ten thousand places, and the size of the store is the same as that of the Bao Yi in Dongguan city; every hundred thousand people can open a middle shop in the left and right places, and the size of the middle shop is the same as that of the people in Shenzhen city; around one million people may have a large store, just like walma. Therefore, the store can replenish goods within about one hour every day or replenish goods within about one hour every few days, if a customer has a problem, the store can find staff to deal with the problem such as goods return according to the replenishing time reported by the customer, and the large-scale store can also arrange a person to be on duty within a certain time period (such as 8:00-18:00 working hours) to deal with the problem of abnormity and goods return. The robot arm is also periodically serviced, e.g. by adding lubricating oil, especially taking care to periodically replace those elements which are prone to wear. The operation area is much smaller than the storage area, namely, a plurality of fetching positions are arranged, and one store has two operation areas, because the commodities in the storage area are arranged in a row, two ends of a row of goods shelves can be arranged into one operation area.

When a customer wants to buy goods in an operation area, a webpage is opened in the mobile equipment of the customer to select a purchase order, the mobile equipment displays information of a classified catalog of the goods in the store, the name or the number of the goods to be bought is selected, information of manufacturer prices of the same kind of goods in the store appears after each goods is selected, one or more goods can be selected from the same kind of products, after the customer selects the goods, two options are provided, one is to continuously purchase the goods, the other is to finish the purchase and purchase the order, when the customer purchases the order, a goods list of the customer is displayed to be confirmed by the customer, after the customer confirms, the customer is prompted to pay by WeChat or pay by treasure or in other modes, after the goods are taken to a fetching place, the mobile equipment prompts the customer to open a door at the fetching place, and the customer opens a door at the fetching place in the mobile equipment, the purchased goods can be taken away. After the customer takes the commodity away, the fetching position returns to the original state automatically. The user can log in the webpage of the store at other places, the system can generate an order number after selecting the commodity on the network, the customer can get to the store after paying on the network, then the order number is input in front of the mobile device, the system can take out the purchased commodity, and the customer can buy the commodity in the same way; an order number may be generated without payment, and the same can be made when the order number is entered in front of the mobile device and then paid for at the store. Each order is taken to only one fetching place, and customers can buy too many or different orders at one time and can process the orders by dividing the orders into several orders.

The unmanned store has a good improvement effect on drug stores, medicines are generally small pieces, the medicines are packaged well, the prescription is positive, and the value of the medicines is high. Therefore, the pharmacy can be unmanned from the pharmacy.

Disclosure of Invention

the to-be-solved technical problem of the utility model is to provide a multi-chamber negative pressure suction head, solve the automatic goods problem of taking of getting of unmanned shop manipulator.

In order to solve the technical problem, the utility model discloses a technical scheme does: the utility model provides a multi-chamber negative pressure suction head, includes front end flexible glue, multi-chamber die cavity, multi-chamber core, solenoid valve, wherein the multi-chamber core is provided with a plurality of cores, the multi-chamber die cavity is provided with a plurality of die cavities, the multi-chamber core is installed in the multi-chamber die cavity with the inserted mode, every die cavity of multi-chamber die cavity all is provided with the die cavity gas pocket, every core gas pocket all is provided with core gas pocket, core gas pocket in the multi-chamber core, the core gas pocket and the core gas pocket intercommunication of every core, the multi-chamber core is with screw connection with the solenoid valve, multi-chamber die cavity and multi-chamber core are interference fit, the central line of core gas pocket with the central line of core gas pocket is the antarafacial.

Preferably, the size and the position of the hole of the front-end soft rubber are the same as the size and the position of the cavity hole of the multi-cavity.

Preferably, the core air hole is a round hole.

preferably, the sides of the cavity vent comprise two equal straight sides and two equal semi-circular arcs.

The beneficial effect of adopting above-mentioned technical scheme is: through setting up multicavity chamber die cavity and multicavity chamber core, make the suction head produce a plurality of independent negative pressure spaces, to some goods rugged places, will have at least a cavity and can produce the negative pressure always, just can absorb and take away commodity to realize the function of taking goods of manipulator.

Drawings

FIG. 1 is a simplified diagram of a single robotic unmanned store;

FIG. 2 is a partial cross-sectional view of the shelf;

FIG. 3 is a schematic view of two operating zones;

FIG. 4 is a view showing the structure of a robot;

FIG. 5 is a view of the multi-chamber negative pressure suction head;

FIG. 6 is a schematic diagram of the operation of the multi-chamber negative pressure suction head;

FIG. 7 is a perspective view of a core air slot and core air hole portion of a multi-cavity core partially dissected;

FIG. 8 is a schematic diagram of the overall controller wiring;

Fig. 9 is a schematic of robot controller wiring.

In the figure, 1-operation area, 2-storage shelf, 3-storage area, 4-mechanical arm, 5-store wall, 6-commodity guide groove, 7-shelf bearing column, 8-controller, 9-fetching place, 10-display cabinet, 11-line mark, 12-column mark, 13-two-dimensional code, 14-label, 15-briquetting, 16-slope groove, 17-horizontal part in front of groove, 18-baffle part in front of commodity groove, 19-fixed horizontal guide rail, 20-fixed horizontal guide rail motor, 21-moving horizontal guide rail, 22-moving vertical guide rail rotating motor, 23-multi-chamber negative pressure suction head, 24-moving vertical guide rail, 25-moving horizontal guide rail motor, 26-clamping part, 27-moving vertical guide motor, 28-fixed horizontal guide belt, 29-motor belt, where the axis of motion is locked, 30-robot controller, 31-robot end gripper mechanism, 32-fixed horizontal guide pivot, 33-moving horizontal guide pivot, 34-moving vertical guide rotation pivot, 35-moving vertical guide pivot, 36-moving vertical guide, 37-fixed horizontal guide, 38-moving horizontal guide, 39-moving horizontal guide belt, 40-moving vertical guide belt, 41-moving vertical guide rotation belt, 42-soft glue, 43-multi-chamber cavity, 44-suction head solenoid valve, 45-multi-chamber core, 46-side plate, 47-suction head mounting plate, 48-cavity vent, 49-core air groove, 50-core air hole.

Detailed Description

The following describes the present invention with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features related to the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Referring to the attached drawings, a multi-cavity negative pressure sucker 23 comprises a front soft rubber 42, a multi-cavity 43, a multi-cavity core 45, a sucker electromagnetic valve 44, a guide rail sleeve fixing plate 47 and a sucker mounting plate 59, wherein the multi-chamber core 45 is provided with a plurality of cores, the multi-chamber cavity 43 is provided with a plurality of cavities, the multi-cavity core 45 is insertedly installed in the multi-cavity cavities 43, the multi-cavity cavities 43 are each provided with a cavity air hole 48, the front end soft rubber 42 is connected with the multi-cavity 43 in an adhesive way, each core in the multi-cavity core 45 is provided with a core air hole 50 and a core air groove 49, the core air groove 49 of each core is communicated with the core air hole 50, the multi-cavity mold core 45 is connected with the sucker electromagnetic valve 44 through a screw, the multi-cavity mold cavity 43 and the multi-cavity mold core 45 are in interference fit, the centerline of the core air hole 50 is out-of-plane and perpendicular to the centerline of the core air slot 49. The tip mounting plate 47 is for fixing the multi-chamber tip 23 to the robot, the multi-chamber cavity 43 and the side plate 46 are connected by screws, the multi-chamber core 45 and the tip electromagnetic valve 44 are connected by screws, and the side plate 46, the tip electromagnetic valve 44 and the tip mounting plate 47 are also connected by screws. When the multi-chamber suction head is in operation, the suction head solenoid valve 44 moves the multi-chamber core 45 within the multi-chamber cavity 43. The core air groove 49 and the cavity air hole 48 are not in the same plane, or the core air groove 49 and the cavity air hole 48 are not in direct contact, and thus the function is achieved, as shown in fig. 7, which is a partial dissection diagram, so that the core air groove 49 and the core air hole 50 which are arranged on the multi-cavity core 45 are not in the same plane, the central line of the core air groove 49 and the central line of the core air hole 50 are in a line which is different from the plane and perpendicular, and a cylindrical hole is arranged between the core air groove 49 and the core air hole 50 for communication. The multi-cavity die cavity 43 and the front soft glue 42 are both formed by soft glue, and the multi-cavity die cavity 43 is required to have certain rigidity.

Preferably, the size and the position of the hole of the front soft rubber 42 are the same as those of the cavity hole of the multi-cavity 43. The front soft glue 42 can not block the cavity hole of the multi-cavity 43 and can not be smaller than the cavity hole of the multi-cavity 43, so as to avoid affecting the function. The front soft rubber 42 and the multi-cavity die cavity 43 are both made of soft rubber, but the front soft rubber 42 is softer than the multi-cavity die cavity 43. The multi-cavity core 45 is made of a metal material.

Preferably, the core air holes 50 are round holes.

Preferably, the sides of the cavity vent 48 include two equal straight sides and two equal semi-circular arcs. Thus, the relative positions of the multi-cavity 43 and the multi-cavity core 45 where negative pressure is generated are within a certain range.

The working principle is that the soft glue 42 and the multi-cavity die cavity 43 are bonded together or integrally formed, a sealed cavity is formed by the multi-cavity die core 45 and the commodities after the multi-cavity die cavity 43 is inserted, and the soft glue 42 plays a role in auxiliary sealing. When the multi-cavity core 45 is inserted into the multi-cavity 43 to form a closed cavity together with the commodity, when the suction head electromagnetic valve 44 is contracted, the core air hole 50 and the cavity air hole 48 are staggered, air cannot enter, negative pressure is formed, and the more the core 45 is withdrawn, the larger the negative pressure is, and the tighter the commodity is adsorbed. When the suction head electromagnetic valve 44 extends, the negative pressure is reduced, the commodity adsorption is loosened, the core air hole 50 is contacted with the cavity air hole 48, the air flows from the cavity air hole 48 to the core air hole 50 to the core air groove 49 and then to the closed cavity in front, and the negative pressure disappears. The negative pressure suction head is used for picking up the commodity by the pressure between the suction head and the commodity which is lower than the atmospheric pressure, so that the adsorption force is generated, the commodity can be in various shapes, the commodity is adsorbed by one chamber and can not be successful, so that a plurality of chambers are designed for adsorption, and the success of picking up the commodity can be much greater. Realize this absorption strength, it will be softer to require the front end flexible glue, can seal, can overcome some goods unevenness's place, can produce confined space, secondly between this multi-chamber die cavity and the multi-chamber core, also can closely cooperate, otherwise can not produce the negative pressure.

The multi-chamber negative pressure suction head 23 is a key component of a manipulator used in the unmanned shop, the manipulator, a three-dimensional motion manipulator, for example, fig. 4, a manipulator used in the unmanned shop, the manipulator is placed above the storage shelf 2 of the shop, a moving horizontal guide rail 21 of the manipulator is arranged above the storage shelf 2, and can take a plurality of goods on the storage shelf 2, and comprises a fixed horizontal guide rail 19, a fixed horizontal guide rail motor 20, a moving vertical guide rail rotating motor 22, a moving horizontal guide rail motor 25, a moving vertical guide rail motor 27, a moving horizontal guide rail 21, a moving vertical guide rail 24, a manipulator controller 30 and a manipulator terminal grabbing mechanism 31, wherein the fixed horizontal guide rail 19 is provided with a fixed horizontal guide sleeve 37, the fixed horizontal guide sleeve 37 is provided with a moving horizontal guide rail 21, the moving horizontal guide rail 21 is provided with a moving horizontal guide 38, the movable horizontal guide sleeve 38 is provided with a movable vertical guide rail 24, the movable vertical guide rail 24 is provided with a movable vertical guide sleeve 36, the movable vertical guide sleeve 36 is provided with a manipulator terminal grabbing mechanism 31, the fixed horizontal guide rail motor 20 drives the movable horizontal guide rail 21 to move on the fixed horizontal guide rail 19, the movable horizontal guide rail motor 25 drives the movable vertical guide rail 24 to move on the movable horizontal guide rail 21, the movable vertical guide rail motor 27 drives the manipulator terminal grabbing mechanism 31 to move on the movable vertical guide rail 24, the movable vertical guide rail rotating motor 22 drives the movable vertical guide rail 24 to rotate so as to change the grabbing mode of the manipulator terminal grabbing mechanism 31, the manipulator controller 30 is electrically connected with the fixed horizontal guide rail motor 20, the movable vertical guide rail rotating motor 22, the movable horizontal guide rail motor 25 and the movable vertical guide rail motor 27, the manipulator controller 30 automatically generates a manipulator motion form according to a customer order, the robot motion program is executed only once.

The motor is connected with the guide rail through a transmission belt, and the condition is as follows:

A fixed horizontal guide sleeve 37, a fixed horizontal guide motor 20 and a fixed horizontal guide rotating shaft 32 are arranged on the fixed horizontal guide 19, a fixed horizontal guide belt 28 is sleeved between the fixed horizontal guide motor 20 and the fixed horizontal guide rotating shaft 32, the fixed horizontal guide belt 28 is connected with the fixed horizontal guide sleeve 37 by screws, a movable horizontal guide 21, a movable horizontal guide motor 25 and a movable horizontal guide rotating shaft 33 are arranged on the fixed horizontal guide sleeve 37, a movable horizontal guide belt 39 is sleeved between the movable horizontal guide motor 25 and the movable horizontal guide rotating shaft 33, the movable horizontal guide belt 39 is connected with the movable horizontal guide sleeve 38 by screws, a movable horizontal guide sleeve 38 is arranged on the movable horizontal guide 21, a movable vertical guide 24, a movable vertical guide motor 27, a movable vertical guide rotating motor 22, a movable vertical guide motor 27, A moving vertical guide belt 40 is installed between the moving vertical guide rotating shafts 35, a moving vertical guide rotating belt 41 is installed between the moving vertical guide rotating motor 22 and the moving vertical guide rotating shaft 34, the moving vertical guide belt 40 is connected with the moving vertical guide 36 through screws, the moving vertical guide 24 is provided with the moving vertical guide 36, the moving vertical guide rotating shafts 35 and the moving vertical guide rotating shaft 34, and the manipulator terminal grabbing mechanism 31 is installed on the moving vertical guide 36.

When the fixed horizontal guide rail 19, the moving horizontal guide rail 21 and the moving vertical guide rail 24 are non-circular, only one fixed horizontal guide rail 19, one moving horizontal guide rail 21 and one moving vertical guide rail 24 are needed; when the fixed horizontal guide rail 19, the moving horizontal guide rail 21 and the moving vertical guide rail 24 are circular, at least two circular guide rails are required to be used.

Where L1 denotes the maximum distance that the moving horizontal rail 21 of the robot can move on the fixed horizontal rail 19, L2 denotes the maximum distance that the moving vertical rail 24 of the robot can move on the moving horizontal rail 21, and L3 denotes the maximum distance that the pick-up terminal 31 of the robot can move on the moving vertical rail 24. The manipulator mainly comprises a moving horizontal guide rail 21, a fixed horizontal guide rail 19, a moving vertical guide rail 243 and a fetching terminal 31 of the manipulator, wherein each guide rail is provided with a servo motor (other types of motors can be used, mainly a servo motor), a belt or a lead screw (for measuring distance), and 3 (some 4 or more) servo motors and belts or lead screws (the belt with the lead screws is more accurate than the belt with the lead screws). Generally, a fixed horizontal shaft is fixed on the ground or on a wall, the position of a starting point of the movement of the manipulator is determined at the top or the bottom, the X-axis direction and the Y-axis direction of the horizontal movement of the manipulator are determined, the vertical direction is the Z-axis direction, a coordinate system is established, and coordinates of each commodity in the coordinate system (3-dimensional coordinates) are input into the system, are within the movement range of the manipulator and cannot be reached by the manipulator. Sometimes the shelf height goes up to the roof in order to save space. The part of the mechanical arm for grabbing the commodity is divided into a clamping type and an absorbing type, the clamping type is to clamp the commodity by using a clamp of the mechanical arm, the absorbing type is to absorb the commodity by negative pressure, the clamping type, the instant noodle type, the biscuit type and the like are used according to different commodities, and mineral water, beer and the like are used. After the controller receives the shopping information, the controller will send out instructions to the servo drivers of the motors, and the motors will rotate immediately, in fig. 4, the movement of the robot terminal gripping mechanism 31 in the X-axis direction is realized by the movement of the moving horizontal guide rail motor 25 pulling the moving vertical guide rail 24 on the moving horizontal guide rail 21, the movement of the robot terminal gripping mechanism 31 in the Y-axis direction is realized by the movement of the fixed horizontal guide rail motor 20 pulling the moving horizontal guide rail 21 on the fixed horizontal guide rail 19, and the movement of the robot terminal gripping mechanism 31 in the Z-axis direction is realized by the movement of the moving vertical guide rail motor 27 pulling the robot terminal gripping mechanism 31 on the moving vertical guide rail 24, through these three movements, the robot terminal gripping mechanism 31 can move in a space for placing commodities in a full coverage manner, and can reach the placing position of the commodities, the required goods are taken away and sent to the fetching place 9; the top end of the manipulator moving vertical guide rail 24 is provided with a moving vertical guide rail rotating motor 22 which is used for switching between clamping type fetching and suction type fetching.

the above is the whole description of the manipulator, and the others are not described.

In one embodiment, the suction head solenoid valve 44 is used to generate the suction force, as described above.

In the second embodiment, a gas pump can be used to generate high-pressure gas for adsorption, the structure is simple, and the suction head electromagnetic valve 44 is only replaced by a gas valve, so that the commodity can be taken away.

In the third embodiment, the multi-cavity core 45 may have a circular shape or the like, and the multi-cavity 43 may be shaped to fit the multi-cavity core 45.

In the fourth embodiment, the multi-cavity mold 43 and the front soft rubber 42 are integrally formed, a rigid support frame is added at the position of the multi-cavity mold 43 to keep rigidity, and the front soft rubber 42 also has elasticity.

When a store has one or more robots 4, each robot 4 has its own controller 8, but the store also has a controller for data input and data reception, a general controller, which also distributes and coordinates the operation of the various robots 4. The master controller is connected to a wired network for receiving information on the items from the network, and communication cables are connected to other purchasing devices in the shop (except for mobile purchasing devices, customers can purchase items through other purchasing devices in the operating area, the devices are connected to the master controller in the shop, information on the items purchased through the devices is also transmitted to the master controller, and shopping is also completed, the devices are called purchasing devices, and customers purchase items through the devices), shopping information from the devices is received, all shopping information in the shop can be received, and the master controller is connected to the controllers of other manipulators 4 in the shop for controlling the actions of the manipulators and is connected to the computer of the shop for the manager of the shop to view the information in time, sales conditions; the general controller has a plurality of interfaces, such as an interface shown in fig. 8, the number of the mechanical arms 4 in the figure is uncertain, and may be one or a plurality of, and not a plurality of the mechanical arms are drawn in the figure, wherein the general controller is connected with a computer of the shop through a parallel interface, the general controller is connected with the general control center of the company through an ethernet interface, and the rest of the mechanical arms are connected through serial interfaces, specifically, the general controller comprises a networking module (a WIFI module and a Bluetooth module can be added), a processor module, a memory module, a payment module and an ethernet module, wherein the networking module and the Bluetooth module are used for receiving and sending information to each device and connecting an external network; the processor module is mainly used for coordinating resources in the shop, arranging a proper manipulator to take the commodities to a proper fetching place, calculating the prices of the commodities and finishing the sale of the commodities; the memory module is mainly used for storing the position of the commodity in the storage area 3, commodity price and other data so as to be convenient for the processor to call; the payment module is used for collecting the payment paid by the customer; the Ethernet module is used for connecting an external network. When one shopping device is operated by a customer, the networking module of the master controller receives information, and the master controller knows and lists the device as being used; when the customer puts forward the purchase order after selecting the commodity, the networking module receives the information of the purchase order, the processor module of the master controller calls the memory module to check the total price discount of the commodity price and the like, and the networking module sends the checked information to the shopping equipment; after a customer buys a bill, the networking module receives the information, the processor module of the master controller calls the commodity position information in the memory module, the networking module of the master controller sends the commodity position information to the manipulator, and the manipulator takes the commodity; after the mechanical arms take the commodities to the fetching position one by one, the main controller networking module receives the information and lists the mechanical arms as idle; the networking module sends information to the shopping equipment that the customer can open the door; the customer selects to open the door in the shopping equipment, the networking module receives the information, the networking module sends the information solenoid valve, the door is opened, and the customer takes away the commodity. Each manipulator has its own controller, and the controller controls the actions of more than 5 motors and the actions of several solenoid valves, as shown in fig. 9, the number of the motor servo drivers and the solenoid valves in the figure is uncertain, and may be one, or many, and not several or several are drawn in the figure, wherein all interfaces of the manipulator controller are serial interfaces, and are not provided with ethernet interfaces, and the solenoid valve is mainly used for clamping and releasing the manipulator terminal. Specifically speaking, the manipulator controller comprises a networking module, a processor module and a memory module, wherein the processor module is mainly used for reasonably optimizing the fetching sequence, calling commodity storage position data and sending instructions to a motor servo driver, and the memory module is mainly used for storing the positions of commodities in a storage area. When the main controller sends shopping information, the manipulator networking module receives the information; the processor module optimizes the goods taking sequence, calls the commodity storage position of the memory module and makes the motion parameters of each motion part (what time to start motion and how much motion is needed); the networking module sends the motion parameters to the motion parts, the manipulator takes the commodities, and the manipulator does not have a shopping box, so that the manipulator can take the commodities to the article taking place one by one, and the networking module sends information to tell the master controller that the commodities are taken out and the commodities are taken out. The networked module will then extend or retract the tip solenoid valve 44 by energizing the tip solenoid valve 44, thereby creating a negative pressure to access the merchandise, i.e., the tip solenoid valve 44 is controlled by the robot controller 30. The software operating system of the shop can be Windows, Android or apple Mac OS, and the equipment and the system are only used in the shop system, so the shop can also use other small operating systems Linux, even an operating system can be developed by self, because the system is only used in the unmanned shop, no file transmission exchange with the outside exists, and no file can be sent to other families to be opened. In some cases, not described, reference may be made to the case of the mounter.

Storage rack 2 is put one row by one row in storehouse district 3, and manipulator 4 round trip movement between storage rack 2, so can all set up an operation area 1 at the both ends that manipulator removed horizontal guide rail 21, all can set up and get thing department 9 and supply customer to use, and both sides effect function is the same, just so also more one time get thing department 9. Some showcases can be made in the operation area, newly arrived commodities, newly developed commodities, discounted sales promotion propaganda and the like can be recommended to customers. How many items are removed at each location in the system, and how many such items remain, are updated in real time. This system may be used in combination with other systems.

The robot for shop is different from the industrial robot, the industrial robot generally takes the articles and has fixed positions and places in a certain sequence, or takes the articles and has fixed positions in a certain sequence, while the robot for shop takes the articles and places in a certain sequence according to the requirement of the customer. The actions of the industrial manipulator are repeated after each setting, the actions are repeated, one action mode can be carried out for several days, several months or several years, the manipulator is different, each action can be different from the last action or can be the same, the actions of the manipulator are determined by the types of commodities purchased by customers, the actions of an order are different as long as the orders are different, each order is a motion program, each order only executes one operation, or the manipulator only operates once for each purchase. The multi-degree-of-freedom manipulator with the guide rail and the robot with the guide rail can also be provided with the guide rail, and the guide rail is mainly used for measuring the distance. The key is that the order of the customer needs to be digitized and can be timely transmitted to the controller to form a program, meanwhile, the commodity placement in the warehouse needs to be digitized, the types and the positions of the commodities need to be well matched, and the commodities need to be input into the controller of the manipulator, so that the manipulator can accurately take the commodities according to the digitized order through the digitized input. The relative positions of the goods on the manipulator and the goods shelf, the fetching positions and the like are fixed and must not change, so that the goods are often locked and fixed by iron bars through screws, standardization is achieved, data of a plurality of shops are the same, and management and operation are convenient.

The above is the case of the robot 4 having the multi-chamber negative pressure nozzle and the unmanned shop, and the robot 4 sucks the goods in the unmanned shop by the multi-chamber negative pressure nozzle, which is a key part of the shop. The multi-chamber negative pressure suction head structure in the unmanned store comprises a front end soft rubber 42, a multi-chamber cavity 43, a suction head electromagnetic valve 44 and a multi-chamber core 45. The main characteristics of the multi-chamber negative pressure suction head are as follows:

The front soft rubber 42 and the multi-cavity 43 are integrated and are formed by one-time injection molding.

the multi-chamber cavity 43 has cavity vents 48.

The multi-cavity core 45 has a core air hole 50 and a core air groove 49.

The multi-cavity mold cavity 43 is closely fitted with a multi-cavity core 45, and the gap therebetween is air-impermeable.

Each of the small cores in the multi-cavity core 45 has a core air hole 50 and a core air groove 49.

The core air holes 50 of the multi-cavity core 45 are not in the same plane as the core air slots 49 of the multi-cavity core 45.

A shop is divided into an operation area 1 and a storage area 3 (a customer cannot go into the storage area 3 and can only move in the operation area 1), a plurality of article taking positions are arranged in the operation area 1, meanwhile, commodities in the storage area 3 (the commodities in the storage area 3 can not be named) are placed according to numerical positions in a system, when the customer purchases the commodities, the manipulator 4 knows the position of certain commodity, and the commodities can be taken out.

When a customer wants to shop in the operation area 1, the customer opens the webpage of the shop in the mobile equipment of the customer, information such as commodity classification catalog price appears on the webpage, the customer selects commodities and selects a purchase order, the system displays the purchase list and the price information of the purchase list, the customer is asked to check carefully, confirm and confirm the purchase order after confirmation, the system prompts payment by WeChat or payment by treasure or other modes to deduct money from the purchase order after selection, the manipulator 4 uses a multi-cavity negative pressure suction head to take the commodities out, after the commodities are taken out, the equipment prompts the customer to open a door of a fetching place 9, and the customer clicks the door of the fetching place 9 in the mobile equipment of the customer to take the purchased commodities. After the customer takes the commodity away, the fetching position returns to the original state automatically.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the invention, and the scope of the invention is to be accorded the full scope of the claims.

Claims (3)

1. the utility model provides a multi-chamber negative pressure suction head, a serial communication port, including front end flexible glue, multi-chamber die cavity, multi-chamber core, solenoid valve, wherein the multi-chamber core is provided with a plurality of cores, the multi-chamber die cavity is provided with a plurality of die cavities, the multi-chamber core is installed in the multi-chamber die cavity with the inserted mode, every die cavity of multi-chamber die cavity all is provided with the die cavity gas pocket, every core all is provided with core gas pocket, core gas pocket in the multi-chamber core, the core gas pocket and the core gas pocket intercommunication of every core, the multi-chamber core uses screw connection with the solenoid valve, multi-chamber die cavity and multi-chamber core are interference fit, the central line of core gas pocket with the central line of core gas pocket is the different face straight line.

2. The multi-chamber negative pressure suction head of claim 1, wherein the hole of the soft front rubber is the same size and position as the cavity hole of the multi-chamber cavity.

3. A multi-chamber suction head according to claim 1 wherein the sides of the cavity vent comprise two equal straight sides, two equal radius semi-circular arcs.