CN210210405U

CN210210405U - Master controller in unmanned shop

Info

Publication number: CN210210405U
Application number: CN201920726960.4U
Authority: CN
Inventors: Inventor Has Waived The Right To Be Mentioned The; 不公告发明人
Original assignee: Shenzhen Tai Hui Technology Co Ltd
Current assignee: Shenzhen Tai Hui Technology Co Ltd
Priority date: 2018-06-20
Filing date: 2019-05-19
Publication date: 2020-03-31
Anticipated expiration: 2029-05-19

Abstract

The utility model discloses a master controller in an unmanned shop, which comprises a networking module, a processor module, a memory module and an Ethernet module, wherein the processor module is connected with the networking module, the memory module and the Ethernet module through circuits; the networking module comprises a manipulator controller interface used for being connected with a manipulator controller and a display screen interface used for being connected with a display screen; the memory module stores position data, commodity price data and commodity quantity data of commodities in the storage area; the processor module is provided with an inquiry system, a sales system and a payment program; and the inquiry system counts the quantity of each commodity in real time and displays the quantity on a display screen. The beneficial effect of adopting above-mentioned technical scheme is: a general controller of a shop is designed by imitating the principle of a chip mounter and is used in an unmanned shop to control the electromagnetic valve switch at the goods taking and fetching position of a manipulator of the shop, so that the selling of the shop is really unattended.

Description

Master controller in unmanned shop

Technical Field

The utility model relates to an unmanned shop equipment field especially relates to a total controller in unmanned shop.

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.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a total controller in unmanned shop solves the automatic control problem of getting goods in unmanned shop.

In order to solve the technical problem, the utility model discloses a technical scheme does: a master controller in an unmanned store comprises a networking module, a processor module, a memory module and an Ethernet module, wherein the processor module is in circuit connection with the networking module, the memory module and the Ethernet module; the networking module comprises a manipulator controller interface used for being connected with a manipulator controller and a display screen interface used for being connected with a display screen; the memory module stores position data, commodity price data and commodity quantity data of commodities in the storage area; the Ethernet module is connected with a broadband network; the processor module is provided with an inquiry system, a sales system and a payment program; the inquiry system counts the quantity of each commodity in real time and displays the quantity on a display screen; the payment program is in interface with a bank network; the sales system calls the price information of the storage module according to shopping information input by a customer from a mobile device of the customer or a shopping device of a shop, calculates payment required by the customer, and triggers a payment program, the processor sends a goods taking instruction to the manipulator controller after receiving commodity payment to the account information, and the processor informs the customer to take away commodities after receiving the information that the commodities are taken away.

Preferably, the networking module is further provided with an object taking solenoid valve interface, and the object taking solenoid valve interface is in circuit connection with the processor module.

Preferably, the networking module is also provided with a shopping equipment interface, and the shopping equipment interface is in circuit connection with the processor module.

Preferably, the networking module is further connected with a display screen circuit. The store can be provided with a plurality of display screens to display the types and the quantity of the minimum commodities to be sold.

Preferably, the wireless module includes WIFI, BT, 4G, 5G.

Preferably, the networking module is further provided with a keyboard interface for connecting a keyboard, and the keyboard interface is in circuit connection with the processor module.

Preferably, the networking module further comprises a code scanning gun interface for connecting a code scanning gun, and the code scanning gun interface is in circuit connection with the processor module.

Preferably, the networking module is further provided with a mouse interface for connecting a mouse, and the mouse interface is in circuit connection with the processor module.

Preferably, the general controller further comprises a wireless module, and the wireless module is wirelessly connected with the mobile device of the customer.

The beneficial effect of adopting above-mentioned technical scheme is: a general controller of a shop is designed by imitating the principle of a chip mounter and is used in an unmanned shop to control the electromagnetic valve switch at the goods taking and fetching position of a manipulator of the shop, so that the selling of the shop is really unattended.

Drawings

FIG. 1 is a perspective view of a single robot unmanned store;

FIG. 2 is a schematic view of an operating area display case;

FIG. 3 is a cross-sectional view of the interior of the shelf;

FIG. 4 is a perspective view of the robot;

FIG. 5 is a perspective view of a multi-chamber negative pressure pipette tip;

FIG. 6 is an exploded view of a multi-chamber suction head;

FIG. 7 is a perspective view of a robot terminal gripping mechanism;

FIG. 8 is a perspective view of a suction type object-taking structure;

FIG. 9 is a schematic wiring diagram of a general controller of an unmanned shop;

figure 10 is a robot controller wiring schematic.

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 shaft 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 body, 44-suction head solenoid valve, 45-core, 46-side plate, 47-guide sleeve fixing plate, 48-multi chamber body air vent, 49-air groove, 50-core air hole, 51-clamp solenoid valve, 52-commodity clamping plate, 53-pressure reducing clamping plate, 54-clamp solenoid valve clamping plate, 55-first rotating shaft, 56-second rotating shaft, 57-clamp side plate, 58-clamp mounting plate and 59-suction head mounting plate.

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, the master controller in the unmanned store comprises a networking module, a processor module, a memory module and an Ethernet module, wherein the processor module is in circuit connection with the networking module, the memory module and the Ethernet module; the networking module comprises a manipulator controller interface used for being connected with a manipulator controller and a display screen interface used for being connected with a display screen; the memory module stores position data, commodity price data and commodity quantity data of commodities in the storage area; the Ethernet module is connected with a broadband network; the processor module is provided with an inquiry system, a sales system and a payment program; the inquiry system counts the quantity of each commodity in real time and displays the quantity on a display screen; the payment program is in interface with a bank network; the sales system calls the price information of the storage module according to shopping information input by a customer from a mobile device of the customer or a shopping device of a shop, calculates payment required by the customer, and triggers a payment program, the processor sends a goods taking instruction to the manipulator controller after receiving commodity payment to the account information, and the processor informs the customer to take away commodities after receiving the information that the commodities are taken away.

Preferably, the wireless module includes WIFI, BT, 4G, 5G.

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:

SMT equipment is various materials, some very little electronic components, some are very little, picture element 201, only a millimeter, take these little materials, put on the various different positions of mainboard, go to the high temperature tin stove again, wait that the upper surface is stained with tin, these electronic components just firmly fix on it after the temperature drops, the position of each material and the position that needs to paste on the mainboard all need set up in advance in the computer certainly, 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 small 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, and the driver compares a feedback value with a target value to adjust the rotation angle of the rotor, so that 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 principle and method of the shop are all the same, the size is not a problem, and the application of the manipulator to the unmanned shop can be determined according to the many-to-many mode of the manipulator, namely, each article on a plurality of positions is taken up and can be placed on any one of a plurality of different positions to conduct the circuit. 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 store is spatially divided into an operation area and a storage area, the operation area is mainly used for placing goods to be sold for a customer to select and scan codes, the storage area is mainly used for storing the goods to be sold, the storage area is separated from the operation area, the customer can only see the goods in the operation area, scan the codes and cannot enter the storage area. After seeing the goods in the operation area, a customer wants to buy, the customer takes a mobile phone or other code scanning equipment to scan the two-dimensional code of the shop attached to the goods, the information about buying the goods is transmitted to the controller of the shop through networks (3G,4G,5G, Wifi, BT and the like) such as a mobile phone or a tablet, the controller takes the goods through the servo motor manipulator and places the goods at a goods taking place, and the customer can take the goods at the goods taking place. Because the precision requirement of the manipulator is not high, after a plurality of times of operation, the accumulated error may be large, 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 the position information to zero, all the data is calculated from the beginning, and the error is cleared. Some stores have two operation areas, because the goods in the storage area are arranged in a row, two ends of a row of goods shelves can be set as one operation area. The store is schematically shown in fig. 1, wherein the notation 1 indicates an operation area, 2 indicates a storage rack, 3 indicates a storage area, 4 indicates a manipulator, 5 indicates a store wall, 6 indicates a goods guide groove, 7 indicates a rack bearing column, 8 indicates a controller, 9 indicates a fetching place, and 10 indicates that the display cabinet is a place for placing goods in the operation area. 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.

Therefore, the unmanned shop system comprises an operation area (commodities in the operation area are all attached to the two-dimensional code and the price of the shop), a storage area (the commodities in the storage area are strictly placed according to the recorded positions), a mechanical arm, an object taking place, a master controller and a shelf, wherein the master controller in the unmanned shop 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, and the networking module and the Bluetooth module are used for receiving and sending information to other equipment in the shop; the Ethernet module is connected with an external network; the processor module is mainly used for coordinating resources in a shop, arranging a proper mechanical arm to take the commodity to a proper article taking place or a counter or other places, calculating the price of the commodity and completing the sale of the commodity; the memory module is mainly used for storing the position of the commodity in the storage area, commodity price and other data so as to be convenient for the processor to call. After a customer scans the two-dimensional code of the shop attached to the commodity or inputs the information of the purchased commodity through other equipment, the commodity information is received by the controller in the shop system, the commodity information is transmitted to the mechanical arm in the storage area, after the customer pays, the mechanical arm takes the commodity placed at the specified position of the system in the storage area (the commodity in the storage area can not be attached with the two-dimensional code) to the specified article taking position of the system, the customer can open the door of the article taking position through equipment such as a mobile phone tablet, and the purchased commodity can be taken away.

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 pull out, only clicks in through customer's the cell-phone and opens this and get the thing department, and 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 all 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 type is also input by scanning the code of the commodity at the position, so that the relation between the commodity and the position can be established, and the operation is simpler than the operation of inputting from the computer. The position of the commodity is input into the system firstly, 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 is considered to be a code and a number, but not the coordinate information of the position any more, like bottom layer software), 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. 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 separated, so that the first-in and first-out are required. The slot for placing goods in the storage area can be made into a slope-type slot, so that the goods can automatically slide and be supplemented to the position for fetching the goods by a mechanical arm, 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 15 in the note represents the pressing block, 16 represents the slope-type slot, 17 represents a horizontal part in front of the slot, and 18 represents a baffle part in front of the goods slot. 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.

After a customer scans a code, a connection or an interface is opened on the mobile phone, information such as the types, the quantity and the prices of commodities of a selected shop appears, after the customer selects the goods, the customer continues to purchase or buy the order, after the customer purchases the required commodities, the order is bought, whether the customer pays money by WeChat or pays money by money or in other modes is prompted, money is deducted from the inside after the customer selects the goods, then the customer is prompted that the commodities purchased at the number-th fetching place, after the commodities are taken to the fetching place, the system prompts the customer that the customer can open the door of the fetching place, and the customer clicks the door of the opening of the fetching place in the mobile phone to take away the purchased commodities. After the customer takes the commodity away, the fetching position returns to the original state automatically. 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.

Thus, the shop has many advantages of 1; can save manpower and reduce employment of staff. 2; the commodity can be sold seven days a week and 24 hours. 3; management costs can be reduced because employees are lazy, employees steal things, and the like, which greatly reduces the management costs in this respect. 4; can decorate some storefronts less, save the decoration cost greatly. 5; the cold air can be only opened in the operation area, thereby saving the cost. 6; the space can be greatly saved, and the storage areas can be more densely stacked. 7; the shopping time of the customer can be saved. 8; a plurality of fetching places can be taken, so that the purchase order does not need to wait in line during shopping, and the bottleneck disappears. In addition, the unmanned stores can easily achieve standardization and are well managed.

The key equipment in the unmanned shop is the manipulator, a three-dimensional motion manipulator, as shown in fig. 4, a manipulator for the unmanned shop, which is placed above the storage shelf 2 of the shop, the moving horizontal guide rail 21 of the manipulator is arranged above the storage shelf 2, and can take the goods on a plurality of storage shelves 2, including 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, a manipulator terminal gripping 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 sleeve 38, the moving horizontal guide sleeve 38 is provided with a moving 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 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 robot controller 30 automatically generates a robot motion program according to a customer order, and the robot motion program is executed only once.

The robot will be described by taking a belt drive as an example, and as shown in fig. 4, 19 shows a fixed horizontal rail (two fixed horizontal rails are used in some cases), 20 shows a fixed horizontal rail motor, 21 shows a moving horizontal rail, 22 shows a moving vertical rail rotating motor (this is mainly used for switching between suction and gripping of an object), 23 shows a multi-chamber vacuum suction head of a robot

terminal gripping mechanism

31, 24 shows a moving vertical rail, 25 shows a moving horizontal rail motor, 26 shows a gripping part in the robot

terminal gripping mechanism

31, 27 shows a moving vertical rail motor, 28 shows a fixed horizontal rail belt, 29 shows a motor belt locked to a moving axis, 30 shows a robot controller, L1 shows a maximum distance that the moving horizontal rail 21 of the robot can move on the fixed horizontal rail 19, L2 shows a maximum distance that the moving vertical rail 24 of the robot can move on the moving horizontal rail 21, l3 represents the maximum distance that the robot terminal gripping mechanism 31 can move on the moving vertical rail 24. The manipulator mainly comprises a manipulator controller 30, a fixed horizontal guide rail 19, a movable horizontal guide rail 21, a movable vertical guide rail 24, 3 large parts, a manipulator terminal grabbing mechanism 31 and the like, wherein each guide rail is internally provided with a servo motor (other types of motors can be used, and the servo motors are mainly used), a belt or a lead screw (used for measuring distance), and 3 (some 4 or more) servo motors and the belt or the lead screw (the belt with the lead screw is more accurate than the belt with the lead screw). The robot moves a distance longer than that of the mounter, the distance of movement in 3 axes is longer than that of movement in the mounter, and the distance of movement in 3 axes is longer than that of movement in 5 meters, namely, 30 meters, and the like, and generally, the fixed horizontal guide rail 19 is fixed on the ground or on a wall, and the starting point position of the movement of the robot is determined, and the horizontal movement of the robot in the X-axis direction and the Y-axis direction, that is, the vertical direction is the Z-axis direction, a coordinate system is established, and the respective articles are inputted into the coordinate system in the coordinate system (3-dimensional coordinates) which are within the range of the movement of the robot and cannot be reached by the robot. Sometimes the shelf height goes up to the roof in order to save space. The manipulator terminal gripping mechanism 31 is divided into a gripping type part for gripping a commodity with a gripper of a manipulator and an absorbing type part for absorbing the commodity by negative pressure, and the gripping type part and the absorbing type part are used for gripping, instant noodles, biscuits and the like for mineral water, beer and the like according to different commodities. When the controller receives the shopping information, the controller will send out instructions to the servo drivers of all the motors, all the motors will rotate immediately, in fig. 4, the X-axis direction movement of the robot terminal gripping mechanism 31 is performed by the motor of note 25 pulling the moving vertical rail 24 to move on the moving horizontal rail 21, the Y-axis direction movement of the robot terminal gripping mechanism 31 is performed by the motor of note 20 pulling the moving horizontal rail 21 to move on the fixed horizontal rail 19, the Z-axis direction movement of the robot terminal gripping mechanism 31 is performed by the motor of note 27 pulling the robot terminal gripping mechanism 31 to move on the moving vertical rail 24, by moving in the three directions, the manipulator terminal grabbing mechanism 31 can move in a space for placing the commodity in a full-coverage manner, and can reach the placing position of the commodity, take away the needed commodity and send the commodity to a fetching position; the top end of a moving vertical guide rail 24 of the manipulator is provided with a moving vertical guide rail rotating motor 22 which is used for switching clamping type fetching and sucking type fetching; the structure of the clamping type fetching object is provided with a clamp electromagnetic valve 51, the clamping and releasing actions are realized, the clamp electromagnetic valve 51 is connected with a clamp, and the clamp electromagnetic valve 51 stretches and retracts to drive the clamp to open or close; the suction type fetching structure is internally provided with a suction head electromagnetic valve 44 for realizing the actions of generating negative pressure suction and releasing negative pressure to loosen, when the suction head electromagnetic valve 44 is stretched, a closed space is formed by the commodities and the multi-cavity negative pressure suction head 23, the closed space is enlarged along with the stretching of the suction head electromagnetic valve 44, the pressure in the closed space is reduced, the commodities are adsorbed on the multi-cavity negative pressure suction head 23, and the functions of the electromagnetic valves can be replaced by pneumatic cylinders to realize the actions of adsorption and clamping.

The multi-cavity negative pressure suction head 23 comprises a soft glue 42, a multi-cavity body 43, a suction head electromagnetic valve 44, a core 45, a side plate 46, a guide rail sleeve fixing plate 47 and a suction head mounting plate 59, wherein the soft glue 42 and the multi-cavity body 43 are integrally formed, the core 45 is inserted into the multi-cavity body 43 and then forms a closed cavity together with commodities, the soft glue 42 plays a role in auxiliary sealing, the multi-cavity body 43 is provided with a multi-cavity body air hole 48, the core 45 is provided with an air groove 49 and a core air hole 50, and the air groove 49 is communicated with the core air hole 50. When the core 45 is inserted into the multi-chamber body 43 to form a closed chamber together with the commodity, and the suction head electromagnetic valve 44 is contracted, the core air hole 50 is staggered with the multi-chamber body air hole 48, 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 multi-cavity air hole 48, the air flows from the multi-cavity air hole 48 to the core air hole 50 to the air groove 49 and then to the front closed cavity, and the negative pressure disappears. This is the working principle of the multi-chamber negative pressure suction head 23.

The suction type fetching structure comprises a clamp electromagnetic valve 51, a clamp electromagnetic valve clamping plate 54, a commodity clamping plate 52, a pressure reducing clamping plate 53, a first rotating shaft 55, a second rotating shaft 56, a clamp side plate 57, a clamp mounting plate 58, the clamp mounting plate 58 is in screw connection with the movable vertical guide sleeve 36, the clamp electromagnetic valve 51 is in screw connection with the clamp mounting plate 58, the clamp mounting plate 58 is connected with the commodity clamping plate 52 through the first rotating shaft 55, the commodity clamping plate 52 is connected with the pressure reducing clamping plate 53 through a rotating shaft, the commodity clamping plate 52 is mounted on the clamp side plate 57 through the second rotating shaft 56, the clamp electromagnetic valve 51 stretches out or contracts to drive the clamp electromagnetic valve clamping plate 54, the commodity clamping plate 52 and the pressure reducing clamping plate. The pressure reducing clamp plate 53 is provided to increase the contact area of the clip with the commodity and reduce the pressure.

A store has one or more robots, each robot having its own controller, but the store also has a controller for data input and data reception, and an overall controller that also distributes and coordinates the operation of the individual robots. The general controller is connected with a wired network to receive commodity information from the network, and communication cables are connected with other purchasing devices in the shop (except shopping devices, customers can also purchase commodities through other shopping devices in an operating area, the device is connected with the general controller in the shop, information of the commodities purchased through the device is also transmitted to the general controller, and shopping is also completed, the device is called a shopping device, and the customers purchase commodities through the device), shopping information from the devices is received, all the shopping information in the shop can be received, and the general controller is connected with the controllers of other manipulators in the shop to control the actions of the manipulators, and is connected with a computer of the shop to enable a manager of the shop to view the information in time, sales conditions; the general controller is provided with a plurality of interfaces, such as an interface shown in figure 9, wherein the number of the mechanical arms in the figure is uncertain, and can be one or a plurality of mechanical arms, and not shown in the figure, but several mechanical arms are provided, wherein the general controller is connected with a computer of the shop through parallel interfaces, the general controller is connected with the general control center of the company through an Ethernet interface, and the rest mechanical arms are connected through serial interfaces, in particular to the general controller in an unmanned shop, which comprises a networking module, a processor module, a memory module and an Ethernet module, wherein the processor module is electrically connected with the networking module, the memory module and the Ethernet module; the networking module comprises a manipulator controller interface used for being connected with a manipulator controller and a display screen interface used for being connected with a display screen, and the manipulator controller interface and the display screen interface are in circuit connection with the processor module; the memory module stores position data, commodity price data and commodity quantity data of commodities in the storage area; the Ethernet module is connected with a broadband network; the processor module is provided with an inquiry system, a sales system and a payment program; the inquiry system counts the quantity of each commodity in real time and displays the quantity on a display screen; the payment program is in interface with a bank network; the sales system calls the price information of the storage module according to shopping information input by a customer from a mobile device of the customer or a shopping device of a shop, calculates payment required by the customer, and triggers a payment program, the processor sends a goods taking instruction to the manipulator controller after receiving commodity payment to the account information, and the processor informs the customer to take away commodities after receiving the information that the commodities are taken away. The networking module is also provided with an object taking solenoid valve interface, and the object taking solenoid valve interface is connected with the processor module through a circuit. The networking module is also provided with a shopping equipment interface, and the shopping equipment interface is in circuit connection with the processor module. The networking module is also connected with the display screen circuit. The store can be provided with a plurality of display screens to display the types and the quantity of the minimum commodities to be sold. The wireless module comprises WIFI, BT, 4G and 5G. The networking module is also provided with a keyboard interface for connecting a keyboard, and the keyboard interface is in circuit connection with the processor module. The networking module still including be used for connecting sweep a yard rifle interface, sweep a yard rifle interface and processor module circuit connection. The networking module is also provided with a mouse interface for connecting a mouse, and the mouse interface is in circuit connection with the processor module. The general controller also comprises a wireless module, and the wireless module is in wireless connection with the mobile equipment of the customer. 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, commodity price and other data so as to be convenient for the processor to call. 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 the customer buys the order, the networking module receives the information, the processor module of the master controller calls the commodity position information in the memory module, and the networking module of the master controller sends the commodity position information to the fetching manipulator; after the article taking mechanical arm takes the article, the main controller networking module sends information to the article taking mechanical arm to take the article; the networking module receives information, the fetching mechanical arm reaches the fetching position, the networking module sends information to the fetching mechanical arm to enable goods to be poured into the fetching position, and the networking module of the master controller receives the information and lists the fetching mechanical arm as idle; the main controller networking module receives the information, and the networking module sends the information to the shopping equipment, so that a 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. 10, 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, the manipulator controller comprises a plurality of modules, 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 commands 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 article taking mechanical arm 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); then the networking module sends the motion parameters to each motion part, the manipulator takes the commodity, and when the manipulator takes the commodity, the networking module sends information to tell the master controller that the commodity has been taken; the networking module receives information, the article taking manipulator is used for pouring the articles into an article taking position, the article taking manipulator is used for taking the articles into the article taking position after taking the articles, the networking module sends information, and the articles are poured into the article taking position, as shown in figure 1. 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.

When the manipulator receives information sent by the master controller, namely an order, the sequence of fetching is firstly analyzed, namely, the manipulator controller finds out one of various paths to be taken by the manipulator, and a program is generated to be used as the manipulator as the fetching execution program. It follows that the executive of the shop robot is automatically generated by the customer shopping order and is executed only once.

Goods shelves are put in storage area row by row, and the manipulator round trip movement between goods shelves, so can all set up an operation area at the both ends of the fixed horizontal axis of manipulator, all can put commodity and supply customer to sweep the sign indicating number, and both sides effect function is the same, just so also has gone out the thing of getting twice and has located. Some showcases can be arranged in the operation area, newly arrived commodities, newly developed commodities, discounted sales promotion propaganda and the like can be recommended to customers. The number of articles removed from each location in the system, and the number of such articles, are recorded in real time and reported to the control center of the store system at regular intervals for accounting, shipping, management, etc. This system may be used in combination with other systems.

The robot for the unmanned shop for the shop is different from the industrial robot, the industrial robot generally takes articles at a fixed position and places the articles in a certain sequence, or takes articles at a certain sequence and places the articles in a fixed position, and the robot for the shop takes articles at a position and places the articles in a fixed position, but the positions of the articles taken by and places the articles are not fixed and are changed according to the requirements of customers. The actions of the industrial manipulator are repeated after each setting, and have repeatability, one action mode can be carried out for a plurality of days, a plurality of months or a plurality of years, the manipulator is different, each action can be different from the last action or can be the same, the action of the manipulator is determined by the types of commodities purchased by customers, the action of the manipulator is different as long as one order is different, each order is a motion program, each order only executes one operation, and the manipulator also can operate once every time the order is purchased. The generation of the motion program of the manipulator is that the manipulator controller firstly optimizes the commodity taking sequence to find out the sequence of the minimum path, and then the sequence plus the instructions of all the motion parts form the motion program. 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, 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.

Some stores also have detection parts, that is to say the action that the manipulator takes the goods is done, as to whether the goods have to take the thing department, do not detect, so some stores can also set up the detection procedure, specific operation is as follows, when the manipulator takes the goods, do not directly put to get the thing department inside, but put a code scanning point on the edge of the thing department of getting first, every time put a goods, the system will be from the several directions code scanning that the bar code probably is in, scan and tell the system after the goods bar code, this goods has already taken, and impel this goods to get the thing department inside. The commodity bought by the customer is subject to the commodity detected by the detection program, the payment is deducted only when the commodity is detected, the payment is not deducted when the payment is not detected in the order, and the payment is refunded and the customer is informed.

The manipulator can also have a code scanning function, or the manipulator can be used for taking a certain place after goods are placed in a certain fixed place to scan codes, and then the manipulator can be used for taking the goods to the certain place, so that the goods can be taken on the goods shelf, the goods can be automatically returned, the goods can be automatically loaded (tallied), and the labor of some personnel can be saved. In addition, the mode can be made into a store for sharing articles, the store for sharing articles is also divided into an operation area and a storage area, a customer can see the displayed articles in the operation area and check whether the required articles exist (some of the store can be provided with a device, a webpage can be opened from the device, and whether the required tools and articles exist can be checked), if yes, the code is scanned, then after the guarantee deposit is paid, the manipulator can take the articles out of the storage area, and the customer can borrow the articles; when the goods are returned after being used, the goods are placed at a place where the code can be purchased and scanned by the mechanical arm, the goods to be returned are automatically placed at the original placing position (which is arranged in the position system) after the code is scanned by the mechanical arm, if the mechanical arm does not have the code scanning function, the goods to be returned are required to be placed at a certain fixed code scanning place, the system immediately scans the type of the goods, then the goods to be returned are placed at a fixed goods taking place where the mechanical arm takes back the goods, and the mechanical arm can take the goods to the place where the goods are originally placed in the storage area. In cities, the living space of people is small, a lot of tools are bought and are not put in place, the time for using is short, therefore, the sharing economy can be developed, a sharing shop is made, commodities such as a few tools and the like which are usually used by people are put in the space, people scan codes and take away the commodities for use, the commodities are scanned and returned after the commodities are used, and a little fee is collected in the middle. Therefore, the use cost of people is reduced, and the waste of resources is reduced. This is also a scenario for this robot application.

The unmanned store with the manipulator is generally divided into an operation area and a storage area (customers cannot enter the storage area and can only move in the operation area), and the two-dimensional codes of the store are attached to commodities placed in the operation area (the commodities in the operation area are not sold) so that the customers can scan the codes. Meanwhile, commodities in the storage area (the commodities in the storage area can be not pasted with two-dimensional codes) are placed according to the numerical positions in the system, and when customers purchase the commodities, the mechanical arm can take the commodities out.

When a customer walks into a shop operation area to buy commodities, the customer takes a mobile phone and other equipment to scan the two-dimensional codes of the commodities to be bought, pays after scanning the codes of all the commodities to be bought, obtains an instruction by the manipulator at the moment to take the commodities, and after the commodities to be bought are all taken to the article taking position to be confirmed, the customer can open the door of the article taking position through the mobile phone to take the commodities to be bought. When the customer returns the goods, the system confirms that the goods are not damaged, and then the goods are taken to the original position by the manipulator. 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

1. A master controller in an unmanned store is characterized by comprising a networking module, a processor module, a memory module and an Ethernet module, wherein the processor module is in circuit connection with the networking module, the memory module and the Ethernet module; the networking module comprises a manipulator controller interface used for being connected with a manipulator controller and a display screen interface used for being connected with a display screen; the memory module stores position data, commodity price data and commodity quantity data of commodities in the storage area; the Ethernet module is connected with a broadband network; the processor module is provided with an inquiry system, a sales system and a payment program; the inquiry system counts the quantity of each commodity in real time and displays the quantity on a display screen; the payment program is in interface with a bank network; the sales system calls the price information of the memory module according to shopping information input by a customer from a mobile device of the customer or a shopping device of a shop, calculates payment required by the customer, and triggers a payment program, the processor sends a goods taking instruction to the manipulator controller after receiving commodity payment to the account information, and the processor informs the customer to take away commodities after receiving the information that the commodities are taken away.

2. The master controller in the unmanned shop as claimed in claim 1, wherein the networking module is further provided with an object-taking solenoid valve interface, and the object-taking solenoid valve interface is in circuit connection with the processor module.

3. The general controller in an unmanned shop as claimed in claim 1, wherein the general controller further comprises a wireless module, and the wireless module is wirelessly connected with the mobile device of the customer.

4. The general controller in the unmanned shop as claimed in claim 3, wherein the wireless modules include WIFI, BT, 4G and 5G.

5. The general controller in an unmanned shop as claimed in claim 1, wherein the networking module is further provided with a shopping device interface, and the shopping device interface is in circuit connection with the processor module.

6. The general controller in the unmanned shop as claimed in claim 1, wherein the networking module is further provided with a keyboard interface for connecting a keyboard, and the keyboard interface is in circuit connection with the processor module.

7. The general controller in the unmanned shop as claimed in claim 1, wherein the networking module further comprises a code scanning gun interface for connecting a code scanning gun, and the code scanning gun interface is in circuit connection with the processor module.

8. The general controller in the unmanned shop as claimed in claim 1, wherein the networking module is further provided with a mouse interface for connecting a mouse, and the mouse interface is in circuit connection with the processor module.