CN210480144U

CN210480144U - Mechanical arm and unmanned supermarket goods taking or loading system

Info

Publication number: CN210480144U
Application number: CN201921166959.7U
Authority: CN
Inventors: 阳建军
Original assignee: Wuhan Nordjia Technology Co ltd
Current assignee: Wuhan Nordjia Technology Co ltd
Priority date: 2019-07-24
Filing date: 2019-07-24
Publication date: 2020-05-08
Anticipated expiration: 2029-07-24

Abstract

The utility model discloses a mechanical arm and a goods taking or loading system of an unmanned supermarket, the mechanical arm comprises a driving component, a strip-shaped telescopic component and a strip-shaped supporting component, the telescopic component is rotatably arranged at one end of the supporting component, the telescopic end of the driving component deviates from the supporting component, the driving component is arranged at the other end of the supporting component, the driving end of the telescopic component is connected with the telescopic component in a transmission way, the telescopic end of the telescopic component is used for installing a goods taking device for taking goods, the driving component is used for driving the telescopic component to rotate up and down by taking the connecting part of the telescopic component and the supporting component as a center, thereby driving the goods taking device on the goods taking device to move up and down, the telescopic component is telescopic to drive the goods taking device to move away from or close to the supporting piece, the driving assembly and the telescopic assembly are used for driving the goods taking device to move in two dimensions together. The stability that the goods were got to the arm is high.

Description

Mechanical arm and unmanned supermarket goods taking or loading system

Technical Field

The utility model relates to an unmanned supermarket field of selling goods, in particular to arm and unmanned supermarket pick up goods system technical field.

Background

The existing unmanned supermarket goods taking system comprises a goods cabinet and a goods taking device, wherein a plurality of goods shelf partition plates are arranged on the goods cabinet, the distance between every two adjacent goods cabinet partition plates on the goods cabinet is consistent, products with the same size can only be placed, the size of placed goods is limited, and the types of goods are limited.

The goods taking device mainly comprises two types, one type is a spring-propelled goods taking device, after a purchaser designates goods and completes payment, a goods taking system of the spring-propelled goods taking device pushes the goods out of a goods shelf through a rail, the goods directly fall into a goods taking port or a goods discharging rail, but the goods needing to be pushed out are usually clamped at the front end of the spring, so that the goods cannot fall down, and the goods selling failure is caused; the other type is a goods taking device of the goods taking device, a control program of the goods taking device positions the goods selected by the purchaser and the position of the goods taking port, and the goods taking robot takes the goods by using the goods taking device of the goods taking device and then puts the goods into the goods taking port.

The existing goods loading device is mainly used for loading goods manually, errors are easy to occur, and the efficiency is low.

The first spring-propelled goods taking device can only sell goods which are not easy to damage, and different goods channels are required to be designed according to specifications of different goods, so that the popularization of a goods selling robot is not facilitated; the goods taking robot with the goods taking device arm can support the grabbing of different goods, but the clamping stability is not strong, and the maintenance cost is too high.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model aims at providing a high arm of stability and a get goods convenient unmanned supermarket and get goods system, the technical scheme of adoption is:

the utility model provides a mechanical arm, includes the support piece of the flexible subassembly of drive assembly, bar and bar, flexible subassembly rotates to be installed support piece's one end, and its flexible end deviates from support piece, drive assembly installs support piece's the other end, and its drive end with flexible subassembly transmission is connected, flexible subassembly is served and is used for the installation to take the goods get the goods device, drive assembly is used for the drive flexible subassembly with its with support piece's junction rotates from top to bottom as the center to drive it is last get the goods device and reciprocate, flexible subassembly is flexible with the drive get the goods device and remove and keep away from or be close to support piece, drive assembly with flexible subassembly is used for common drive get the goods device and do two-dimensional movement.

Preferably, flexible subassembly includes drive unit, support arm and flexible arm, the support arm with flexible arm is straight strip shaped plate, the support piece level sets up, the one end of support arm with support piece one end is rotated and is connected, its other end be located support piece's top and with drive assembly's drive end transmission is connected, flexible arm slidable mounting be in the top of support arm, drive unit installs on the support arm, and with flexible arm transmission is connected, drive unit is used for the drive flexible arm is in slide along its length direction on the support arm, get the goods device and install keep away from on the flexible arm the support arm with support piece rotates the one end of junction.

Preferably, the drive unit includes first brake motor, belt, connecting rod and two belt pulleys, two the belt pulley rotates to be installed the both ends of support arm lower extreme, it is equipped with the bar hole to lie in between two belt pulleys on the support arm along its length direction, the both ends in bar hole extend to and are close to two the belt pulley, the belt cover is established two the belt inslot of belt pulley, first brake motor is installed on the support arm, and its drive end and arbitrary one the wheel shaft transmission of belt pulley is connected, the connecting rod passes the bar hole, and both ends respectively with flexible arm and belt are connected fixedly, first brake motor drive the belt is just reversing in order to realize flexible arm reciprocating slide on the support arm.

Preferably, the driving assembly comprises a second brake motor, a circular gear and a strip-shaped sliding plate, the sliding plate is vertically arranged, the upper end of the sliding plate is fixedly connected with one end of the supporting arm far away from the supporting piece, the sliding plate is slidably connected with one end of the supporting piece far away from the supporting arm, the sliding track of the sliding plate is an arc-shaped track taking the joint of the supporting piece and the supporting arm as the center, an arc-shaped hole is vertically distributed on the sliding plate, the circle center of the arc-shaped hole is overlapped with the circle center of the sliding track of the sliding plate, a plurality of continuous convex teeth are arranged on the side wall of one side of the arc-shaped hole and matched with the circular gear, the circular gear passes through the arc-shaped hole and is meshed with the plurality of convex teeth, the second brake motor is mounted on the supporting piece, and the driving end of the second brake motor is in transmission connection, the second brake motor is used for driving the circular gear to rotate and driving the sliding plate to slide up and down by taking the connecting part of the supporting arm and the supporting piece as the center.

Preferably, the sliding plate is further provided with an arc-shaped sliding groove which is coaxially distributed with the arc-shaped hole, the supporting piece is convexly provided with a sliding block matched with the sliding groove, and the sliding block extends into the sliding groove and is in sliding contact with the sliding groove.

Arm drive assembly, flexible subassembly and support piece has constituted the triangle-shaped structure, so that the stability that the arm got goods is high.

The utility model provides an unmanned supermarket gets goods or system of getting goods, includes base, goods shelves, controller, gets goods device and above-mentioned arm, the goods shelves are the cell body of notch forward, cell body cell wall detachable installs a plurality of tray supporting component, every at least one horizontally distributed's tray has been placed respectively on the tray supporting component, every the up end of tray is used for placing the goods, and magnet is installed to its lower terminal surface, the arm is installed on the base to be located the place ahead of goods shelves, it is electromagnetic components and parts to get the goods device, electromagnetic components and parts installs flexible of flexible subassembly is served, just electromagnetic components and parts with the controller electricity is connected.

Preferably, every tray supporting component includes two spinal branch vaulting poles respectively, two the bracing piece all sets up along the fore-and-aft direction level in the cell body, but the rear end of the two is demountable installation respectively on the groove bottom wall of cell body, and two the bracing piece is along controlling the direction and distributing side by side, every both ends are placed respectively two that correspond about the tray on the bracing piece.

Preferably, the left side and the right side of the lower end face of each tray are respectively provided with a protrusion matched with the two corresponding support rods, and each tray is placed on the two corresponding support rods through the two protrusions.

Preferably, the tray further comprises an RFID reader, the RFID reader is installed at the telescopic end of the telescopic assembly and electrically connected with the controller, and the lower end of each tray is provided with an RFID tag.

According to the goods taking system, the specified goods and the corresponding tray are taken down, the goods taking mode is suitable for various kinds of goods, and the goods do not need to pass through a goods outlet channel, so that the goods are prevented from being damaged; the size of the tray and the gap between the two adjacent trays can be adjusted, so that the goods shelf is suitable for goods with different sizes, and the tray can be taken down from the goods shelf and is convenient to clean.

The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings. The detailed description of the present invention is given by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:

fig. 1 is one of the schematic structural diagrams of the mechanical arm of the present invention;

fig. 2 is a second schematic structural view of the robot arm according to the present invention;

fig. 3 is a schematic structural view of the telescopic assembly of the present invention;

fig. 4 is a schematic structural view of the sliding connector of the present invention;

fig. 5 is a schematic structural view of the shelf of the present invention.

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The principles and features of the present invention are described below in conjunction with the accompanying fig. 1-5, the examples given are intended to illustrate the present invention and are not intended to limit the scope of the invention. The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more fully apparent from the following description and appended claims. It should be noted that the drawings are in simplified form and are not to precise scale, and are provided for convenience and clarity in order to facilitate the description of the embodiments of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1-4, an embodiment of the robot arm of the present invention is provided, which includes a driving assembly 1, a bar-shaped telescopic assembly 2 and a bar-shaped support member 3, wherein the telescopic assembly 2 is rotatably mounted at one end of the support member 3, the telescopic end of the driving component is deviated from the supporting component, the driving component 1 is arranged at the other end of the supporting component 3, and the driving end of the telescopic component is connected with the telescopic component 2 in a transmission way, the telescopic end of the telescopic component 2 is provided with a goods taking device for taking goods, the driving component 1 is used for driving the telescopic component 2 to rotate up and down by taking the connecting part of the telescopic component and the supporting component 3 as a center, thereby driving the goods taking device on the goods taking device to move up and down, the telescopic component 2 is telescopic to drive the goods taking device to move away from or close to the supporting piece 3, the driving assembly and the telescopic assembly are used for driving the goods taking device to move in two dimensions together.

The driving assembly 1 drives the telescopic assembly 2 to overturn up and down and adjust the horizontal height of the goods taking device, the telescopic assembly 2 extends to drive the goods taking device to move away from the supporting piece 3, and the goods taking device moves to a position close to the appointed goods.

The drive assembly 1, the telescopic component 2 of bar and the support piece 3 of bar have constituted triangle-shaped each other, have guaranteed the stability of arm structure has improved the stability that the goods was got to the arm guarantees simultaneously the stability that the goods was got to the great goods of weight to the arm, just the constitution of arm is simple, is convenient for maintain.

The goods taking device can adopt a clamping type goods taking device commonly used in the prior art.

Preferably, the telescopic assembly 2 includes a driving unit 21, a supporting arm 22 and a telescopic arm 23, the supporting arm 22 and the telescopic arm 23 are straight-bar-shaped plates, the supporting member 3 is horizontally disposed, one end of the supporting arm 22 is rotatably connected to one end of the supporting member 3, the other end of the supporting arm is located above the supporting member 3 and is in transmission connection with the driving end of the driving assembly 1, the telescopic arm 23 is slidably mounted above the supporting arm 22, the length directions of the two are identical, the driving unit 21 is mounted on the supporting arm 22, the driving end of the driving unit is in transmission connection with the telescopic arm 23, the driving unit 21 is used for driving the telescopic arm 23 to slide on the supporting arm 22 along the length direction of the telescopic arm, and the goods taking device is mounted on the telescopic arm 23 and far away from one end of the rotary connection between the supporting arm 22 and the.

Support arm 22's one end pass through the hinge with support piece 3's one end is rotated and is connected, drive unit 21 is through the drive flexible arm 23 is realized get goods device and remove and be close to or keep away from support piece 3's upper end, simple structure, just flexible arm 23 is in flexible sliding on support arm 22 has realized get goods device with the nimble regulation of the distance between support piece 3 has improved the flexibility of arm.

Preferably, drive unit 21 includes first brake motor 211, belt 212, connecting rod 213 and two belt pulleys 214, two belt pulley 214 rotates to be installed the both ends of support arm 22 lower extreme, it is equipped with the bar hole along its length direction between two belt pulleys 214 to lie in on the support arm 21, the both ends in bar hole extend to and are close to two belt pulley 214, belt 212 cover is established two the belt inslot of belt pulley 214, first brake motor 211 is installed on the support arm 22, and its drive end and arbitrary one the wheel shaft transmission of belt pulley 214 is connected, connecting rod 213 passes the bar hole, and both ends respectively with telescopic arm 23 and belt 212 are connected fixedly, first brake motor 211 drive belt 212 is just reversing in order to realize telescopic arm 23 reciprocating slide on the support arm 22.

The driving unit 21 realizes the extension and contraction of the telescopic arm 23 through the belt 212, and the movement is stable and noiseless.

Wherein, the first brake motor 211 is installed at one end of the supporting arm 22 close to the supporting member 3, and its driving shaft is in transmission connection with the pulley 214 located at one end of the supporting arm 22 close to the supporting member 3.

The long limit of the bar hole both sides on the telescopic arm 23 respectively through sliding connection 24 with the long limit sliding connection of bar hole both sides on the support arm 22, sliding connection 24 is long cubic box body 241, box body 241 corresponds length direction both ends and is uncovered, be equipped with a plurality of gyro wheels 242 rather than rotate being connected on four side inner walls of box body 241 respectively, two one side outer wall of box body 241 respectively with the long limit of bar hole both sides on the telescopic arm 23 is connected fixedly, and the two overlaps respectively and is established on the long limit of bar hole both sides on the support arm 22, two on four side inner walls of box body 241 the periphery of gyro wheel 242 respectively with four side wall sliding contact on the long limit of support arm 22 bar hole both sides.

Two box body 241 respectively through a plurality of gyro wheels 242 with the long limit sliding connection in both sides of support arm 22 avoids telescopic boom 23 is in produce on the support arm 22 and rock, guarantee the stability that arm 22 got goods.

The support arm 22 up end is kept away from support piece 3's one end still is equipped with a supporting bench, just the up end of supporting bench be equipped with flexible arm 23 complex recess, flexible arm 23 is kept away from the one end embedding of support piece 3 upper end in the recess, and can follow in the recess the length direction of flexible arm 23 slides, in order to guarantee flexible arm 23 is in steady slip on the support arm 22.

Preferably, the driving assembly 1 includes a second brake motor 11, a circular gear 12 and a strip-shaped sliding plate 13, the sliding plate 13 is vertically disposed, the upper end of the sliding plate 13 is fixedly connected to the end of the supporting arm far away from the supporting member, the sliding plate 13 is slidably connected to the end of the supporting member 3 far away from the supporting arm 22, the sliding track of the sliding plate 13 is an arc-shaped track centered on the joint of the supporting member 3 and the supporting arm 22, the sliding plate 13 is provided with vertically distributed arc-shaped holes 14, the circle center of the arc-shaped hole 14 coincides with the circle center of the sliding track of the sliding plate 13, the side wall of one side of the arc-shaped hole 14 is provided with a plurality of continuous convex teeth 15, the plurality of convex teeth are matched with the circular gear, the circular gear passes through the arc-shaped holes and is engaged with the plurality of convex teeth, the second brake motor 11 is installed on the supporting, and the driving end of the second brake motor 11 is in transmission connection with the wheel shaft of the circular gear, and the second brake motor 11 is used for driving the circular gear 12 to rotate and driving the sliding plate 13 to slide up and down by taking the connecting part of the supporting arm 22 and the supporting piece 3 as the center.

The driving assembly 1 adopts the circular gear 12 to drive the sliding plate 13 to slide by taking the joint of the supporting piece 3 and the telescopic assembly 2 as a center, and the transmission is stable and reliable.

Preferably, the sliding plate 13 is further provided with an arc-shaped sliding slot 16 coaxially distributed with the arc-shaped hole 14, the supporting member is convexly provided with a sliding block 17 matched with the sliding slot 16, and the sliding block 17 extends into the sliding slot 16 and is in sliding contact with the sliding slot 16.

The slide groove 16 restricts the sliding track of the slide plate 13, thereby preventing the circular gear 12 from being disengaged from the convex teeth 15.

Based on the above mechanical arm, an embodiment of a supermarket picking or loading system is provided, as shown in fig. 5, the supermarket picking system in this embodiment includes a base, a shelf 4, a controller, a picking device 5 and the above mechanical arm, the shelf 4 is a groove body 41 with a forward notch, a plurality of tray supporting assemblies 42 are detachably mounted on the bottom wall of the groove body 41, at least one tray 6 which is horizontally distributed is respectively placed on each tray supporting assembly 42, the upper end face of each tray 6 is used for placing goods, a magnet 7 is mounted on the lower end face of each tray 6, the mechanical arm is mounted on the base and located in front of the shelf 4, the picking device 5 is an electromagnetic component which is mounted on the telescopic end of the telescopic assembly 2, and the electromagnetic component is electrically connected with the controller.

In the goods taking or loading system, the mechanical arm drives the tray 6 to move in two dimensions to be close to the appointed goods, the electromagnetic component is electrified to generate magnetic force and then absorbs the tray and the appointed goods placed on the tray, the mechanical arm drives the electromagnetic component to drive the tray 6 to move away from the goods shelf and to be close to the preset position, the electromagnetic component is powered off, and the tray 6 and the appointed goods placed on the tray are placed at the preset position, so that goods taking is realized; or the tray is placed and is being predetermineeing the position, and the commodity of waiting to get in goods is placed on the tray, the arm drive electromagnetic components removes to predetermineeing the position, electromagnetic components circular telegram and absorption predetermine the position tray 6, the arm redrives tray 6 is two-dimensional movement and is close to predetermine the position of getting in goods on goods shelves 4, electromagnetic components cuts off the power supply, the goods of getting in goods are placed to tray and the area of placing goods on goods shelves 4 predetermine the position of getting in goods, has realized the goods of getting in goods.

According to the goods taking system, the specified goods and the corresponding tray are taken down, the goods taking mode is suitable for various kinds of goods, and the goods do not need to pass through a goods outlet channel, so that the goods are prevented from being damaged; and the size of the tray and the gap between the two adjacent trays can be adjusted, so that the goods shelf is suitable for goods with different sizes, and the tray can be taken down from the goods shelf and is convenient to clean.

The base can be fixed, the base can preferably move in two dimensions on the horizontal plane, the base is provided with a driving end, one end of the supporting piece 3 is in transmission connection with the driving end of the base, the base can drive the supporting piece 3 to lift, the base can drive the mechanical arm to move in two dimensions on the horizontal plane, and the base enlarges the goods taking range of the mechanical arm.

The base is further provided with an omnidirectional rotating device, the omnidirectional rotating device is installed at the driving end of the base, one end of the supporting piece is installed at the driving end of the omnidirectional rotating device, and the omnidirectional rotating device can drive the mechanical arm to drive the goods taking device to rotate horizontally by 360 degrees, so that the goods taking efficiency of the mechanical arm is improved.

The base and the omni-directional rotation device are all in the prior art, and are not described in detail in the embodiments.

The magnetic sheet is pasted on the lower end face of the tray 6, so that the stability of the electromagnetic component on the suction force of the tray 6 is ensured.

The electromagnetic components are two electromagnetic coils, and at least two electromagnetic coils are distributed in parallel along the width direction of the telescopic arm 23 at the end far away from the support piece 3 so as to ensure the magnetic attraction of the electromagnetic components on the tray 6.

Preferably, every tray supporting component 42 includes two spinal branch vaulting poles respectively, two the bracing piece all sets up along the fore-and-aft direction level in the cell body 41, but the rear end of the two is demountable installation respectively on the cell body 41's the groove diapire, and two the bracing piece is along controlling the direction and distributing side by side, every both ends are placed respectively two that correspond about tray 6 on the bracing piece.

At least one tray 6 is arranged on each group of tray supporting assemblies 42, so that the same kind of goods are placed on the corresponding tray 6 on each group of tray supporting assemblies 42; the size of the shelf can be adjusted by adjusting the size of the groove body 41, and the supermarket shelf is suitable for unmanned supermarkets with different sizes.

The tank bottom wall array of cell body 41 has a plurality of mounting holes, every the bracing piece is respectively through screw demountable installation on the mounting hole, be convenient for adjust every group two that tray supporting component 42 corresponds the mounted position of bracing piece, so that tray supporting component 42 is applicable to the goods of various not equidimensions.

Preferably, the left side and the right side of the lower end face of each tray 6 are respectively provided with a protrusion matched with the corresponding two support rods, and the two protrusions on each tray 6 are placed on the corresponding two support rods to ensure the stability of the tray 6 on the shelf 4.

Preferably, the telescopic assembly further comprises an RFID reader, the RFID reader is installed at one end, far away from the support 23, of the telescopic assembly 2, the RFID reader is electrically connected with the controller, and the lower end of each tray 6 is provided with an RFID tag.

The RFID label consistent with the information of the goods on the tray 6 is arranged on the lower end face of the tray 6, after the electromagnetic component absorbs the tray 6, the RFID reader on the tray reads the information of the goods, so that the unmanned supermarket can check whether the goods taken down by the mechanical arm are consistent with the appointed goods, and the accuracy of the goods taking system of the unmanned supermarket is ensured.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way; the present invention can be smoothly implemented by those skilled in the art according to the drawings and the above description; however, those skilled in the art should understand that changes, modifications and variations made by the above-described technology can be made without departing from the scope of the present invention, and all such changes, modifications and variations are equivalent embodiments of the present invention; meanwhile, any changes, modifications, evolutions, etc. of the above embodiments, which are equivalent to the actual techniques of the present invention, still belong to the protection scope of the technical solution of the present invention.

Claims

1. A mechanical arm is characterized by comprising a driving component (1), a strip-shaped telescopic component (2) and a strip-shaped supporting component (3), the telescopic component (2) is rotatably arranged at one end of the supporting part (3), the telescopic end of the driving component (1) deviates from the supporting component, the driving component is arranged at the other end of the supporting component (3), the driving end of the telescopic component (2) is connected with the telescopic component in a transmission way, the telescopic end of the telescopic component (2) is used for installing a goods taking device for taking goods, the driving component (1) is used for driving the telescopic component (2) to rotate up and down by taking the connection part of the telescopic component and the supporting piece (3) as the center, thereby driving the goods taking device on the goods taking device to move up and down, the telescopic component (2) is telescopic to drive the goods taking device to move away from or close to the supporting piece (3), the driving assembly and the telescopic assembly are used for driving the goods taking device to move in two dimensions together.

2. The mechanical arm according to claim 1, wherein the telescopic assembly (2) comprises a driving unit (21), a supporting arm (22) and a telescopic arm (23), the supporting arm (22) and the telescopic arm (23) are straight plates, the supporting member (3) is horizontally arranged, one end of the supporting arm (22) is rotatably connected with one end of the supporting member (3), the other end of the supporting arm is positioned above the supporting member (3) and is in transmission connection with the driving end of the driving assembly (1), the telescopic arm (23) is slidably mounted at the upper end of the supporting arm (22) and has the same length direction, the driving unit (21) is mounted on the supporting arm (22), the driving end of the driving unit is in transmission connection with the telescopic arm (23), the driving unit (21) is used for driving the telescopic arm (23) to slide on the supporting arm (22) along the length direction thereof, the goods taking device is arranged at one end, far away from the rotary connection position of the supporting arm (22) and the supporting piece (3), of the telescopic arm (23).

3. The mechanical arm according to claim 2, wherein the driving unit (21) comprises a first brake motor (211), a belt (212), a connecting rod (213) and two belt pulleys (214), the two belt pulleys (214) are rotatably installed at two ends of the lower end of the supporting arm (22), a strip-shaped hole is formed in the supporting arm (22) between the two belt pulleys (214) along the length direction of the supporting arm, two ends of the strip-shaped hole extend to be close to the two belt pulleys (214), the belt (212) is sleeved in belt grooves of the two belt pulleys (214), the first brake motor (211) is installed on the supporting arm (22), the driving end of the first brake motor is in transmission connection with the wheel axle of any one of the belt pulleys (214), the connecting rod (213) penetrates through the strip-shaped hole, and two ends of the first brake motor are respectively connected and fixed with the telescopic arm (23) and the belt (212), the first brake motor (211) drives the belt (212) to rotate positively and negatively so as to realize the reciprocating sliding of the telescopic arm (23) on the supporting arm (22).

4. The mechanical arm according to claim 2 or 3, wherein the driving assembly (1) comprises a second brake motor (11), a circular gear (12) and a strip-shaped sliding plate (13), the sliding plate (13) is vertically arranged, the upper end of the sliding plate is fixedly connected with one end of the supporting arm (22) far away from the supporting member (3), the sliding plate (13) is slidably connected with one end of the supporting member (3) far away from the supporting arm (22), the sliding track of the sliding plate (13) is an arc-shaped track centering on the joint of the supporting member (3) and the supporting arm (22), the sliding plate (13) is provided with vertically distributed arc-shaped holes (14), the circle center of each arc-shaped hole (14) is coincident with the circle center of the sliding track of the sliding plate (13), one side wall of each arc-shaped hole (14) is provided with a plurality of continuous convex teeth (15), and a plurality of dogteeth (15) with circle gear (12) cooperate, circle gear (12) pass the arc hole, and with a plurality of dogtooth (15) mesh mutually, second brake motor (11) are installed on support piece (3), and its drive end with the wheel shaft transmission of circle gear (12) is connected, second brake motor (11) are used for driving circle gear (12) rotate and drive slide (13) with support arm (22) with the junction of support piece (3) slides from top to bottom as the center.

5. A mechanical arm according to claim 4, wherein the sliding plate (13) is further provided with an arc-shaped sliding chute (16) which is coaxially distributed with the arc-shaped hole (14), the supporting piece is convexly provided with a sliding block (17) which is matched with the sliding chute (16), and the sliding block (17) extends into the sliding chute (16) and is in sliding contact with the sliding chute (16).

6. An unmanned supermarket pick or load system, characterized by comprising a base, a shelf (4), a controller, a pick device (5) and a mechanical arm according to any one of claims 1-5, the goods shelf (4) is a groove body (41) with a forward notch, a plurality of tray supporting components (42) are detachably arranged on the bottom wall of the groove body (41), at least one tray (6) which is horizontally distributed is respectively arranged on each tray supporting component (42), the upper end surface of each tray (6) is used for placing goods, a magnet (7) is arranged on the lower end surface of the rack, the mechanical arm is arranged on the base and is positioned in front of the goods shelf (4), get goods device (5) and be electromagnetic components, electromagnetic components installs the flexible of flexible subassembly (2) is served, just electromagnetic components with the controller electricity is connected.

7. The unmanned supermarket goods taking or loading system according to claim 6, wherein each tray support assembly (42) comprises two support rods, the two support rods are horizontally arranged in the groove body (41) along the front-back direction, the rear ends of the two support rods are detachably mounted on the bottom wall of the groove body (41), the two support rods are distributed in parallel along the left-right direction, and the left end and the right end of each tray (6) are respectively placed on the two corresponding support rods.

8. An unmanned supermarket goods taking or loading system according to claim 7, wherein the left side and the right side of the lower end face of each tray (6) are respectively provided with a protrusion which is matched with the two corresponding support rods, and each tray (6) is respectively placed on the two corresponding support rods through the two protrusions.

9. An unmanned supermarket pick or load system according to any one of claims 6 to 8, further comprising an RFID reader, wherein the RFID reader is mounted at the telescopic end of the telescopic assembly (2) and is electrically connected with the controller, and an RFID tag is respectively arranged at the lower end of each tray (6).