CN211278399U - Manipulator for unmanned store - Google Patents

Abstract

A robot hand for an unmanned store, comprising: fixing the horizontal guide rail; the fixed horizontal guide rail motor is arranged on the fixed horizontal guide rail; the fixed horizontal guide sleeve is arranged on the fixed horizontal guide rail; the movable horizontal guide rail is arranged on the fixed horizontal guide sleeve; the movable horizontal guide sleeve is arranged on the movable horizontal guide rail; the movable vertical guide sleeve is arranged on the movable horizontal guide sleeve; the movable vertical guide rail is arranged on the movable vertical guide sleeve; the manipulator terminal grabbing mechanism is arranged on the movable vertical guide rail; and the manipulator controller is electrically connected with the fixed horizontal guide rail motor, the movable vertical guide rail motor and the manipulator terminal grabbing mechanism. By developing the manipulator for the unmanned shop, commodities on a shelf or piled on the ground can be taken, unmanned sale is realized, and labor cost is saved.

Description

Manipulator for unmanned store

Technical Field

The present disclosure relates to the field of unmanned store equipment, for example to a manipulator for an unmanned store.

Background

The early-stage shop needs a person and a counter for selling goods, a customer can tell a salesperson what to buy and tell the salesperson what to take, the buying and selling are completed on the counter, and the customer can not go into the shop; later, with the appearance of a shopping mall and a supermarket, people can enter the shopping mall and the supermarket to select things and buy a bill; then, the unmanned store appears, so that the customers can select commodities in the unmanned store and then buy the order; in addition, some shops attach sensing labels to commodities, and the sensing labels can automatically sense the commodities and prices of the commodities, so that customers can buy bills by themselves.

In the related art, a vending machine has appeared, which can only sell a few kinds of goods, i.e. several kinds or more than ten kinds of goods, and can not meet the daily life needs of people at all, and an automatic medicine taking machine is also available in hospitals, which can only take a few kinds of medicines and can not be called as an unmanned store at all.

Early stores had salespersons to take out the goods for sale over the counter, and if this salesperson was replaced by a robot device, the unmanned store could be operated.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a manipulator for unmanned shop can solve the automatic problem of getting goods in unmanned shop.

A robot hand for an unmanned store, comprising: fixing the horizontal guide rail; the fixed horizontal guide sleeve is arranged on the fixed horizontal guide rail; the movable horizontal guide rail is arranged on the fixed horizontal guide sleeve; the movable horizontal guide sleeve is arranged on the movable horizontal guide rail; the movable vertical guide sleeve is arranged on the movable horizontal guide sleeve; the movable vertical guide rail is arranged on the movable vertical guide sleeve; the manipulator terminal grabbing mechanism is arranged on the lower end of the movable vertical guide rail; the manipulator controller is electrically connected with the fixed horizontal guide rail motor, the movable vertical guide rail motor and the manipulator terminal grabbing mechanism; the fixed horizontal guide rail motor is arranged to drive the moving horizontal guide rail to move on the fixed horizontal guide rail, the moving horizontal guide rail motor is arranged to drive the moving horizontal guide sleeve to move on the moving horizontal guide rail, and the moving vertical guide rail motor is arranged to drive the moving vertical guide rail to move up and down.

Preferably, the moving horizontal rail is movable on the fixed horizontal rail by a maximum distance L1, 0.1 m < L1 < 500 m.

Preferably, the maximum distance L2 that the moving vertical guide sleeve of the manipulator can move on the moving horizontal guide rail is more than 0.1 m and less than L2 and less than 500 m.

Preferably, the moving vertical guide sleeve can move on the moving vertical guide rail by a maximum distance L3, wherein the maximum distance L3 is more than 0.1 m and less than 100 m.

Preferably, the manipulator controller comprises a networking module, a processor module and a memory module, wherein the processor module is electrically connected with the networking module and the memory module respectively, and the networking module is electrically connected with the fixed horizontal guide rail motor, the movable horizontal guide rail motor and the movable vertical guide rail motor.

Preferably, the manipulator still includes the shopping box subassembly, the shopping box subassembly include the shopping box and set up as with the shopping box solenoid valve that commodity in the shopping box was poured, the shopping box is installed on the shopping box solenoid valve, and the shopping box solenoid valve is connected with manipulator controller circuit.

Preferably, the shopping box assembly further comprises a lifting mechanism and a lifting shopping box guide sleeve, the shopping box electromagnetic valve is arranged on the lifting shopping box guide sleeve, the lifting mechanism comprises a lifting shopping box motor and a belt or a lead screw, the lifting shopping box motor is connected with the lifting shopping box guide sleeve through the belt or the lead screw, and the lifting shopping box motor is connected with the manipulator controller circuit.

Preferably, the shopping box assembly further comprises a shopping box rotating mechanism including an elevating shopping box rotary motor arranged to rotate the shopping box horizontally, the elevating shopping box rotary motor being in circuit connection with the manipulator controller.

Preferably, the fixed horizontal guide rail motor, the movable horizontal guide rail motor and the movable vertical guide rail motor are servo motors or stepping motors, and the manipulator terminal grabbing mechanism comprises at least one of a multi-cavity negative pressure suction head assembly and a clamping type object taking clamp assembly.

The utility model has the advantages that the mechanical arm for the unmanned shop is developed, so that commodities on the goods shelf or piled on the ground can be taken, unmanned sale is realized, and labor cost is saved.

Drawings

FIG. 1 is a simplified diagram of a robot applied to an unmanned shop according to an embodiment;

FIG. 2 is a schematic view of a display case of an unmanned store according to an embodiment;

FIG. 3 is a perspective view of the interior of a shelf of an unmanned store provided by one embodiment;

FIG. 4 is a perspective view of a robot provided in accordance with an embodiment;

FIG. 5 is an exploded view of a multi-chamber vacuum cleaner head assembly according to one embodiment;

fig. 6 is a perspective view of a robot terminal gripping mechanism according to an embodiment;

FIG. 7 is an exploded view of a grasping and access clip assembly according to one embodiment;

FIG. 8 is a schematic diagram of the wiring of an unmanned store overall controller provided by one embodiment;

FIG. 9 is a schematic diagram of a robot controller according to an embodiment;

FIG. 10 is a schematic view of the universal motor and the universal lead screw thread transmission provided in the second embodiment;

fig. 11 is a schematic view of the universal guide sleeve and the universal lead screw thread transmission provided in the third embodiment;

FIG. 12 is a perspective view of the robot shown without the shopping box assembly in accordance with the fourteenth embodiment;

FIG. 13 is a perspective view of a robot arm without a lift mechanism in accordance with a sixteenth embodiment;

fig. 14 is a schematic view of guide sleeve rail bearing cooperation provided in the seventeenth embodiment;

FIG. 15 is an enlarged view of FIG. 1 at A;

fig. 16 is a block diagram of a robot controller according to an embodiment.

In the figure, 1-fetching place, 2-storage shelf, 3-mechanical arm, 4-shopping box component, 5-lifting mechanism, 6-display cabinet, 7-storage area, 8-general controller, 9-shopping box rotating mechanism, 10-operation area, 11-row mark, 12-column mark, 13-two-dimensional code, 14-label, 15-briquetting, 16-slope groove, 17-groove horizontal part, 18-baffle part, 19-fixed horizontal guide rail, 20-fixed horizontal guide rail motor, 21-moving horizontal guide rail, 22-terminal grabbing mechanism exchanging motor, 23-multi-chamber negative pressure sucker component, 24-moving vertical guide rail, 25-moving horizontal guide rail motor, 26-clamping fetching clamp component, 27-moving vertical guide motor, 28-fixed horizontal guide belt, 30-robot controller, 31-robot end gripper mechanism, 32-fixed horizontal guide pivot, 33-moving horizontal guide pivot, 34-end gripper mechanism rotary motor, 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, 42-soft glue, 43-multi-chamber body, 44-suction head solenoid valve, 45-core, 47-suction head mounting plate, 48-multi-chamber body air hole, 49-air groove, 51-clamp solenoid valve, 52-commodity clamp, 53-decompression clamp, 54-clamp solenoid clamp, 55-first spindle, 56-second spindle, 57-clamp side plate, 58-clamp mounting plate, 59-Lift shopping Box rotating Motor, 60-shopping Box, 61-shopping Box solenoid valve, 62-Lift shopping Box rotating Belt, 63-Lift shopping Box guide, 64-Lift shopping Box spindle, 65-shopping Box mount guide, 66-Lift shopping Box rotating spindle, 67-Lift shopping Box guide, 68-Lift shopping Box Belt, 69-Lift shopping Box Motor, 70-shopping Box rotating Motor, 71-Universal guide, 72-Universal lead screw, 73-general guide rail, 74-general motor, 75-general motor rotating shaft, 76-shopping box hanging rod, 77-shopping box connecting rod and 78-general bearing.

Detailed Description

Surface Mount Technology (SMT) equipment is to take up a variety of different electronic components, place them on various different positions of a motherboard, go through a high-temperature tin furnace, adhere tin on the electronic components, after the temperature drops, the electronic components are firmly fixed on the motherboard, of course, the positions of the electronic components and the positions to be adhered on the motherboard are set in advance in a computer, and the adhering sequence is also set in advance, and the materials are mainly some very small electronic components, some are only one millimeter.

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 expensive naturally, one of two million RMB is expensive, and one of twenty thousand RMB is cheap and has low precision requirement.

The SMT equipment mainly realizes the conversion from a numerical parameter (a numerical value input in equipment such as a computer and the like) to a distance (a preset distance for movement of a manipulator) by a servo motor, namely when a moving numerical value is given, the servo motor moves according to requirements until a destination 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 there are hundreds or thousands of parts on a main board, the total time for pasting the parts is not too long, so when the SMT equipment pastes the components, the movement speed of the mechanical arm is fast and the movement of the mechanical arm is almost invisible, and the efficiency of the equipment is high.

There is also a machine with a servomotor: the injection molding machine is not provided with an oil cylinder and is driven by only a servo motor, 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 accurate to one hundredth of one gram, and when various parameters are debugged, the motor can move to different positions according to the numerical value every time one numerical value is set.

The elevator in daily use is also driven by a servomotor, and each time a number button is pressed, the elevator stops at the corresponding floor, which is also an example of converting numbers into different positions, but the parameters of the movement position of the elevator are changed into floors.

The servo system is an automatic control system which enables output controlled variables such as the position, the orientation, the state and the like of an object to follow the arbitrary changes of an input target (or a given value).

The servo is mainly positioned by pulses, the servo motor can rotate an angle corresponding to one pulse when receiving one pulse, and 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 one 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 receive how many pulses back, namely the servo motor transmits signals to the system at any time, and corrects the operation of the servo motor by the signals sent by the system, so that the rotation of the motor can be accurately controlled, and the accurate positioning is 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.

Based on the above-mentioned principles and methods of the apparatus, the present embodiment provides a manipulator principle and method, and the manipulator can be determined to be applied to the unmanned shop according to the many-to-many manner, i.e. each article in a plurality of positions can be taken up and placed in any one of a plurality of different positions.

Although the SMT apparatus is suitable for small electronic components and daily necessities equivalent to one hundred times as large as the electronic components should be better taken, the robot applied to the servo motor is not problematic for use in unmanned stores.

This embodiment has proposed a manipulator, and the precision of this manipulator will be less than this SMT chip mounter injection molding machine far away, takes a commodity, and the error is no more than a centimetre. In the related art, a lot of small robots are used for moving back and forth when sorting packages, and the manipulator is more suitable, lower in cost and simpler in practice.

The customer inputs the information of the commodity of buying through sweeping behind the two-dimensional code of pasting on commodity or through other equipment, commodity information will be received to the controller in the shop system, transmit commodity information for the manipulator in the warehouse district, wait after the customer pays, the manipulator just goes to the commodity of this placing according to shop system assigned position in the warehouse district and takes the appointed thing department of system, the customer just can open the door of getting the thing department through equipment such as cell-phone flat board, just can take away the commodity of buying away, wherein, the commodity in the warehouse district can not paste the two-dimensional code.

The unmanned store with the manipulator is spatially divided into an operation area and a storage area, the operation area is mainly used for placing goods to be sold and allowing customers to select to scan the codes, the storage area is mainly used for storing the goods to be sold, the storage area is separated from the operation area, and the customers can only see the goods and scan the codes in the operation area and cannot enter the storage area. After a customer sees commodities in an operation area and wants to buy, the customer scans two-dimensional codes attached to the commodities by using a mobile phone or other code scanning equipment, the purchasing information of the commodities is transmitted to a controller of the shop through a network (3G,4G,5G, Wifi, BT and the like) of a mobile phone or a tablet and the like, the commodities are taken out of a fetching place by the controller through a manipulator provided with a servo motor, and the customer can take the commodities from the fetching 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. When the unmanned store has two operation areas, because the commodities in the storage area are arranged in a row, two ends of a row of shelves can be set into one operation area. The store is shown schematically in fig. 1, wherein note 1 indicates the location of the article to be taken, 2 indicates the storage shelf, 3 indicates the robot, 4 indicates the display case, 5 indicates the storage area, 6 indicates the overall controller, 7 indicates the robot controller, 8 indicates the arm assembly, 9 indicates the shopping box assembly, and 10 indicates the operating area. The unmanned shop system comprises an operation area, a storage area, a mechanical arm, an object taking position and a master controller, wherein two-dimensional codes and prices are attached to commodities in the operation area, and the commodities in the storage area are placed according to the input position strictly.

The goods displayed in the operation area are regularly placed, more daily articles are consumed and are placed in a conspicuous place, fewer daily articles can be placed in corners and clearly placed according to types, if paper articles are placed together, beverages are classified into a large category and are placed together separately, food articles are placed in another place separately, and more beverages can be placed in the same manner when the daily articles are consumed separately, so that a plurality of clients can scan codes conveniently. As shown in fig. 2, 11 indicates the identification of a row (row number), 12 indicates the identification of a column (column number), 13 indicates a two-dimensional code, and 14 indicates a label of a product. The operating area sets up a plurality of article departments of getting, can supply many people to shop simultaneously, and the one deck that basically all is the article department of getting below the operating area, and every customer has bought the list after scanning the sign indicating number on the cell-phone, and the system just informs the customer through the cell-phone at which article department gets commodity, and when the customer arrived this article department of getting, just opened article department in the switch setting of cell-phone, the customer just can take away the commodity of buying. The switch at the article taking position is arranged in the mobile phone, so that the commodities of the customer can be prevented from being taken away by other customers. The switch of getting the thing department is by the solenoid valve control of system power supply, and when the door of getting the thing department closed, the solenoid valve can block and get the thing department and can not pull out, and only click in through customer's the cell-phone and open and get the thing department, the solenoid valve is taken back out, 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 through other shopping equipment in an operation area, the shopping equipment is connected with a master controller in an unmanned shop, and commodities purchased through the shopping equipment can be transmitted to the master controller to finish shopping.

The commodity in warehouse district is put and is expected to be put according to the position of type system strictly, can set up a plurality of commodity positions in the system earlier, put good commodity again, the position that every kind commodity all one or more were deposited, the position that the system was typed is the position that this commodity was taken to the manipulator, and the manipulator obtains information, just can get this commodity, and the manipulator only gets commodity according to the position, and the kind of commodity can not be distinguished to manipulator itself. 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, then the measured value is input into the computer, the mechanical arm can be directly moved to the commodity position, the key is pressed to record the position, the code is scanned for the commodity at the position, the commodity type is also input, and therefore the relation between the commodity and the position can be established, and the commodity placing position input method is simpler than the commodity placing position input method in the computer. The position of the commodity is input into the system, namely the numerical values (commodity position coordinates) are preprocessed in the controller, and then when the commodity is purchased, only the information of the commodity is input, the coordinate position information of the commodity is not required to be input, and the information of the commodity is considered to be a code or a number and not to be the coordinate information of the position. By converting the coordinate position information of the input commodity into the relationship between the input commodity and the position, it is much easier for the customer to shop.

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 slope-type slot, and 18 represents a baffle part in front of the slope-type 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, no person can find a worker in the store to deal with the problem such as goods returning according to the replenishing time, and the large-scale store can also arrange a person to be on duty in a certain time period (such as 8:00-18:00 in the working time) to deal with the problem of abnormity and goods returning. 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 link or an interface is opened on the mobile phone, information such as the type, the quantity and the price of a selected commodity appears on the link or the interface, after the customer selects the selected commodity, the commodity is continuously purchased or bought, after the customer purchases the required commodity, the commodity is bought, the order is bought through WeChat payment or Payment payment or other modes, money is deducted from the corresponding payment mode after the selection, then the commodity purchased by the customer is prompted to be at the number-th fetching place, after the commodity is taken to the fetching place, the system prompts the customer to open the door of the fetching place, and the customer clicks the door of the fetching place in the mobile phone to take away the purchased commodity. After the customer takes the commodity away, the fetching position returns to the original state automatically. Each order only corresponds to one fetching place, and customers can shop too much or with different sizes at one time and can process the orders by dividing the orders into several orders.

The unmanned store provided by the embodiment has the advantages that 1, the manpower can be saved, and the employees are rarely hired; 2. the commodity can be sold seven days a week and 24 hours; 3. management cost can be reduced, and because employees are lazy and the like, the management cost in the aspect is greatly reduced; 4. some storefronts can be decorated less, and the decoration cost is greatly saved; 5. cold air can be only opened in the operation area, so that the cost is saved; 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 in addition, unmanned stores can easily realize standardization and good management.

Example one

Referring to fig. 1 to 3 and 15, the present embodiment provides a manipulator for an unmanned store, which is placed above a storage shelf 2 of the store, and a moving horizontal guide rail 21 of the manipulator is provided above the storage shelf 2, so that articles on a plurality of storage shelves 2 can be taken. As shown in fig. 4, the robot includes a fixed horizontal guide 19, a fixed horizontal guide motor 20, an end-gripper mechanism exchanging motor 22, a mobile horizontal guide 38, a mobile vertical guide 36, a fixed horizontal guide 37, a mobile horizontal guide motor 25, a mobile vertical guide motor 27, a mobile horizontal guide 21, a mobile vertical guide 24, a robot controller 30, a robot end-gripper mechanism 31, and a shopping box assembly 4; a fixed horizontal guide rail motor 20 provided on the fixed horizontal guide rail 19; a fixed horizontal guide sleeve 37 mounted on the fixed horizontal guide rail 19; a movable horizontal guide rail 21 mounted on the fixed horizontal guide bush 37; a movable horizontal guide sleeve 38 mounted on the movable horizontal guide rail 21; a moving horizontal guide motor 25 disposed on the fixed horizontal guide bush 37; the movable vertical guide sleeve 36 is arranged on the movable horizontal guide sleeve 38; the movable vertical guide rail 24 is arranged on the movable vertical guide sleeve 36; a moving vertical guide motor 27 provided on the moving vertical guide 24; a terminal gripping mechanism exchanging motor 22 and a terminal gripping mechanism rotating motor 34 which are arranged on the lower end of the moving vertical guide rail 24; the manipulator terminal grabbing mechanism 31 is arranged at the lower ends of the terminal grabbing mechanism exchanging motor 22 and the terminal grabbing mechanism rotating motor 34, and the positions of the terminal grabbing mechanism exchanging motor 22 and the terminal grabbing mechanism rotating motor 34 can be exchanged; and a manipulator controller 30 electrically connected to the fixed horizontal rail motor 20, the moving horizontal rail motor 25, the terminal gripping mechanism exchanging motor 22, the terminal gripping mechanism rotating motor 34, the moving vertical rail motor 27, and the manipulator terminal gripping mechanism; wherein the fixed horizontal guide motor 20 is configured to drive the moving horizontal guide 21 to move on the fixed horizontal guide 19, the moving horizontal guide motor 25 is configured to drive the moving horizontal guide 38 to move on the moving horizontal guide 21, and the moving vertical guide motor 27 is configured to drive the moving vertical guide 24 to move up and down through the moving vertical guide 36. The terminal gripping mechanism exchanging motor 22 drives the exchanging robot terminal gripping mechanism 31 to rotate to exchange the gripping mode, and the robot controller 30 automatically generates a robot motion program according to the customer order, and the robot motion program is executed only once.

The robot controller 30 is electrically connected to the fixed horizontal rail motor 20, the terminal gripping mechanism exchanging motor 22, the moving horizontal rail motor 25, the moving vertical rail motor 27, the terminal gripping mechanism rotating motor 34, the up-down shopping box rotating motor 59, the up-down shopping box motor 69, and the shopping box solenoid valve 61.

In one embodiment, the motor drive is implemented with a belt, as follows:

a fixed horizontal guide sleeve 37, a fixed horizontal guide motor 20 and a fixed horizontal guide rotating shaft 32 are arranged on the fixed horizontal guide 19, a fixed horizontal guide belt 28 is sleeved between the fixed horizontal guide motor 20 and the fixed horizontal guide rotating shaft 32, the fixed horizontal guide belt 28 is connected with the fixed horizontal guide sleeve 37 through screws, a movable horizontal guide 21, a movable horizontal guide motor 25 and a movable horizontal guide rotating shaft 33 are arranged on the fixed horizontal guide sleeve 37, a movable horizontal guide belt 39 is sleeved between the movable horizontal guide motor 25 and the movable horizontal guide rotating shaft 33, the movable horizontal guide belt 39 is connected with the movable horizontal guide sleeve 38 through screws, a movable horizontal guide sleeve 38 and a shopping box mounting seat guide sleeve 65 are arranged on the movable horizontal guide 21, a movable vertical guide sleeve 36 is arranged on the movable horizontal guide sleeve 38, and a movable vertical guide 24 is arranged on the movable vertical guide sleeve 36, the movable vertical guide rail 24 is provided with a movable vertical guide rail motor 27, a movable vertical guide rail rotating shaft 35 and a terminal grabbing mechanism exchanging motor 22, a movable vertical guide rail belt 40 is arranged between the movable vertical guide rail motor 27 and the movable vertical guide rail rotating shaft 35, the movable vertical guide rail belt 40 is connected with the movable vertical guide sleeve 36 through a screw, the lower end of the terminal grabbing mechanism exchanging motor 22 is provided with a manipulator terminal grabbing mechanism 31, the shopping box assembly 4 comprises a shopping box 60, a lifting shopping box guide sleeve 67, a lifting shopping box guide rail 63, a shopping box electromagnetic valve 61, a shopping box mounting seat guide sleeve 65, a lifting mechanism 5 and a shopping box rotating mechanism 9, wherein the lifting mechanism 5 comprises a lifting shopping box rotating shaft 64, a lifting shopping box motor 69 and a lifting shopping box belt 68, the shopping box rotating mechanism 9 comprises a lifting shopping box rotating motor 59, a lifting shopping box rotating belt 62 and a lifting shopping box rotating shaft 66, the shopping box mounting seat guide sleeve 65 is provided with a lifting shopping box guide rail 63, a lifting shopping box motor 69, a lifting shopping box rotating motor 59 and a lifting shopping box rotating shaft 66, the lifting shopping box motor 69, the lifting shopping box rotating motor 59 and the lifting shopping box rotating shaft 66 are respectively connected with the shopping box mounting seat guide sleeve 65 through screws, the lifting shopping box rotating motor 59 and the lifting shopping box rotating shaft 66 are in transmission connection through a lifting shopping box rotating belt 62, the lifting shopping box guide sleeve 67 and the lifting shopping box rotating shaft 64 are arranged on the lifting shopping box guide rail 63, the lifting shopping box motor 69 and the lifting shopping box rotating shaft 64 are in transmission connection through a lifting shopping box belt 68, the lifting shopping box belt 68 is in screw connection with the lifting shopping box guide sleeve 67, a shopping box 61 is arranged on the lifting shopping box guide sleeve 67, and a shopping box 60 is arranged on the shopping box electromagnetic valve 61, the shopping box mounting seat guide sleeve 65 and the movable horizontal guide sleeve 38 are connected and slide together through a movable horizontal guide belt 39, and the shopping box mounting seat guide sleeve 65 and the movable horizontal guide belt 39 are connected through screws. The lifting shopping box rotating motor 59 is screwed to the lifting shopping box guide 63 coaxially.

When the fixed horizontal guide rail 19, the moving horizontal guide rail 21, the moving vertical guide rail 24 and the lifting shopping box guide rail 63 are non-circular, only one fixed horizontal guide rail 19, one moving horizontal guide rail 21 and one moving vertical guide rail 24 are needed; when the fixed horizontal guide 19, the moving horizontal guide 21 and the moving vertical guide 24 are circular, at least two are required. Two sets of fixed horizontal rails 19 are typically required.

The manipulator 3 for the unmanned shop is provided with a terminal grabbing mechanism rotating motor 34 which mainly makes the manipulator terminal grabbing mechanism 31 rotate when grabbing commodities and put the commodities into a shopping box 60 or directly into a fetching part 1, and is also provided with a terminal grabbing mechanism exchanging motor 22 which is used for switching the grabbing mode of the manipulator terminal grabbing mechanism 31 and can switch back and forth between a clamping type fetching clamp assembly 26 and a sucking type multi-chamber negative pressure suction head assembly 23. The shopping box solenoid valve 61 is mainly used for turning over the shopping box 60 and pouring the goods in the shopping box 60 into the article taking place 1, and the shopping box rotating motor 63 is mainly used for adjusting the direction of the shopping box so that the shopping box can conveniently pour the goods into the article taking place 1. The shopping box lifting motor 69 mainly adjusts the height of the shopping box 60 to be substantially the same as the height of the robot terminal gripping mechanism 31, thereby saving the time for the robot terminal gripping mechanism 31 to operate.

The key equipment in the unmanned store is the robot for the unmanned store, which can move in three dimensions, as shown in fig. 4, where there are sometimes two or one fixed horizontal rails 19, L1 indicates the maximum distance the moving horizontal rail 21 of the robot can move on the fixed horizontal rail 19, L2 indicates the maximum distance the moving vertical rail 24 of the robot can move on the moving horizontal rail 21, L3 indicates the maximum distance the moving vertical guide 36 can move on the moving vertical rail 24, and L4 indicates the maximum distance the elevator box guide 67 can move on the elevator box guide 63. The manipulator mainly comprises a fixed horizontal guide rail 19, a movable horizontal guide rail 21, a movable vertical guide rail 24, a lifting shopping box guide rail 63, a manipulator terminal grabbing mechanism 31 and a shopping box, wherein each guide rail is provided with a servo motor and a belt or a lead screw, the servo motors can also be motors of other types, the manipulator provided by the embodiment is provided with four servo motors, and in one embodiment, more servo motors can be arranged. The belt or the threaded spindle is provided for measuring the distance, the threaded spindle being more precise than the belt. The shopping box mount guide 65 and the robot translation vertical guide 24 are connected for movement together and in one embodiment may be configured to move separately, which may be complicated. The fixed horizontal guide rail 19 is fixed on the ground or on a wall, the fixed horizontal guide rail 19 is positioned at the uppermost edge or the lowermost edge, the position of the starting point of the movement of the manipulator and the horizontal movement direction of the manipulator are determined, the horizontal movement direction comprises the direction along the X axis and the direction along the Y axis, the vertical direction is the Z axis, a coordinate system is established, and then a plurality of commodities in the coordinate system (three-dimensional coordinates) are input into a system, the coordinates are within the movement range of the manipulator, and the coordinates which are not within the movement range belong to the places which are not reached by the manipulator. Sometimes the shelf height goes up to the roof in order to save space. The manipulator terminal grabbing mechanism 31 comprises a clamping type fetching clamp assembly 26 and an absorbing type multi-chamber negative pressure suction head assembly 23, wherein the clamping type fetching clamp assembly 26 is used for clamping a commodity, the absorbing type fetching clamp assembly 26 is used for absorbing the commodity, and the two types of fetching clamp assemblies are used according to different commodities, for example: mineral water or beer is used in a clamping manner, and instant noodles or biscuits are used in a sucking manner. When the controller receives the shopping information, the robot controller 30 will command the servo motor driver and the servo motor will rotate immediately. In fig. 4, the X-axis movement of the robot terminal gripping mechanism 31 is realized by the moving horizontal guide motor 25 pulling the moving vertical guide 36 to move on the moving horizontal guide 21, the Y-axis movement of the robot terminal gripping mechanism 31 is realized by the fixed horizontal guide motor 20 pulling the moving horizontal guide 21 to move on the fixed horizontal guide 19, and the Z-axis movement of the robot terminal gripping mechanism 31 is realized by the moving vertical guide motor 27 pulling the moving vertical guide 24 to move on the moving vertical guide 36, through these three movements, the robot terminal gripping mechanism 31 can move in a full-coverage manner in the space for placing goods, and can reach the placing position of goods, and can take away the desired goods and send them to the shopping box, and then send them to the fetching place; the shopping box 60 is moved up and down on the lifting shopping box guide rail 63 by pulling the lifting shopping box guide sleeve 67 through the lifting shopping box motor 69; a terminal grabbing mechanism exchanging motor 22 is arranged at the lower end of a moving vertical guide rail 24 of the manipulator, the terminal grabbing mechanism exchanging motor 22 is used for switching two fetching modes of clamping type fetching and sucking type fetching, and a terminal grabbing mechanism rotating motor 34 is further arranged, so that the manipulator terminal grabbing mechanism 31 rotates when grabbing commodities and puts the commodities into a shopping box 60; the clamp electromagnetic valve 51 is arranged in the clamping type fetching clamp assembly 26, so that 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 multi-chamber negative pressure sucker assembly 23 is internally provided with a sucker electromagnetic valve 44 which realizes the actions of generating negative pressure suction and releasing negative pressure to loosen, when the sucker electromagnetic valve 44 stretches, the commodities and the multi-chamber negative pressure sucker assembly 23 form a closed space, the closed space is enlarged along with the stretching of the sucker electromagnetic valve 44, the pressure in the closed space is reduced, the commodities are adsorbed on the multi-chamber negative pressure sucker assembly 23, and the functions of the electromagnetic valves can be replaced by pneumatic cylinders to realize the actions of adsorption and clamping. An elevation shopping cart rotation motor 59 pulls the cart assembly 4 into rotation.

The multi-cavity negative pressure suction head assembly 23 comprises a soft rubber 42, a multi-cavity body 43, a suction head electromagnetic valve 44, a core 45, a side plate and a suction head mounting plate, wherein the soft rubber 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 with commodities, the soft rubber 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, and the air groove 49 is communicated with the core air hole. When the core 45 is inserted into the multi-chamber body 43 to form a closed chamber together with the commodity, when the suction head electromagnetic valve 44 is contracted, the core air hole and the multi-chamber body air hole 48 are staggered, air cannot enter, negative pressure is formed, and the more the core 45 is withdrawn, the larger the negative pressure is, and the tighter the commodity is adsorbed. When the suction head electromagnetic valve 44 extends, the negative pressure is reduced, the commodity adsorption is loosened, the core air hole is contacted with the multi-cavity air hole 48, the air flows from the multi-cavity air hole 48, the core air hole and the air groove 49 to the front closed cavity, and the negative pressure disappears. The working process is the working principle of the multi-chamber negative pressure sucker assembly 23.

The clamp formula of getting gets thing clip subassembly 26 includes clip solenoid valve 51, clip solenoid valve splint 54, commodity splint 52, decompression splint 53, first pivot 55, second pivot 56, clip curb plate 57 and clip mounting panel 58, clip mounting panel 58 and the vertical guide pin bushing 36 screw connection of removal, clip solenoid valve 51 and clip mounting panel 58 screwed connection, clip mounting panel 58 rotates through first pivot 55 with commodity splint 52 to be connected, commodity splint 52 rotates through the pivot with decompression splint 53 to be connected, commodity splint 52 installs on clip curb plate 57 through second pivot 56, clip solenoid valve 51 stretches out or contracts and drives clip solenoid valve splint 54, commodity splint 52 and decompression splint 53 motion, just can press from both sides the commodity. The pressure reducing clamp plate 53 is provided to increase the contact area of the gripping and picking clamp assembly 37 with the commodity and reduce the pressure.

In this embodiment, the maximum distance L1 that the moving horizontal rail 21 can move on the fixed horizontal rail 19, the maximum distance L2 that the moving vertical rail 24 can move on the moving horizontal rail 21, the maximum distance L3 that the moving vertical rail 24 can move on the moving vertical guide 36, and the maximum distance L4 that the shopping box 60 can move up and down on the lifting shopping box rail 63 are all less than 1.0 meter in the SMT equipment, and the maximum distance that a rail similar to the fixed horizontal rail 19 can move on the similar moving horizontal rail 21 is less than 0.5 meter in the SMT equipment. The three parameters of the manipulator for the unmanned shop provided by the embodiment, namely, the parameters of the characteristics of the manipulator, namely, the parameters of the L1, the L2 and the L3, can be set as follows: the maximum distance capable of moving on the fixed horizontal guide rail is more than 0.1 meter and less than 500 meters, the maximum distance capable of moving on the moving horizontal guide rail is more than 0.1 meter and less than 500 meters, and the maximum distance capable of moving on the moving vertical guide rail is 100 meters, so that the maximum distance capable of moving on the moving vertical guide rail is more than 0.1 meter and less than 100 meters.

In one embodiment, the maximum distance that the moving horizontal rail 21 can move on the fixed horizontal rail 19 is L1, 0.1 m < L1 < 500 m; the maximum distance L2 that the movable vertical guide rail 24 can move on the movable horizontal guide rail 21 is more than 0.1 m and less than L2 and less than 500 m; the maximum distance L3 that the movable vertical guide rail 24 can move on the movable vertical guide sleeve 36 is more than 0.1 m and less than L3 and 100 m; the maximum distance L4 for the shopping box 60 to move up and down on the lifting shopping box guide rail 63 is more than 0.1 m and less than L4 and less than 100 m.

In one embodiment, the four robot parameters L1, L2, L3, and L4 may be set as follows: the maximum distance L1 that the movable horizontal guide rail 21 can move on the fixed horizontal guide rail 19 is more than 0.1 m and less than L1 and less than 200 m; the maximum distance L2 that the movable vertical guide sleeve 36 can move on the movable horizontal guide rail 21 is more than 0.1 m and less than L2 and 200 m; the maximum distance L3 that the movable vertical guide rail 24 can move on the movable vertical guide sleeve 36 is more than 0.1 m and less than L3 and 50 m; the maximum distance L4 for the shopping box 60 to move up and down on the lifting shopping box guide rail 63 is more than 0.1 m and less than L4 and less than 50 m.

In one embodiment, the four robot parameters L1, L2, L3, and L4 may be set as follows: the maximum distance L1 that the moving horizontal guide rail 21 of the manipulator can move on the fixed horizontal guide rail 19 is more than 5 m and less than L1 and less than 20 m; the maximum distance L2 that the movable vertical guide sleeve 36 can move on the movable horizontal guide rail 21 is more than 5 m and less than 20 m and is more than L2; the maximum distance L3 that the movable vertical guide rail 24 can move on the movable vertical guide sleeve 36 is more than 2 m and less than 10 m and L3; the maximum distance of the up-and-down movement of the shopping box 60 on the lifting shopping box guide rail 63 is L4, 2 m < L4 < 10 m.

In one embodiment, the four robot parameters L1, L2, L3, and L4 may be set as follows: the maximum distance L1 that the movable horizontal guide rail 21 can move on the fixed horizontal guide rail 19 is more than 10 m and less than L1 and less than 15 m; the maximum distance L2 that the movable vertical guide sleeve 36 can move on the movable horizontal guide rail 21 is more than 10 m and less than 15 m and less than L2; the maximum distance L3 that the movable vertical guide rail 24 can move on the movable vertical guide sleeve 36 is more than 3 m and less than 5 m and less than L3; the maximum distance of the up-and-down movement of the shopping box 60 on the lifting shopping box guide rail 63 is L4, 3 m < L4 < 5 m.

This data input and data reception controller and robot controller 30 may be implemented as one when a store has only one robot, but when a store has multiple robots, each robot has its own robot controller 30, and the store has an overall controller configured to input and receive data, and to distribute and coordinate the operation of the multiple robots. The central controller is connected to a wired network for receiving merchandise information from the network, and communication cables are connected to other purchasing devices in the store. In addition to shopping by mobile phone, the customer can also shop by other shopping devices in the operating area, which are connected to the general controller in the shop, and the information about the goods purchased by this device is also transmitted to the general controller, and the shopping is also completed, this device is called the shopping device, and the customer purchases the goods by the shopping device. The main controller can receive shopping information from the shopping equipment, namely all the shopping information in the shop, and meanwhile, the main controller is connected with controllers of other mechanical arms in the shop so as to control the actions of the mechanical arms and is also connected with a computer host of the shop so that an administrator of the shop can check information and sales conditions in time; the master controller also communicates with the control center of the company to provide data for shop management, replenishment management, accounting, etc., so that the master controller has a large number of interfaces, as shown in fig. 8, where the number of robots 3 for unmanned shops is not determined, and may be one or more than the number shown in the figure. In one embodiment, the master controller comprises a networking module, a processor module, a memory module, an Ethernet module, a payment module and also can be additionally provided with a WIFI module or a Bluetooth module. The networking module and the Bluetooth module are set to receive information of a plurality of devices or send information to the plurality of devices; the Ethernet module is connected with an external network; the processor module is mainly used for coordinating resources in the shop, arranging a proper manipulator to place the commodity at a proper fetching position, calculating the price of the commodity and finishing 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.

When one shopping device is operated by a customer, the networking module receives the information, and the main controller 6 lists the shopping device as in use; 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 unit price, the total price, the preferential price and the like of the commodity, 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 sends the commodity position information to the mechanical arm 3 for the unmanned shop; the manipulator 3 for the unmanned shop takes the commodities into the shopping box 60 one by one, the manipulator moves the shopping box 60 to the article taking place 1 to which the commodities are poured and pours the commodities into the article taking place 1, and the networking module lists the manipulator 3 for the unmanned shop as idle after receiving the information that the manipulator takes the commodities and pours the commodities into the article taking place 1; meanwhile, the networking module sends information to the shopping equipment, and a customer can open the door; customer selects to open the door in shopping equipment, and the networking module just receives information, and the networking module just sends information and gives and get thing department solenoid valve, gets thing department solenoid valve control and opens the door, and customer takes away commodity. Each manipulator is provided with a controller, and the controller can control the actions of more than five motors and the actions of a plurality of electromagnetic valves, such as a servo motor driver and the electromagnetic valves at the fetching position in the figure shown in fig. 9, the number of the electromagnetic valves is uncertain, and may be one or more, and is not the number shown in the figure. Wherein all interfaces of the robot controller 30 are serial interfaces and have no ethernet interface; the clamp solenoid valve 51 is mainly used for releasing the robot terminal gripping mechanism 31. In one embodiment, as shown in fig. 16, the robot controller 30 includes a networking module, a processor module and a memory module, wherein the processor module is mainly used for reasonably optimizing the fetching sequence, calling out the data of the storage positions of the commodities and sending instructions to the servo motor driver. The memory module primarily stores the location of the items within the storage area. When the main controller sends shopping information, the networking module receives the information; the processor module optimizes the goods taking sequence, calls the commodity storage positions of the memory module and makes the motion parameters of a plurality of motion parts, wherein the motion parameters of the motion parts comprise the time when the motion parts start to move and the distance of the motion parts; the networking module sends the motion parameters to a plurality of motion parts, the manipulator 3 for the unmanned store takes the commodities, the manipulator is provided with a shopping box 60, the commodities can be taken into the manipulator shopping box 60 for the unmanned store one by one, the commodities are taken out, the networking module sends information, the networking module sends the information to the master controller, the master controller obtains that the commodities are taken into the shopping box 60, and the master controller informs the manipulator 3 to go to the object taking position 1 and pour the commodities in the shopping box 60 into the object taking position 1, as shown in fig. 1. The software operating system of the shop can be a Windows operating system, an Android operating system or an apple Mac OS operating system, and the shopping equipment and the system are only used in the shop system, so the shop can also use other small operating systems, namely Linux, an operating system can be developed by the shop. The system is only used in the unmanned shop, no file transmission exchange is carried out with the outside, and the situation that one file is sent to another unmanned shop and cannot be opened does not exist.

When the manipulator 3 for the unmanned shop receives information sent by the master controller, namely order information, the sequence of fetching is firstly analyzed, so that the wasted distance can be saved, and the fetching task can be completed by the most saved distance, because the manipulator 3 for the unmanned shop has the shopping box 60, and is put into the shopping box 60 after taking a commodity, the next commodity can be directly taken, and the taken commodity does not need to be put into the fetching part 1 and then is returned to take the next commodity. The shopping box 60 of the manipulator moves according to the position of the goods to be taken, and keeps the same height with the manipulator terminal grabbing mechanism 31 all the time, thereby reducing the movement distance of the manipulator terminal grabbing mechanism 31. To analyze the sequence of the object-taking, the robot controller 30 finds out the path to be taken from the plurality of paths, and generates a program as the object-taking execution program of the robot 3, and at this time, a motion program of the robot is generated. The robot controller 30 first optimizes the order of picking the articles to find the order of the minimum path, and then the order plus the instructions of the plurality of moving parts becomes a moving program. It follows that the execution program of the manipulator 3 is automatically generated by a customer shopping order and is executed only once. The moving parts are the shopping box unit 4, the shopping box rotating mechanism 9, and the robot terminal gripping mechanism 31 of the robot.

Storage rack 2 is put row by row in unmanned shop's storage area 7, the manipulator is placed in shop storage rack 2's top, and the removal horizontal guide 21 of manipulator sets up in storage rack 2 top, can take the commodity on a plurality of storage rack 2, and the manipulator is at back and forth movement between storage rack 2, can set up around storage area 7 and get thing department 1. In the operating area 10, some showcases may be provided, in which newly arrived merchandise, newly developed merchandise, discounted sales promotions, and the like are recommended to customers. How many items are removed at each location in the system, and how many such items remain, are updated in real time. This system may be used in combination with other systems. If the moving horizontal guide rail 21 of the manipulator is arranged below the storage rack 2, the manipulator can only take the commodities of two storage racks 2, and can not take the commodities from more than three storage racks 2, so that the efficiency is greatly reduced.

The present embodiment provides a robot for an unmanned shop, which is different from an industrial robot, where the industrial robot generally takes articles at fixed positions and places the articles in a certain order, or takes articles at fixed positions and places the articles in a certain order, and in this embodiment, the robot for the unmanned shop does not take articles at fixed positions and places the articles in a certain order, and the positions where the articles are placed are in a preset order according to the requirements of customers. The actions of the industrial manipulator are repeated after each setting, the actions are repeated, one action mode can be carried out for several days, several months or several years, the manipulator is different, each action can be different from the last action or can be the same, the actions of the manipulator are determined by the types of commodities purchased by customers, the actions of an order are different as long as the orders are different, each order is a motion program, each order only executes one operation, and the manipulator can operate once every time the order is bought. 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 a plurality of motion components becomes a motion program. The key point is that the order of the customer needs to be digitalized and can be timely transmitted to the manipulator controller 30 to form a program, meanwhile, the commodity placement in the storage area 7 needs to be digitalized, the types and the positions of the commodities need to be good, and the commodities need to be input into the manipulator controller 30, so that the commodities can be accurately taken according to the digitalized order through digitalized input. The fixed horizontal guide rail 19 of the manipulator 3, the storage rack 2, the commodities on the storage rack 2 and the fetching part 1 are mutually fixed, so that the relative positions are fixed, the fetching parameters of the manipulator 3 are not changed, and thus a plurality of manipulators can accurately execute tasks. The relative positions of a plurality of manipulators 3, a storage rack 2, a fetching part 1 and the like are generally locked and fixed by iron bars through screws, so that standardization is realized, and a plurality of stores have the same data, thereby being convenient for management and operation.

The manipulator 3 is provided with a shopping box 60, so that the manipulator 3 does not need to take goods one by one. The shopping box 60 of the manipulator moves according to the position of the goods to be taken, and keeps the same height with the manipulator terminal grabbing mechanism 31 all the time, thereby reducing the movement distance of the manipulator terminal grabbing mechanism 31. The method for automatically generating the motion program of the manipulator is to set rules according to the characteristics of the commodities, wherein the characteristics comprise the weight, the volume and the length of the commodities, the positions of the commodities in a store, the numbers of the commodities in a system and the like.

When the weight of the commodity is more than N1 kg or when the volume of the commodity is more than N2 cubic centimeters, the commodity is more than N3 centimeters, the commodities need to be taken to the fetching position 1 or other positions one by one, when the weight of the commodity is less than N1 kg, the volume of the commodity is less than N2 cubic centimeters and the length of the commodity is less than N3 centimeters, the commodities can be taken into the shopping box 60 first, then a plurality of commodities are taken to the fetching position 1 together and poured into the fetching position 1 or other positions, and the sequence of the commodities is optimized according to the positions of the commodities in the shop by the manipulator controller 30, and the shortest path taken by the manipulator is used as a manipulator motion program. The motion program of the robot is automatically generated according to the order of customer purchase (order after payment), so that the robot is executed only once per motion program. The robot controller 30 also evaluates the articles placed in the shopping boxes 60, and if one shopping box 60 is not loaded, the robot controller 30 will load the articles twice according to the volume and weight of the articles, and load a portion of the articles with heavy weight first in the order of priority.

When a plurality of commodities are put together in one shopping box 60, the following arrangement is also possible: when the weight is larger than or equal to M kilograms, the shopping box 60 is taken out firstly when the weight is large according to the sorting criterion; when the weight is less than M kilograms, the shopping box 60 is taken out first by taking the length as a sequencing basis; when the length is greater than or equal to L cm, the shopping box 60 is taken out first with the length being larger according to the sorting criterion of the length; when the length is less than L cm, the shopping box 60 is taken out firstly with large volume as the sequencing basis; when the volume is larger than or equal to V cubic centimeters, the shopping box 60 is taken out firstly with large volume by taking the volume as a sequencing basis; when the volume is smaller than V cubic centimeter, the position of the commodity in the shop is taken as the sequencing basis, and when one commodity is taken, the commodity closest to the commodity is taken, so that the movement distance of the manipulator is shortened as much as possible. The weight is used as priority, the length is used as second, the volume is used as second, and the weight is sorted according to the commodity position when no priority is required, and a mode with the shortest path is selected from various goods taking paths to be used as a manipulator motion program. Wherein the values of M and L are specifically set according to the shop situation.

In one embodiment, the robot may not use the shopping box 60 to load the merchandise, but use the robot gripping end mechanism 31 to pick up the merchandise, and then the robot has the following formula: the mechanical arm takes the commodities to the fetching place 1 or other places one by one, and when a plurality of commodities exist, the commodities are taken according to a preset sequence, a preset method or a preset rule. The robot controller 30 determines a preset method or a preset rule so that the robot automatically generates a pick-up form. The preset method or rule can be based on the characteristics of the commodity, such as the weight, volume and length of the commodity, or the serial number and position of the commodity in the system, after the rules are input into the system, when an order is provided, the manipulator controller 30 can automatically generate a motion program for executing the order according to the order, and the manipulator can move according to the program to take out the commodity and place the commodity in a fetching place or other places. The preset rules can be set in a crossed manner, for example, when the weight is more than N kilograms, the goods with large weight are taken into the fetching position firstly by taking the weight as the sequencing basis so as to avoid crushing the following goods; when the weight is less than N kilograms (the N value can be adjusted and set in the system), the commodities with large volumes are taken into the fetching place firstly by taking the volumes as sequencing basis; for durable consumer goods, the consumer goods can be taken to the place of taking the goods, and the food and other easily broken goods can be taken to the place of taking the goods later.

When the weight is more than or equal to N kilograms, taking the object taking position 1 or other places with large weight as the sequencing basis; when the weight is less than N kilograms, taking the long part to the object taking part 1 or other parts according to the length as a sequencing basis; when the length is larger than or equal to L cm, taking the object taking part 1 or other places with large length as a sequencing basis; when the length is less than L cm, taking the object taking part 1 or other places with large volume as a sequencing basis; when the volumes are equal, the goods are taken to the fetching part 1 or other places with small serial numbers in the order of serial numbers of the goods in the system. This is only one of various rules, and the store may set the rule according to specific situations, and the rule is mainly specified according to the characteristics of the product, such as the weight, volume, length, and the like of the product, and the rule is set so that the robot controller 30 can automatically generate the motion program, which is an important step for implementing the unmanned store. The length of the commodity refers to the largest dimension of the length, the width and the height of the commodity.

When receiving an order, the mechanical arm automatically generates a program according to the order and the rule in the system, moves from the current position of the mechanical arm to the position of the first commodity, picks up the commodity and moves to the article taking place 1, when the mechanical arm reaches the article taking place 1, the mechanical arm puts the commodity in the article taking place 1, then moves to the position of the second commodity, picks up the commodity and moves to the article taking place 1, when the mechanical arm reaches the article taking place 1, the operation of putting the commodity in the article taking place 1 to … … is repeated, and when the last commodity is taken out, the mechanical arm moves to the standby position or stops and stands by.

The robot program generation in this embodiment is mainly based on the characteristics of the merchandise itself, the location of the merchandise in the store and the serial number of the merchandise in the system. When the characteristics of the merchandise are out of range, the merchandise is taken to the picking place or other places one by one, when the characteristics of the merchandise are in a certain range, the manipulator controller 30 optimizes the path according to the position of the merchandise in the shop, the shortest path of the manipulator is found out and used as a program, if N merchandise need to be taken, then N! The goods are taken by different routes, wherein the random goods are taken firstly and then are taken again, and the random goods taking is realized, so that N! A combination in which the one having the shortest moving path of the robot is found and used as a program.

In one embodiment, the basis of the motion profile generated by the robot controller 30 includes position, weight, volume, and length.

The above is the case where the robot 3 and the robot 3 are applied to the unmanned shop, and the robot 3 for the unmanned shop provided in the present embodiment has the following features: the manipulator 3 for the unmanned shop is for the unmanned shop; the information of the commodities obtained by the manipulator 3 for the unmanned shop is input to the master controller through a mobile phone tablet personal computer, a voice recognition device and other information input devices, and then the input information is forwarded to the manipulator controller of the manipulator by the master controller; the motion program of the robot 3 is automatically generated by the robot controller 30 according to the customer order; the program of the manipulator 3 for the unmanned shop is executed only once and is not repeatedly executed; the positions of the picking positions of the manipulator 3 for the unmanned shop are fixed positions, and the position parameters are sent to the manipulator controller 30, that is, the picking position 1 is provided with a plurality of fixed positions, and a plurality of position parameters need to be input to the manipulator controller 30.

In one embodiment, the motion profile of the robot 3 is a many-to-many profile, i.e., each object at a plurality of positions is picked up and placed at any one of a plurality of different positions. The position of the fixed horizontal guide rail 19 of the manipulator 3 for the unmanned shop is fixed and constant between the storage shelf 2 and the fetching place 1 of the storage area 7. The motor of the robot arm 3 for the unmanned shop is a servo motor or a stepping motor. The manipulator 3 for the unmanned shop is a shopping box 60 provided with itself. The robot grasping terminal mechanism 31 of the robot 3 for the unmanned shop and the shopping box 60 are moved together. The robot 3 for the unmanned shop has a rotary solenoid valve or a shopping box rotary motor 70 or a shopping box rotary mechanism 9. The bottom of the shopping box 60 is provided with a shopping box rotary electromagnetic valve 61 or a rotary motor. The basis of the motion profile generated by robot controller 30 includes position, weight, volume, and length.

Preferably, the robot's fixed horizontal guide motor 20 and moving horizontal guide motor 25 move non-simultaneously, i.e. the moving horizontal guide motor 25 stops when the fixed horizontal guide motor 20 moves and the fixed horizontal guide motor 20 stops when the moving horizontal guide motor 25 moves, which may be provided in software. The terminal gripping mechanism exchanging motor 22, the terminal gripping mechanism rotating motor 34, the moving vertical rail motor 27, the lifting shopping box rotating motor 59, the lifting shopping box motor 69 and the fixed horizontal rail motor 20 can be moved simultaneously, and the terminal gripping mechanism exchanging motor 22, the terminal gripping mechanism rotating motor 34, the moving vertical rail motor 27, the lifting shopping box rotating motor 59, the lifting shopping box motor 69 and the moving horizontal rail motor 25 can be moved simultaneously.

In one embodiment, the robot controller 30 includes a networking module, a processor module, and a memory module, the processor module being electrically connected to the networking module and the memory module, and the networking module being electrically connected to the fixed horizontal rail motor 20, the terminal grabbing mechanism exchanging motor 22, the terminal grabbing mechanism rotating motor 34, the moving horizontal rail motor 25, the moving vertical rail motor 27, the suction head solenoid valve 44, the clamp solenoid valve 51, the shopping box solenoid valve 61, the lifting shopping box rotating motor 59, and the lifting shopping box motor 69.

In one embodiment, the robot further includes a shopping box assembly 4, the shopping box assembly 4 including a shopping box 60, a shopping box solenoid valve 61 configured to dump items of merchandise, the shopping box being mounted on the shopping box solenoid valve 61, the shopping box solenoid valve 61 being in circuit connection with the robot controller 30.

In one embodiment, the shopping box assembly 4 further comprises an elevator mechanism 5, the elevator mechanism 5 comprises an elevator shopping box motor 69, the elevator shopping box motor 69 is connected to an elevator shopping box guide 67 mounted with a shopping box solenoid valve 61 via a belt or a lead screw, and the elevator shopping box motor 69 is electrically connected to the robot controller 30.

In one embodiment, the shopping box assembly 4 further includes a shopping box rotation mechanism 9, the shopping box rotation mechanism 9 including an elevated shopping box rotation motor 59 configured to rotate the shopping box horizontally, the elevated shopping box rotation motor 59 in electrical communication with the robot controller 30.

In one embodiment, the robotic end gripping mechanism 31 includes one or both of a multi-chamber vacuum tip assembly 23 and a pick-and-place gripper assembly 26.

The unmanned shop provided with the manipulator in the embodiment comprises an operation area 10 and a storage area 7, a customer cannot enter the storage area 7 and can move only in the operation area 10, the two-dimensional code of the unmanned shop is attached to all goods placed in the operation area 10, so that the customer can scan the code, and the goods in the operation area 10 are not sold. Meanwhile, the commodities in the storage area 7 are placed according to position parameters in the system, so that when customers purchase the commodities, the commodities can be taken out by a manipulator, and the commodities in the storage area 7 can be not pasted with two-dimensional codes.

When a customer walks into the store operation area 10, the customer takes a mobile phone and other equipment to scan the two-dimensional code of the commodity to be purchased, and after scanning the codes of all the commodities to be purchased, the customer pays, the manipulator obtains an instruction to take the commodities, and after the commodities to be purchased are all taken to the article taking position 1 and confirmed, the customer can open the door of the article taking position 1 through the mobile phone to take the purchased commodities. 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.

Example two

In the embodiment, the motor transmission is realized by a lead screw, and the transmission is realized as follows:

the manipulator is provided with a fixed seat, a fixed horizontal guide rail 19 and a fixed horizontal lead screw are arranged on the fixed seat, a fixed horizontal guide sleeve 37 is arranged on the fixed horizontal guide rail 19, a fixed horizontal guide rail motor 20 is arranged on the fixed horizontal guide sleeve 37, the fixed horizontal guide sleeve 37 and the fixed horizontal guide rail motor 20 are connected through screws and move together, the fixed horizontal guide rail motor 20 and the fixed horizontal lead screw are connected through screw thread transmission, a movable horizontal guide rail 21 and a movable horizontal lead screw are arranged on the fixed horizontal guide rail 37, a movable horizontal guide rail 38 and a shopping box mounting seat guide sleeve 65 are arranged on the movable horizontal guide rail 21, a movable horizontal guide rail motor 25 is arranged on the movable horizontal guide rail 38, the movable horizontal guide rail motor 25 and the movable horizontal lead screw are connected through screw thread transmission, the shopping box mounting seat guide sleeve 65, the movable horizontal guide rail 38 and the movable horizontal guide rail motor 25 are connected and move together on, the movable horizontal guide sleeve 38 is provided with a movable vertical guide sleeve 36, the movable vertical guide sleeve 36 is provided with a movable vertical guide rail 24, a movable vertical lead screw and a movable vertical guide rail motor 27, the movable vertical guide rail 24 is provided with a terminal grabbing mechanism exchange motor 22, the lower end of the terminal grabbing mechanism exchange motor 22 is provided with a terminal grabbing mechanism rotating motor 34, the lower end of the terminal grabbing mechanism rotating motor 34 is provided with a manipulator terminal grabbing mechanism 31, the movable vertical guide rail motor 27 and the movable vertical guide rail 36 are connected through screws and move along the movable vertical guide rail 24, the movable vertical lead screw is in threaded connection with the movable vertical guide rail motor 27, the shopping box mounting seat guide sleeve 65 is provided with a lifting shopping box guide rail 63 and a lifting shopping box lead screw, the movable horizontal guide rail motor 25 is in threaded transmission connection with the movable horizontal lead screw, the lifting shopping box guide rail 63 is provided with a lifting shopping box guide sleeve 67 and a, the lifting shopping box screw rod is in threaded transmission connection with a lifting shopping box motor 69, the lifting shopping box motor 69 is fixedly connected with a lifting shopping box guide sleeve 67 through screws, a shopping box electromagnetic valve 61 is installed on the lifting shopping box guide sleeve 67, and a shopping box 60 is installed on the shopping box electromagnetic valve 61. The fixed horizontal guide rail 19, the movable vertical guide rail 24, the movable horizontal guide rail 21 and the lifting shopping box guide rail 63 are made of round bars, just like the distance of the metering movement of a round bar with threads added on the guide rail, the fixed horizontal guide rail motor 20, the movable vertical guide rail motor 27, the lifting shopping box motor 69 and the movable horizontal guide rail motor 25 are all externally connected with a transmission part with threads on a rotating shaft of the transmission part, the threads of the transmission part are matched with the threads of the guide rail, the threads matched with the driving motor are arranged on one round bar, and the guide rail with threads is connected with the transmission part with threads on the motor in a threaded transmission manner.

In the transmission mode of the lead screw and the transmission piece provided by the embodiment, the lead screw does not rotate, and the guide sleeve is driven to move by the rotation of the motor. The transmission manner of the screw and the transmission member will be described below by taking the universal motor 74, the universal lead screw 72, the universal guide sleeve 71 and the universal guide rail 73 in fig. 10 as an example, the screw thread on the universal motor 74 is matched with the screw thread of the universal lead screw 72, the universal motor 74 is fixed on the universal guide sleeve 71 by a screw, and the universal lead screw 72 is placed in parallel with the universal guide rail 73, wherein the universal motor 74, the universal lead screw 72, the universal guide sleeve 71 and the universal guide rail 73 are not specifically referred to, and the above description of the universal motor 74, the universal lead screw 72, the universal guide sleeve 71 and the universal guide rail 73 is an exemplary description of the transmission manner of the motor, the guide sleeve, the lead screw and the guide rail. The screw transmission in the embodiment has the characteristic that the screw does not rotate.

EXAMPLE III

In this embodiment, another way of screw transmission is provided, as shown in fig. 11, a rotating shaft of the motor is coaxially and fixedly connected with the screw, the screw is placed in parallel with the guide rail, an internal thread matched with the external thread of the screw is provided on the guide sleeve, and the guide sleeve is connected with the screw by a thread. In this way, the screw rotates, the guide sleeve cannot rotate due to the limitation of the other guide rail, and at the moment, the connection relation of the screw transmission is as follows:

the manipulator is provided with a fixed seat, the fixed seat is provided with a fixed horizontal guide rail 19, a fixed horizontal lead screw and a fixed horizontal guide rail motor 20, the fixed horizontal guide rail 19 is provided with a fixed horizontal guide sleeve 37, the rotating shaft of the fixed horizontal guide rail motor 20 and the fixed horizontal lead screw are coaxially arranged and fixedly connected, the fixed horizontal guide sleeve 37 is in threaded connection with the fixed horizontal lead screw, the fixed horizontal guide rail 19 and the fixed horizontal lead screw are arranged in parallel, the fixed horizontal guide sleeve 37 is provided with a fixed horizontal lead screw hole and a fixed horizontal guide rail hole, the fixed horizontal lead screw hole is provided with an internal thread matched with the external thread of the fixed horizontal lead screw, the fixed horizontal guide rail hole is unthreaded, the fixed horizontal guide rail 37 is provided with a movable horizontal guide rail 21, a movable horizontal lead screw and a movable horizontal guide rail motor 25, the movable horizontal guide rail 21 is provided, the movable horizontal guide motor 25 and the movable horizontal screw are axially arranged and fixedly connected, the shopping box mounting seat guide sleeve 65 and the movable horizontal guide sleeve 38 are both provided with a movable horizontal screw hole and a movable horizontal guide hole, the two movable horizontal screw holes are provided with internal threads matched with the external threads of the movable horizontal screw, the two movable horizontal guide holes are unthreaded, the movable horizontal guide sleeve 38 and the shopping box mounting seat guide sleeve 65 are connected together by a shopping box connecting rod 77 and move together, the shopping box mounting seat guide sleeve 65 is provided with a lifting shopping box guide rail 63, a lifting shopping box screw and a lifting shopping box motor 69, the lifting shopping box guide rail 63 is provided with a lifting shopping box guide sleeve 67, the lifting shopping box screw is fixedly connected with the lifting shopping box motor 69 by screws and is coaxially arranged, the lifting shopping box guide sleeve 67 is provided with a lifting shopping box guide rail hole and a lifting shopping box screw hole, the lifting shopping box screw hole is provided with an internal thread matched with the external thread of the lifting shopping box screw, the lifting shopping box guide rail hole is internally provided with no thread, the lifting shopping box motor 69 rotates to drive the lifting shopping box screw to rotate, so that the lifting shopping box guide sleeve 67 is driven to lift, the lifting shopping box guide sleeve 67 cannot rotate, the lifting shopping box guide sleeve 67 is provided with a shopping box electromagnetic valve 61, and the shopping box electromagnetic valve 61 is provided with a shopping box 60. Install on the removal horizontal guide pin bushing 38 and remove vertical guide pin bushing 36, remove and install on the vertical guide pin bushing 36 and remove vertical lead screw, remove vertical guide rail 24, remove vertical lead screw and remove vertical guide rail motor 27 coaxial setting and fixed connection, it snatchs mechanism change motor 22 to install the terminal on the vertical guide rail 24 to remove, it is equipped with and removes vertical lead screw hole and remove vertical guide rail hole to remove vertical guide pin bushing 36, it is equipped with the internal thread that matches with removing vertical lead screw external screw thread to remove vertical lead screw hole, it is threadless to remove vertical guide rail hole, the terminal is snatched the lower extreme of mechanism change motor 22 and is installed the terminal and snatchs mechanism rotary motor 34, it snatchs mechanism 31 to install the manipulator terminal on. In this embodiment, a universal motor 74, a universal lead screw 72, a universal guide sleeve 71, and a universal guide rail 73 shown in fig. 11 are taken as an example to describe a transmission manner of the lead screw, an internal thread on the universal guide sleeve 71 matches with an external thread of the universal lead screw 72, the universal lead screw 72 is coaxially disposed with a universal motor rotating shaft 75, the universal lead screw 72 is disposed in parallel with the universal guide rail 73, and the universal motor 74 drives the universal motor rotating shaft 75 and the universal lead screw 72 to rotate, so as to drive the universal guide sleeve 71 to move along the universal guide rail 73 and the universal lead screw 72. The universal motor 74, the universal lead screw 72, the universal guide sleeve 71 and the universal guide rail 73 are not specifically referred to, and the above description of the universal motor 74, the universal lead screw 72, the universal guide sleeve 71 and the universal guide rail 73 is an exemplary description of the transmission manner of the motor, the guide sleeve, the lead screw and the guide rail in this embodiment. The feature of the lead screw drive in this embodiment is that the lead screw will rotate with the universal motor shaft 75.

The screw and the belt can achieve the transmission effect, so one or more of the fixed horizontal guide rail 19, the movable vertical guide rail 24, the movable horizontal guide rail 21 and the lifting shopping box guide rail 63 can be selected to use the screw transmission mode in one manipulator, and the rest of the modes of belt transmission, namely, two mixed transmission modes in one manipulator are also possible.

Example four

In this embodiment, the shopping box is capable of dumping the goods differently from the first to third embodiments, in this embodiment, the electromagnetic valve 61 is not needed, and the shopping box 34 is provided with a mechanism which can draw the bottom cover of the shopping box 60 horizontally, so that the shopping box 60 can dump the goods into the article taking place 1.

EXAMPLE five

In this embodiment, the shopping box is capable of dumping the merchandise differently from the first to fourth embodiments, in this embodiment, the electromagnetic valve 61 is not needed, and the shopping box 34 is provided with a mechanism which enables the bottom cover of the shopping box 60 to be turned over along one side, so that the shopping box 60 can dump the merchandise into the article taking place 1.

EXAMPLE six

In this embodiment, as shown in FIG. 13, the shopping box mount guide sleeve 65 may also be screwed to the movable horizontal guide sleeve 38 by the shopping box link 77, so that the shopping box mount guide sleeve 65 may not be fixedly attached to the movable horizontal guide belt 39.

EXAMPLE seven

In this embodiment, the solenoid valve of the robot may be replaced with an air cylinder or a linear motor. In particular, the suction head solenoid valve 44, the clamp solenoid valve 51, and the shopping box solenoid valve 61 in the robot terminal gripping mechanism 31 may be replaced with a cylinder or a linear motor, etc.

Example eight

In this embodiment, the gripper-type article-taking clamp assembly 26 in the robot terminal gripping mechanism 31 is eliminated, and only the multi-chamber vacuum head assembly 23 is left, so that the multi-chamber vacuum head assembly 23 can suck the articles and take the articles to the article-taking place 1.

Example nine

In this embodiment, the multi-chamber vacuum head assembly 23 of the robot terminal gripping mechanism 31 is eliminated, and only the gripping and fetching clamp assembly 26 is retained, so that the article can be gripped and taken to the article taking place 1 by the gripping and fetching clamp assembly 26.

Example ten

In this embodiment, the shopping box rotating mechanism 9 is eliminated, i.e., the lifting and lowering shopping box rotating motor 59, the lifting and lowering shopping box rotating belt 62, and the lifting and lowering shopping box rotating shaft 66 are eliminated, and the lifting and lowering shopping box guide rail 63 cannot rotate, so that the shopping box 60 cannot be adjusted in direction.

EXAMPLE eleven

In this embodiment, the shopping box mount guide sleeve 65 may also be directly integrated with the movable horizontal guide sleeve 38, so that the shopping box assembly 4 is mounted on the movable horizontal guide sleeve 38, and the movable horizontal guide sleeve 38 is screwed to the movable horizontal guide belt 39, so that the shopping box link 77 is not required.

Example twelve

In this embodiment, the cross-section of the guide rail may be non-circular, e.g., square, or the like.

EXAMPLE thirteen

In this embodiment, a code scanning mechanism is added in the mechanical arm terminal grabbing mechanism 31, the mechanical arm scans the code before grabbing the commodity, and knows the type of the commodity, and can place the commodity in a preset place automatically, so that the commodity can be loaded automatically.

Example fourteen

In the present embodiment, the robot is not provided with the shopping box assembly 4, and the robot takes the articles to the article taking place 1 one by one.

As shown in fig. 12, since there is no shopping box 60, the operation speed of the robot terminal gripping mechanism 31 needs to be controlled, and the articles fall down too fast. If the shopping box 60 is available, the robot terminal gripping mechanism 31 can be operated faster. The program for creating the robot not provided with the article-holding portion of the shopping box 60 is the same as the program for creating the robot provided with the shopping box 60 without taking the article in the shopping box.

Example fifteen

In this embodiment, the manipulator is not provided with the lifting mechanism 5, that is, the three components of the lifting shopping box rotating shaft 64, the lifting shopping box motor 69 and the lifting shopping box belt 68 are eliminated, so that the lifting shopping box guide sleeve 67 cannot lift up and down, and when one commodity is taken by the manipulator terminal grabbing mechanism 31, the manipulator terminal grabbing mechanism firstly moves to the height of the shopping box 60, and then puts down the commodity, which is equivalent to directly fixing the lifting shopping box guide sleeve 67 on the lifting shopping box guide rail 63 by using screws.

Example sixteen

In this embodiment, the manipulator is not provided with the lifting mechanism 5, that is, three components of the lifting shopping box rotating shaft 64, the lifting shopping box motor 69 and the lifting shopping box belt 68 are eliminated, so that the lifting shopping box guide rail 63 can be adjusted to be the curved shopping box hanging rod 76, and meanwhile, the shopping box rotating mechanism 9 is replaced by a shopping box rotating motor 70, so that the lifting shopping box guide sleeve 67 cannot be lifted up and down, and the manipulator terminal grabbing mechanism 31 moves to the height of the shopping box 60 when taking a commodity, and then puts the commodity, which is equivalent to directly fixing the lifting shopping box guide sleeve 67 on the lifting shopping box guide rail 63 by using a screw. The manipulator is constructed as shown in figure 13, and the shopping box 60 in this embodiment cannot rotate and lift.

Example seventeen

In this embodiment, as shown in fig. 14, the universal bearing 78 is installed between the universal guide rail 73 and the universal guide sleeve 71, the rotating shaft of the universal bearing 78 is fixedly connected with the universal guide sleeve 71 by a screw, the universal guide rail 73 is matched with the universal bearing 78 in a manner of contacting a plane with a circular ring surface, and the universal guide rail 73 is in clearance fit with the universal guide sleeve 71, which is suitable for the situation that friction between the universal guide rail 73 and the universal guide sleeve 71 is to be reduced.

Claims (10)

1. A manipulator for an unmanned store, characterized by: comprises a fixed horizontal guide rail;

the fixed horizontal guide sleeve is arranged on the fixed horizontal guide rail;

the movable horizontal guide rail is arranged on the fixed horizontal guide sleeve;

the movable horizontal guide sleeve is arranged on the movable horizontal guide rail;

the movable vertical guide sleeve is arranged on the movable horizontal guide sleeve;

the movable vertical guide rail is arranged on the movable vertical guide sleeve;

the manipulator terminal grabbing mechanism is arranged on the movable vertical guide rail; and

the manipulator controller is electrically connected with the fixed horizontal guide rail motor, the movable vertical guide rail motor and the manipulator terminal grabbing mechanism;

the fixed horizontal guide rail motor is arranged to drive the moving horizontal guide rail to move on the fixed horizontal guide rail, the moving horizontal guide rail motor is arranged to drive the moving vertical guide sleeve to move on the moving horizontal guide rail, and the moving vertical guide rail motor is arranged to drive the moving vertical guide rail to move on the moving vertical guide sleeve.

2. The robot hand for unmanned shop as claimed in claim 1, wherein: the maximum distance L1 that the movable horizontal guide rail can move on the fixed horizontal guide rail is more than 0.1 m and less than L1 and less than 500 m.

3. The robot hand for unmanned shop as claimed in claim 1, wherein: the maximum distance L2 that the moving vertical guide sleeve of the manipulator can move on the moving horizontal guide rail is more than 0.1 m and less than L2 and less than 500 m.

4. The robot hand for unmanned shop as claimed in claim 1, wherein: the movable vertical guide sleeve is arranged on the movable vertical guide rail at the maximum movable distance L3, wherein L3 is more than 0.1 m and less than 100 m.

5. The robot hand for unmanned shop as claimed in claim 1, wherein: the manipulator controller comprises a networking module, a processor module and a memory module, wherein the processor module is electrically connected with the networking module and the memory module respectively, and the networking module is electrically connected with the fixed horizontal guide rail motor, the movable horizontal guide rail motor and the movable vertical guide rail motor.

6. The robot hand for unmanned shop as claimed in claim 1, wherein: still include the shopping bag subassembly, the shopping bag subassembly includes the shopping bag and sets up to incite somebody to action the shopping bag solenoid valve that commodity in the shopping bag was poured, the shopping bag is installed on the shopping bag solenoid valve, and the shopping bag solenoid valve is connected with manipulator controller circuit.

7. The robot hand for unmanned shop as claimed in claim 6, wherein: the shopping box assembly further comprises a lifting mechanism and a lifting shopping box guide sleeve, the shopping box electromagnetic valve is arranged on the lifting shopping box guide sleeve, the lifting mechanism comprises a lifting shopping box motor and a belt or a lead screw, the lifting shopping box motor passes through the belt or the lead screw and the lifting shopping box guide sleeve are connected, and the lifting shopping box motor is connected with a manipulator controller circuit.

8. The robot hand for unmanned shop as claimed in claim 7, wherein: the shopping box assembly further comprises a shopping box rotating mechanism, the shopping box rotating mechanism comprises a lifting shopping box rotating motor which is set to enable the shopping box to rotate horizontally, and the lifting shopping box rotating motor is connected with the manipulator controller through a circuit.

9. The robot hand for unmanned shop as claimed in claim 1, wherein: the fixed horizontal guide rail motor, the moving horizontal guide rail motor and the moving vertical guide rail motor are servo motors or stepping motors.

10. The robot hand for unmanned shop as claimed in claim 1, wherein: the manipulator terminal grabbing mechanism comprises a multi-cavity negative pressure suction head assembly and at least one of a clamping type object taking clamp assembly.

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