WO2019242693A1 - 单臂机械手 - Google Patents

单臂机械手 Download PDF

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Publication number
WO2019242693A1
WO2019242693A1 PCT/CN2019/092120 CN2019092120W WO2019242693A1 WO 2019242693 A1 WO2019242693 A1 WO 2019242693A1 CN 2019092120 W CN2019092120 W CN 2019092120W WO 2019242693 A1 WO2019242693 A1 WO 2019242693A1
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WIPO (PCT)
Prior art keywords
horizontal guide
motor
shopping box
guide rail
shopping
Prior art date
Application number
PCT/CN2019/092120
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English (en)
French (fr)
Inventor
熊长伦
Original Assignee
深圳市太惠科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910191955.2A external-priority patent/CN109719710A/zh
Priority claimed from CN201910192045.6A external-priority patent/CN109719711A/zh
Application filed by 深圳市太惠科技有限公司 filed Critical 深圳市太惠科技有限公司
Publication of WO2019242693A1 publication Critical patent/WO2019242693A1/zh

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric

Definitions

  • the present disclosure relates to the technical field of unmanned store equipment, for example, to a single-arm manipulator.
  • vending machine has appeared on the market. This kind of vending machine can only sell very few goods, several or a dozen kinds of goods, which cannot meet the needs of people's daily life. There is also an automatic medicine dispenser in the hospital. , Can only take a few medicines, can not be called an unmanned store at all.
  • the present disclosure provides a single-arm manipulator that can be applied to unmanned stores.
  • a single-arm manipulator provided by an embodiment includes: a fixed horizontal guide rail; a fixed horizontal guide rail motor disposed on the fixed horizontal guide rail; a fixed horizontal guide sleeve installed on the fixed horizontal guide rail; a moving horizontal guide rail installed on the fixed horizontal guide rail; Fixed on the horizontal guide sleeve; mobile horizontal guide sleeve installed on the mobile horizontal guide rail; mobile horizontal guide motor installed on the mobile horizontal guide rail; arm assembly provided on the mobile horizontal guide sleeve and manipulator control And is electrically connected to the fixed horizontal guide rail motor and the mobile horizontal guide rail motor; wherein the fixed horizontal guide rail motor is provided to drive the mobile horizontal guide rail to move on the fixed horizontal guide rail; the mobile horizontal guide rail motor is provided as Drive arm assembly moves on the moving horizontal guide
  • An embodiment provides a method for controlling a single-arm manipulator, wherein the method is implemented on the single-arm manipulator described above, and the method includes: the robot controller receives product information in a customer order; and the robot control The robot automatically generates a motion program of the robot according to the commodity information; and the robot controller controls the robot to execute the motion program.
  • FIG. 1 is a perspective view of a single manipulator applied to an unmanned store according to an embodiment
  • FIG. 2 is a perspective view of an operation area display cabinet of an unmanned store according to an embodiment
  • FIG. 3 is a perspective view of an interior of a shelf of an unmanned store according to an embodiment
  • FIG. 4 is a perspective view of a manipulator provided in the first embodiment
  • FIG. 5 is a perspective view of a manipulator terminal grasping mechanism according to an embodiment
  • FIG. 6 is an exploded view of a multi-chamber negative pressure suction head provided by an embodiment
  • FIG. 7 is an exploded view of a clip-type pick-up clip assembly provided by an embodiment
  • FIG. 8 is a schematic diagram of an unmanned store main controller wiring according to an embodiment
  • FIG. 9 is a schematic wiring diagram of a robot controller provided by an embodiment
  • FIG. 10 is a schematic diagram of a universal motor and a universal screw thread transmission provided in Embodiment 2;
  • FIG. 11 is a schematic diagram of a universal guide sleeve and a universal screw thread transmission provided in the third embodiment
  • FIG. 12 is a perspective view of a manipulator after a motor replaces a shopping box rotation mechanism according to a fifteenth embodiment
  • FIG. 13 is a perspective view of a manipulator after canceling a shopping box mounting seat guide and canceling a shopping box assembly provided in Embodiment 16;
  • FIG. 14 is a schematic diagram of cooperation between a universal guide sleeve and a universal guide rail bearing provided by an embodiment.
  • SMT Surface Mounted Technology
  • Each motherboard has hundreds or even thousands of electronic components, and SMT equipment can pick them up and put them where they should be.
  • the size of this device has a high precision, which can reach one thousandth of a millimeter.
  • this device is very expensive. It costs two million yuan per unit, and there are not high precision requirements. The cheap one has 20,000 yuan per unit. of.
  • SMT equipment mainly uses servo motors to achieve the conversion from numerical parameters (values entered in computers and other equipment) to distances (preset distances of the manipulator's movement). That is, when a motion value is given, the servo motor will Ask for exercise until you reach your destination.
  • This method is also a many-to-many method, that is, picking up multiple materials at the feeding place and sending them to different positions on the motherboard. Because there are hundreds or thousands of parts on a motherboard, the total time to paste these parts can not be too long, so when the components are attached to the SMT device, the robot moves quickly, so fast that it is almost impossible to see the movement of the robot. So the efficiency of this equipment is also very high.
  • injection molding machines injection molding machines have no oil cylinders, and are driven only by servo motors. This injection molding machine is more precise than those with cylinders.
  • the injection volume of an injection molding machine can be accurate to one gram. One hundredth of a percent.
  • the commonly used elevator is also driven by a servo motor. Every time you press a number button, the elevator stops at the corresponding floor. This is also an example of converting the number to a different position. However, the parameters of the elevator movement position are replaced by the floor. .
  • This servo system is an automatic control system that enables the output controlled quantity such as the position, orientation and state of the object to follow the arbitrary change of the input target (or given value).
  • Servo is mainly positioned by pulses.
  • a servo motor When a servo motor receives a pulse, it will rotate the angle corresponding to a pulse to achieve displacement. Because the servo motor itself has the function of sending pulses, each time the servo motor rotates, a corresponding number of Pulse, which forms a echo with the pulse received by the servo motor, or is called a closed loop. In this way, the system will know how many pulses are sent to the servo motor, and how many pulses are received at the same time, which means that the servo motor transmits the signal at any time. To the system, at the same time, the signal given by the system is used to correct its own operation, so that the rotation of the motor can be controlled very accurately to achieve accurate positioning, which can reach 0.001mm.
  • the rotor inside 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 this magnetic field.
  • the encoder's built-in feedback signal is sent to the driver.
  • the driver according to the feedback value and the target Compare the values and adjust the rotation angle of the rotor, so the accuracy of the servo motor depends on the accuracy of the encoder (the number of lines), and the number of lines can be determined according to the needs of the store.
  • this embodiment proposes a principle and method of a manipulator.
  • each item in multiple positions can be picked up and placed in multiple different If you go to any of the locations, you can determine the application of this robot in unmanned stores.
  • SMT equipment is suitable for small electronic components, and daily goods equivalent to one hundred times as large as electronic components should be easier to handle, it is not a problem for robots applied to the above-mentioned servo motors to be used in unmanned stores.
  • This embodiment proposes a single-arm manipulator.
  • the accuracy of this manipulator is much lower than that of the SMT placement machine injection molding machine. Take a commodity and the error does not exceed one centimeter.
  • many small robots are used to run back and forth while sorting packages. In fact, this robot is more suitable, lower cost, and simpler.
  • the controller in the store system will receive the product information and transmit the product information to the robot in the storage area, waiting for the customer to pay After that, the robot will go to the warehouse to pick up the goods placed in the designated position of the store system to the designated place of the system, and the customer can open the door of the place of picking through the mobile phone, tablet and other equipment, and then can buy the purchased The goods have been taken away.
  • the goods in the storage area may not be affixed with a QR code.
  • the unmanned store where this robot is useful is divided into an operation area and a storage area.
  • the operation area is mainly used to store the products to be sold for customers to choose the code.
  • the storage area is mainly used to store the sold products, storage area and operation. The area is separated. Customers can only view the goods and scan the code in the operation area, and cannot enter the storage area.
  • the customer sees the product in the operation area and wants to buy it, he uses a mobile phone or other code scanning device to scan the QR code affixed to the product, and the purchase information of the product is passed through a network such as a mobile phone or tablet (3G, 4G, 5G, Wifi, BT, etc.) are transmitted to the store ’s controller, and the controller puts these goods to the pick-up place through a robot arm equipped with a servo motor, and the customer can go to the pick-up place to pick up the goods. Because the accuracy requirements of this robot can be not high, after many runs, the accumulated error may be a little large, so you need to specify a picking place as the basic origin. When the robot moves here, the robot system will automatically return the position information.
  • a network such as a mobile phone or tablet (3G, 4G, 5G, Wifi, BT, etc.) are transmitted to the store ’s controller, and the controller puts these goods to the pick-up place through a robot arm equipped with a
  • the unmanned store system includes an operation area, a storage area, a robot, a pick-up location and a general controller. Among them, the products in the operation area must be affixed with a QR code and price. The products in the storage area are placed strictly according to the entered location. .
  • the mobile phone informs the customer where to pick up the goods.
  • the pick-up place is opened in the switch setting of the mobile phone, and the customer can remove the purchased goods.
  • a switch at the pick-up place in the mobile phone can prevent customers' products from being taken away by other customers.
  • the switch at the picking place is controlled by the system-powered solenoid valve. When the door of the picking place is closed, the solenoid valve will block the picking place and cannot be pulled out. Only by clicking on the customer's mobile phone to open the picking place, the solenoid valve is pulled. Back, the customer can pull out the picking place to take away the goods.
  • customers can also shop through other shopping devices in the operation area.
  • the shopping device is connected to the main controller in the unmanned store, and the products purchased through the shopping device are also transmitted to the main controller. Finish shopping.
  • the storage of goods in the storage area should be placed strictly in accordance with the location of the entry system. You can set multiple goods locations in the system first, and then place the goods. Each commodity has one or more storage locations, and the system entry location. It is the position where the robot picks up the product. The robot picks up the product when it gets the information. The robot picks the product based on the position. The robot itself will not distinguish the type of the product. You can also place the product first, and then accurately input the position of the product into the system. When entering the product position, you can first calculate the measured value according to the coordinate system, and then enter the value into the computer.
  • the reason why you first need to enter the position of the product into the system is to pre-process these values (the position coordinates of the product) in the controller.
  • the coordinate position information can be regarded as the information of the product as a code or a number, instead of the position coordinate information.
  • the grooves for placing goods in the storage area can be made into sloped grooves to allow the goods to automatically slide to the position of the robot to pick things up. Mineral water and the like can automatically slide, but light commodities such as paper towels cannot automatically slide. Add a heavy pressure block to the paper towel to enable it to slide automatically, as shown in Figure 3, where 15 is the pressure block, 16 is the sloped groove, 17 is the horizontal part in front of the sloped groove, and 18 is the slope. Part of the bezel in front of the slot.
  • the store can spend an hour or so every day to replenish the goods, or it can take several days to spend an hour or so to replenish the goods. If customers have any questions, they can go to the unmanned store to find the staff to handle the replenishment time, such as return And other issues, large stores can also arrange a person to be on duty during a certain period of time (such as during working hours 8: 00-18: 00) to handle abnormal and return issues.
  • the manipulator should also be inspected regularly, such as adding lubricating oil, etc. Pay special attention to regularly replacing those components that are prone to wear.
  • a link or interface is opened on the mobile phone. Information such as the type, quantity, and price of the purchased product appears on the link or interface.
  • the next step is to continue the purchase or purchase order.
  • the customer buys the required product, the user pays the bill.
  • the interface prompts whether to use WeChat payment or Alipay payment or other payment methods.
  • the user will deduct the payment from the corresponding payment method, and then prompt the customer to buy the product at which number
  • the system prompts the customer to open the door of the pick up place. The customer clicks on the mobile phone to open the door of the pick up place, and the goods can be taken away. After the customer removes the product, the pickup place will automatically return to the original state.
  • Each order corresponds to only one pick-up location. If there are customers who shop too much or have different sizes at one time, they can be divided into several orders for processing.
  • the storage shelves are arranged row by row, and the robot moves back and forth between the storage shelves, so an operation area can be set at both ends of the fixed horizontal guide rail of the robot, and the operation area can be used to place goods.
  • the effect functions are the same on both sides, which will double the picking place.
  • a store with a single-arm robot has many advantages: 1. It can save manpower and hire fewer employees; 2. It can sell goods seven days a week and can sell goods 24 hours; 3. It can reduce management costs because employees are lazy and so on. Reduce management costs in this area; 4. You can reduce the number of stores and greatly reduce the cost of decoration; 5. You can turn on air-conditioning only in the operating area to save costs; 6. You can greatly save space and the storage area can be more densely packed; 7 You can save customers' shopping time. 8. You can have many pick-up locations, so you do n’t have to wait in line when you pay for purchases. In addition, unmanned stores are easy to standardize and manage.
  • this embodiment provides a single-arm manipulator.
  • the single-arm manipulator is placed above the store shelf 2, and the mobile horizontal guide rail 21 of the manipulator is provided above the store shelf 2.
  • Multiple storage shelves can be taken.
  • the single-arm manipulator includes a fixed horizontal guide 19, a fixed horizontal guide motor 20, a mobile horizontal guide 21, a mobile horizontal guide motor 22, a fixed horizontal guide belt 23, a mobile horizontal guide belt 24, a fixed horizontal guide shaft 25, Moving horizontal guide shaft 26, fixed horizontal guide bushing 27, moving horizontal guide bushing 28, shopping box mounting seat guide bushing 67, robot controller 7, arm assembly 8, shopping box assembly 9, of which fixed horizontal guide rail 19 is installed with a fixed level A guide sleeve 27, a fixed horizontal guide sleeve 27 is installed with a mobile horizontal guide 21, a mobile horizontal guide sleeve 21 is installed with a mobile horizontal guide sleeve 28 and a shopping box mounting seat guide sleeve 67, and the arm assembly 8 is installed on the mobile horizontal guide sleeve 28
  • the robot controller 7 automatically generates a robot motion program, which is executed only once.
  • the motor transmission is realized by a belt, and this situation is as follows:
  • a fixed horizontal guide sleeve 27, a fixed horizontal guide motor 20, a fixed horizontal guide motor shaft 25, a fixed horizontal guide motor shaft 20, and a fixed horizontal guide motor shaft 25 are fixed on the fixed horizontal guide rail 19.
  • 23 is connected to the fixed horizontal guide sleeve 27 by screws.
  • the fixed horizontal guide sleeve 27 is installed with a moving horizontal guide rail 21, and the moving horizontal guide rail 21 is installed with a moving horizontal guide rail motor 22 and a moving horizontal guide shaft 26.
  • a mobile horizontal guide belt 24 is sleeved between the horizontal guide shafts 26.
  • a mobile horizontal guide sleeve 28 and a shopping box mounting seat guide sleeve 67 are installed on the mobile horizontal guide 21.
  • An arm assembly 8 is installed on the mobile horizontal guide sleeve 28, and a shopping box is installed.
  • a shopping box assembly 9 is installed on the seat guide sleeve 67, and the mobile horizontal guide sleeve 28 and the shopping box installation seat guide 67 are connected together by a moving horizontal guide belt 24, and the moving horizontal guide belt 24 is respectively connected with the moving horizontal guide sleeve 28 and the shopping box.
  • the mounting guide 67 is connected by screws.
  • the shopping box assembly 9 includes a shopping box 34, a shopping box solenoid valve 35, a shopping box lifting guide 69, a shopping box lifting guide 30, a shopping box rotating mechanism 75, and a shopping box lifting mechanism 74.
  • the shopping box rotating mechanism 75 includes shopping box rotation Motor 66, shopping box rotating shaft 31, shopping box rotating belt 33, shopping box lifting mechanism 74 includes shopping box lifting belt 32, shopping box lifting rotating shaft 68, and shopping box lifting motor 73, shopping box lifting motor 73, shopping box rotating motor 66
  • the shopping cart rotating shaft 31 is mounted on the shopping cart mounting seat guide sleeve 67 and fixedly connected by screws.
  • the shopping cart rotating motor 66 is connected to the shopping cart rotating shaft 31 via a shopping cart rotating belt 33, and the shopping cart rotating motor 66 and the shopping cart are raised and lowered.
  • the guide rail 30 is the same as the rotation center.
  • the shopping cart lifting shaft 68 and the shopping cart lifting motor 73 are connected through the shopping cart lifting belt 32.
  • the shopping cart lifting shaft 68 is installed on the shopping cart lifting guide 30 and fixedly connected with screws.
  • the shopping cart lifting guide sleeve 69 is fixedly connected with the shopping box lifting belt 32 by screws.
  • the shopping box lifting guide sleeve 69 is provided with a shopping box solenoid valve 35, and the shopping box Mounted on the cart 35 has a solenoid valve box 34.
  • the arm assembly 8 includes a shoulder joint 38, an elbow joint 39, a wrist joint 40, a multi-chamber negative pressure suction head assembly 36, and a suction-type retrieval clip assembly 37.
  • the shoulder joint 38 includes a first joint connector 591, and a shoulder joint motor 60
  • shoulder joint motor 61 elbow joint 39 includes second joint connector 592, elbow joint motor 62 and elbow joint motor 63
  • wrist joint 40 includes third joint connector 593, wrist joint motor 64, and wrist joint Motor 65.
  • There are two servo motors in each joint (other types of motors can also be used. In this embodiment, servo motors are used. The rotation axes of these two motors are at a predetermined angle.
  • each motor can rotate 180 degrees, and the space where the two motors can rotate is superimposed into a half spherical surface, and there are three pairs (in an embodiment, there can be no less than four pairs) of servo motors .
  • the first joint connector 591, the second joint connector 592, and the third joint connector 593 are provided with two motor mounting positions, and the central axes of the two motor mounting positions are perpendicular to each other.
  • the above-mentioned shoulder joint 38, elbow joint and wrist joint 40 include at least one servo motor, and an arm assembly 8 has at least one joint.
  • L1 represents the maximum distance that the mobile horizontal guide 21 can move on the fixed horizontal guide 19
  • L2 indicates The maximum distance that the moving horizontal guide sleeve 28 of the robot can move on the moving horizontal guide rail 21
  • L3 represents the distance between the moving horizontal guide sleeve 28 and the shoulder joint 38
  • L4 represents the distance between the shoulder joint 38 and the elbow joint 39
  • L5 is the distance from the elbow joint 39 to the wrist joint 40
  • L6 is the distance from the wrist joint 40 to the pick-up terminal mount 41
  • L7 is the shopping box lifting guide 69 of the robot that can be moved on the shopping box lifting guide 30 The maximum distance.
  • the main store controller 6 When the main store controller 6 receives the shopping information, the main store controller 6 notifies the robot controller 7 that the type and quantity of the product to be taken and where to place the goods, the robot controller 7 will respond to multiple servo motors. When the driver issues a command, multiple motors will rotate immediately.
  • the fixed horizontal guide motor 20 drives the fixed horizontal guide belt 23 to move.
  • the fixed horizontal guide belt 23 and the moving horizontal guide 21 are stuck and locked. Therefore, the fixed horizontal guide belt 23 is driven.
  • the moving horizontal guide rail 21 moves on the fixed horizontal guide rail 19; at the same time, the moving horizontal guide rail motor 22 drives the moving horizontal guide rail belt 24 to move on the moving horizontal guide rail 21, and the moving horizontal guide rail belt 24 and the moving horizontal guide sleeve 28 are stuck and locked.
  • the moving horizontal guide belt 24 drives the moving horizontal guide sleeve 28 to move on the moving horizontal guide 21; at the same time, the motors in the three joints also rotate at the same time according to the position of the goods being taken, and the robot terminal grasping mechanism 29 can reach the goods. Position and grab the goods, and then send them to the shopping box 34, after all the goods in the order are received in the shopping box 34, at this time
  • the robot controller 7 issues instructions to multiple servo motors, and the shopping box 34 moves to the picking place 1. After the picking place 1, the goods in the shopping box 34 are poured into the picking place 1, and the customer can remove the goods. Already.
  • the four sizes L3, L4, L5, L6, L7 can be adjusted according to specific conditions.
  • the fixed horizontal guide rail 19 and the mobile horizontal guide rail 21 can be used as both a guide rail and a measuring tool. Driven by a belt, the position of the mobile horizontal guide sleeve 28 and the position of the shopping box mounting seat guide sleeve 67 can be calculated.
  • the movement distance of the manipulator is larger than that in the placement machine in the related technology, so L1 and L2 can be 50 meters, 30 meters, 10 meters, 5 meters, etc.
  • the fixed horizontal guide 19 Fixed on the ground or wall, generally at the top or bottom, determine the starting position of the robot's movement (that is, the origin, which is convenient for determining the position of the product), and the horizontal movement direction of the robot terminal grasping mechanism 29.
  • the horizontal movement direction includes Create a coordinate system along the X-axis direction and Y-axis direction, and the vertical direction is the Z-axis direction, and then enter the coordinates of the product in this coordinate system (three-dimensional coordinates) into the system. These coordinates must be grasped at the robot terminal.
  • the coordinates outside the movement range of the taking mechanism 29 are out of the reach of the manipulator. Sometimes to save space, the shelf height reaches the roof.
  • the manipulator terminal gripping mechanism 29 includes a suction-type multi-chamber negative pressure suction head assembly 36 and a gripping-type gripping-type picking-clamping component 37.
  • the gripping-type picking-clamping component 37 functions as a gripper for gripping goods by the robot
  • the multi-chamber negative pressure suction head assembly 36 relies on negative pressure to absorb commodities. These two types should be used according to different commodities. For example, mineral water or beer must be clamped, and instant noodles or biscuits must be clamped. of.
  • the clip-type pick-up clip assembly 37 is provided with a clip solenoid valve 51.
  • the clip solenoid valve 51 is provided to realize the gripping and releasing action.
  • the clip solenoid valve 51 is connected to the clip.
  • the clip solenoid valve 51 expands and contracts to open the clip.
  • the multi-chamber negative pressure suction head assembly 36 is provided with a suction head solenoid valve 44, the suction head solenoid valve 44 is arranged to realize the action of generating negative pressure suction and releasing the negative pressure release, and when the suction head solenoid valve 44 is retracted, the product And the multi-chamber negative pressure suction head 23 forms a closed space.
  • the nozzle solenoid valve 44 stretches, the closed space becomes larger, and the pressure in the closed space decreases, and the product is adsorbed on the multi-chamber negative pressure suction head.
  • the above-mentioned suction head solenoid valve 44 and clip solenoid valve 51 can also be replaced by pneumatic gripping cylinders or gripping motors to realize the action of suction and gripping.
  • the shopping box 34 of such a robot moves according to the position of the goods to be taken, and maintains the same height as the robot terminal grasping mechanism 29, thereby reducing the moving distance of the robot terminal grasping mechanism 29.
  • the length of the shopping box lifting guide 30 is smaller. In one embodiment, the length of the shopping box lifting guide 30 is less than 0.5 meters. The length of the single-arm manipulator is less than 500 meters.
  • the maximum distance L1 that the mobile horizontal guide rail 21 of the robot can move on the fixed horizontal guide rail 19 is 0.1 m ⁇ L1 ⁇ 500 m.
  • the maximum movable distance L2 of the mobile horizontal guide sleeve 28 and the shopping box mounting base guide sleeve 67 of the manipulator on the movable horizontal guide rail 21 is 0.1 m ⁇ L2 ⁇ 500 m.
  • the maximum distance L7 that the shopping cart lifting guide sleeve 69 of the robot can move on the shopping cart lifting guide 30 is 0.1 m ⁇ L7 ⁇ 100 m.
  • a store has one or more robots 3, and each robot 3 has a robot controller 7, but the store also has a controller for data input and data reception, a master controller 6, and this master controller 6 allocates and coordinates multiple The robot controller 7 operates.
  • the main controller 6 needs to be connected to the wired network in order to receive product information from the network.
  • the main controller 6 also needs a communication cable to connect with other purchasing equipment in the store.
  • customers can also pass through the operating area.
  • Other shopping equipment comes for shopping.
  • the shopping equipment is connected to the main controller 6 in the store. Information on the purchase of goods through the shopping equipment will also be transmitted to the main controller 6 and the shopping will be completed. Customers purchase products through shopping equipment.
  • the general controller 6 receives shopping information from these devices, that is, it can receive all shopping information in the store; at the same time, this general controller 6 must be connected with other robot controllers 7 in the store. In order to be able to control the movements of these robots, they must also be connected to the computer host of the store, so that the administrator of this store can check the shopping information and sales situation in time; the main controller 6 communicates with the company's control center for management of the store , Replenishment management, accounting and so on to provide data, so this total controller 6 is provided with many interfaces, the interface is shown in Figure 8, the number of robots in the figure is uncertain, it may be one or multiple, Not as shown in the figure, where the main controller 6 is connected to the store's computer host with a parallel interface, the main controller 6 is connected to the control center through an Ethernet interface, and the remaining devices are connected to the main controller through a serial interface .
  • the total controller 6 includes a networking module, a processor module, a memory module, an Ethernet module, and a payment module, and may also include a WIFI module or a Bluetooth module, where the networking module and the Bluetooth module are configured to receive multiple devices. Or send information to multiple devices; the Ethernet module is connected to the external network; the processor module mainly coordinates the resources in the store, arranges the appropriate robots to place the goods in the appropriate place, calculates the price of the goods and completes the sale of the goods; the memory module It mainly stores information such as the position of the goods in the storage area and the price of the goods for the processor to call.
  • the networking module When a shopping device is operated by a customer, the networking module receives the information, and the general controller 6 lists the shopping device as being in use. When the customer places a purchase order after the product is selected, the networking module receives the information to buy the order. At this time, the processor module of the total controller 6 calls the memory module, and calculates the unit price, total price, and preferential price of the product. The networking module sends the calculated information to the shopping device. After the customer pays the order, the networking module receives the information.
  • the processor module of the main controller 6 retrieves the position information of the goods in the memory module, and the networking module sends the position information of the goods to the picking robot 3; the manipulator 3 takes all the goods into the shopping box 34, and the main controller 6
  • the networking module sends information to the robot 3 to pick up the object; the networking module receives the information, the robot 3 has arrived at the picking place 1, the networking module sends the information to the robot 3 to pour the goods into the picking place 1, and the networking module receives the robot picking After the information of the product is poured into the picking place 1, the robot 3 is listed as idle; the networking module receives the letter of the robotic picking up and dumping the product into the picking place 1.
  • Each manipulator 3 has a manipulator controller 7 and can control the actions of more than five motors and the actions of multiple solenoid valves. As shown in Figure 9, the number of servo motor drivers and solenoid valves at the place of extraction is not the same.
  • the clip solenoid valve 51 is mainly a robot
  • the terminal grasping mechanism 29 is used for grasping and releasing.
  • the robot controller 7 includes a networking module, a processor module, and a memory module.
  • the processor module is mainly for optimizing the order of taking goods, calling out the storage location data and sending instructions to the servo motor driver.
  • the memory module mainly stores The location of the item in the storage area.
  • the networking module of the picking robot 3 receives the information; the processor module optimizes the picking order, calls the storage location of the memory module products, and determines the motion parameters of multiple moving parts.
  • the motion parameters include when and how much distance to start; after that, the networking module sends these motion parameters to multiple moving parts, and the robot 3 picks up the goods. Since the robot 3 has a shopping box 34, it can put the goods in the shopping box. In 34, after the goods are taken out, the networking module sends information to the general controller 6, and the general controller 6 obtains the goods have been placed in the shopping box 34; the general controller 6 sends information to the networking module, and controls the robot 3 to shop The goods in the box 34 are poured into the corresponding pick-up place 1.
  • the networking module sends a message to the general controller 6.
  • the goods have been poured into the pick-up place 1.
  • the above-mentioned multiple moving parts refer to the arm assembly 8 of the robot, and the shopping box. Module 9 and robotic terminal grasping mechanism.
  • the software operating system of this store can use Windows operating system, Android operating system, or Apple's Mac OS operating system. Since this shopping device and software operating system are only used in the store, the store can also use other Small operating system Linux, you can even develop an operating system to use. This system is only used in unmanned stores, there is no file transfer exchange with the outside world, and there is no case where a file cannot be opened to another unmanned store.
  • the multi-chamber negative pressure suction head assembly 36 includes a soft rubber 42, a multi-chamber body 43, a head solenoid valve 44, a core 45, a side plate, and a head mounting plate 47.
  • the soft rubber 42 and The multi-chamber body 43 is integrally formed.
  • the core 45 is inserted into the multi-chamber body 43 to form a closed chamber with the product.
  • the soft rubber 42 serves as an auxiliary seal.
  • the multi-chamber body 43 is provided with multi-chamber body air holes. 48.
  • the core 45 is provided with an air groove 49 and a core air hole, and the air groove 49 is in communication with the core air hole.
  • the clip-type pick-up clip assembly 37 includes a clip solenoid valve 51, a clip solenoid valve clamp plate 54, a commodity clamp plate 52, a pressure reduction clamp plate 53, a first rotating shaft 55, a second rotating shaft 56, a clip side plate 57 and a clip mounting plate 58, a clip
  • the mounting plate 58 is screw-connected to the moving vertical guide sleeve 36
  • the clip solenoid valve 51 is screw-connected to the clip mounting plate 58
  • the clip mounting plate 58 and the product clamping plate 52 are rotationally connected through the first rotating shaft 55
  • the product clamping plate 52 and the pressure reducing clamping plate 53 pass The rotating shaft is rotationally connected.
  • the product splint 52 is mounted on the clip side plate 57 through the second rotating shaft 56.
  • the clip solenoid valve 51 is extended or contracted to drive the clip solenoid valve clip 54, the product clip 52 and the pressure reduction clip 53 to move the product.
  • the decompression clamp 53 is provided to increase the contact area of the clamp-type pick-up clamp assembly 37 with the product and reduce the pressure.
  • the manipulator 3 used in stores for unmanned stores is different from the manipulator used in industry.
  • the manipulator used in industry generally has a fixed position for picking objects, and the positions for placing items are in a predetermined order, or the positions for picking items are predetermined.
  • the sequential and placed positions are fixed, while the store's robotic picking position and placement position are not fixed, and it changes according to customer requirements.
  • the action of the industrial robot is repeated every time it is set, and it is repetitive.
  • One action mode can be done for several days, months, or years. However, the robot in this embodiment is different. Each action may be different from the last time. It can also be the same. Its action depends on the type of product purchased by the customer. As long as an order is different, its action is different.
  • Each order is a motion program.
  • the generation of this manipulator motion program is that the robot controller 7 first optimizes the order of taking goods and finds the smallest path, and then multiple moving parts move along the bottom path according to the instructions to form a motion program.
  • the key is that the customer's order must be digitized, and it can be transmitted to the robot controller 7 in time to form a program.
  • the goods in the warehouse must be digitized.
  • the type and location of the goods must be corresponding, and they must be entered into the controller.
  • the robot 3 can accurately obtain the goods according to the digital order.
  • the relative positions between the goods on the robot 3 and the storage shelf 2 and the pick-up location 1 are unchanged and fixed, so they are often fixed with iron bars or screws to achieve standardization.
  • the data should be the same for easy management and operation.
  • Each of these robots comes with a shopping box 34, so there is no need to take goods one by one.
  • This method of automatic generation of robot motion programs is to set rules based on the characteristics of the product, such as weight, volume, length, position of the product in the store, and numbering of the product in the system. Usually set as: when the weight of the product is greater than N1 kg, when the volume of the product is greater than N2 cubic centimeters, or when the length of the product is greater than N3 cm, these products need to be picked one by one, or placed in the shopping box 34 and then Pour into the pick-up place 1, or elsewhere.
  • the weight of the product is less than N1 kg, the volume of the product is less than N2 cubic centimeters, and the length of the product is less than N3 centimeters
  • the motion program of this robot is automatically generated according to the customer's purchase order (order after payment), so each motion program of the robot is executed only once.
  • the robot controller 7 also evaluates the products placed in the shopping box 34.
  • the robot controller 7 will take the goods according to the volume and weight of the goods and take the goods according to the weight. Prioritize some of the heavy items first.
  • the movement of the shopping box 34 is determined according to the position of the goods taken, and the shopping box 34 and the robot terminal grasping mechanism 29 are maintained at the same height, so that the movement distance of the robot terminal grasping mechanism 29 is reduced.
  • the weight is used as the basis for ordering, and the heavier ones will be taken to the shopping box 34 first;
  • the length is used as the basis for ordering, and the longest one is taken to the shopping box 34 first;
  • the length is used as the basis for ordering.
  • the volume is used as the basis for ordering, and the larger one is first taken to the shopping box 34;
  • the volume is used as the basis for ordering, and the large one is first taken to the shopping box 34;
  • the order is based on the position of the product in the store. For each item you get, go to the closest item to the product to minimize the movement of the robot. Here, weight is taken as the priority, followed by length, then volume. When no priority is required, the product is sorted according to the position of the product. From the multiple pick-up channels, the shortest path is selected as the robot motion program.
  • the generation of this manipulator program is mainly based on the characteristics of the product itself, the position of the product in the store, and the number of the product in the system.
  • the product feature is out of range, the product is taken to the picking place 1 or other places one by one.
  • the robot controller 7 optimizes the path according to the position of the product in the store, The one with the shortest movement path of the robot is found and used as a program (if there are N products to be picked, then there are N! Ways to pick up the goods. At this time, which product is random and which product is random. Because the products are random, there are many combinations, there are N! Types, of which the one with the shortest movement path of the robot is used as the program).
  • the basis for generating the motion program by the robot controller 7 includes position, weight, volume and length.
  • the motor transmission is realized by a screw, and other structures are the same as those of the first embodiment.
  • the motor transmission is realized by a screw as follows:
  • the robot arm 3 is provided with a fixed base, a fixed horizontal guide 19 and a fixed horizontal guide screw are installed on the fixed base, and a fixed horizontal guide sleeve 27 and a fixed horizontal guide sleeve 27 are installed on the fixed horizontal guide 19.
  • a mobile horizontal guide 21, a fixed horizontal guide motor 20, and a mobile horizontal screw are installed on the fixed horizontal guide sleeve 27 and the fixed horizontal guide motor 20 by screws and move together. Between the fixed horizontal guide motor 20 and the fixed horizontal guide screw It is connected by a screw drive.
  • a mobile horizontal guide sleeve 28 and a shopping box mounting seat guide sleeve 67 are installed on the mobile horizontal guide rail 21, and a mobile horizontal guide motor 22 and an arm assembly 8 are installed on the mobile horizontal guide sleeve 28.
  • the mobile horizontal guide motor 22 and The moving horizontal lead screw is connected by a threaded transmission.
  • the moving horizontal guide sleeve 28 and the moving horizontal guide rail motor 22 are connected by screws and move together.
  • a shopping box assembly 9 is installed on the shopping box mounting guide 67, and the moving horizontal guide sleeve 28 and The shopping box mounting seat guide sleeve 67 is connected together by a shopping box link 70.
  • the shopping box link 70 is screwed with the moving horizontal guide sleeve 28 and the shopping box mounting seat guide, respectively.
  • the lower arm assembly 8 is installed with a robot terminal grasping mechanism 29
  • the shopping box mounting seat guide 67 is equipped with a shopping box lifting guide 30 and a shopping box lifting screw
  • the shopping box lifting guide 30 is equipped with a shopping box lifting guide 69
  • a shopping box lifting motor 73 is installed on the shopping box lifting guide sleeve 69.
  • the shopping box lifting motor 73 is fixedly connected to the shopping box lifting guide 69 by screws.
  • the shopping box lifting motor 73 and the shopping box lifting screw are connected by a screw drive.
  • the fixed horizontal guide rail 19, the moving horizontal guide rail 21, the shopping box lifting guide rail 30, the fixed horizontal screw, the mobile horizontal screw and the shopping box lifting screw are made of round rods, among which the fixed horizontal screw and the moving horizontal screw And the shopping box lifting screw is provided with a thread that matches the driving motor.
  • the fixed horizontal guide motor 20, the moving horizontal guide motor 22, and the shopping box lift Each of the guide rails 30 is externally connected with a threaded transmission member on its own rotating shaft.
  • the thread of the transmission member matches the thread of the guide rail.
  • the threaded screw is connected with the threaded transmission member on the motor through thread transmission.
  • the lead screw does not rotate, and the guide sleeve is driven to move on the guide rail by rotating the motor.
  • the following uses the universal motor 79, universal screw 77, universal guide bush 76, and universal guide rail 78 in FIG. 10 as examples to explain the transmission method of the above-mentioned screw and transmission member.
  • the threads on the universal motor 79 match the threads of the universal screw 77.
  • the universal motor 79 is fixed on the universal guide sleeve 76, and the universal screw 77 is placed in parallel with the universal guide rail 78.
  • the general motor 79, the universal screw 77, and the universal guide rail 78 are not specifically referred to.
  • the description of the working process of the universal motor 79, universal screw 77, universal guide bush 76, and universal guide 78 is to describe the motors in this embodiment, Exemplary description of the transmission method of the guide bush, the lead screw and the guide rail.
  • the third embodiment provides another way of screw transmission, that is, the rotation shaft of the motor is fixedly connected to the screw, the screw is placed in parallel with the guide rail, and an inner sleeve matching the external thread of the screw is provided on the guide sleeve. Thread, the guide sleeve and the lead screw are connected by threads.
  • the lead screw rotates, and the motor drives the lead screw to rotate together, so that the guide sleeve moves on the lead screw.
  • the guide sleeve cannot rotate.
  • the connection relationship of the lead screw drive is as follows:
  • the manipulator is provided with a fixed seat, and a fixed horizontal guide 19, a fixed horizontal screw and a fixed horizontal guide motor 20 are installed on the fixed seat.
  • the fixed horizontal guide 19 and the fixed horizontal guide motor 20 are fixedly connected with the fixed seat by screws and fixed on the horizontal guide 19.
  • a fixed horizontal guide sleeve 27 is installed.
  • the rotating shaft of the fixed horizontal guide motor 20 is coaxially arranged and fixedly connected with the fixed horizontal screw.
  • the fixed horizontal guide sleeve 27 is screwed with the fixed horizontal screw.
  • the fixed horizontal guide 19 and the fixed horizontal screw. Placed in parallel, the fixed horizontal guide sleeve 27 is provided with a fixed horizontal screw hole and a fixed horizontal guide hole.
  • the fixed horizontal screw hole is provided with an internal thread matching the external screw of the fixed horizontal screw.
  • the fixed horizontal guide hole is not threaded, and the fixed horizontal guide A mobile horizontal guide 21, a mobile horizontal screw and a mobile horizontal guide motor 22 are installed on the sleeve 27, a mobile horizontal guide sleeve 28 and a shopping box mounting seat guide sleeve 67 are installed on the mobile horizontal guide 21, the mobile horizontal guide motor 22 and the mobile horizontal
  • the lead screws are fixedly connected to the central axis.
  • the moving horizontal guide sleeve 28 is provided with a moving horizontal screw hole and a moving horizontal guide hole.
  • the horizontal screw hole is provided with an internal thread matching the external thread of the moving horizontal screw.
  • the moving horizontal guide hole is not threaded.
  • An arm assembly 8 is installed on the moving horizontal guide sleeve 28, and a shopping box lift is installed on the shopping box mounting guide 67.
  • Guide rail 30, shopping box lifting screw and shopping box lifting motor 73, shopping box lifting guide 30 is equipped with shopping box lifting guide sleeve 69, shopping box lifting guide sleeve 69 is equipped with shopping box solenoid valve 35, shopping box lifting motor 73 and
  • the shopping box mounting seat guide sleeve 67 is fixedly connected by screws, the shopping box lifting motor 73 and the shopping box lifting screw are connected by a threaded transmission, the rotating shaft of the shopping box lifting motor 73 and the shopping box lifting screw are fixedly connected with the central axis, and the shopping box lifting guide
  • the sleeve 69 is provided with a shopping box lifting screw hole and a shopping box lifting guide hole.
  • the shopping box lifting screw hole is provided with an internal thread matching the external screw of the shopping box lifting screw.
  • the shopping box lifting guide hole is unthreaded and the horizontal guide sleeve is moved.
  • 28 and the shopping box mounting seat guide sleeve 67 are connected together by a shopping box link 70, and the shopping box link 70 is connected with the mobile horizontal guide sleeve 28 and the shopping box mounting seat guide sleeve 67 by screws, respectively.
  • a universal motor 79, a universal screw 77, a universal guide bush 76, and a universal guide rail 78 shown in FIG. 11 are used as examples to explain the transmission method of the screw.
  • the internal thread on the universal guide bush 76 and the universal screw 77 The external thread is matched.
  • the universal screw 77 and the universal motor rotating shaft 80 are arranged on the same central axis and fixedly connected.
  • the universal screw 77 is parallel to the universal guide rail 78.
  • the universal motor 79 drives the universal motor rotating shaft 80 and the universal screw 77 to rotate, thereby driving.
  • the universal guide sleeve 76 moves along the universal guide rail 78 and the universal lead screw 77.
  • the universal motor 79, the universal screw 77, the universal guide sleeve 76, and the universal guide rail 78 are not specifically referred to.
  • the foregoing description of the working process of the universal motor 79, universal screw 77, universal guide bush 76, and universal guide rail 78 is exemplified. Instructions.
  • Both the screw and the belt can achieve the transmission effect, so one or two of the fixed horizontal guide 19 and the mobile horizontal guide 21 can be selected to use the screw transmission mode, that is, a robot 3 can include two transmission modes. , Hybrid transmission is also possible.
  • the way in which the shopping box 34 pours the goods is different from the way in which the goods are poured in the first to the third embodiments.
  • the shopping box solenoid valve 35 may be omitted, and a mechanism is provided on the shopping box 34. The mechanism enables the bottom cover of the shopping box 34 to be removed horizontally, so that the shopping box 34 can also pour the goods into the pick-up place 1.
  • the way of pouring goods in the shopping box 34 is different from the way of pouring goods in the first to fourth embodiments.
  • the shopping box solenoid valve 35 may be omitted, and a mechanism is provided on the shopping box 34. The mechanism enables the bottom cover of the shopping box 34 to be flipped along one side, so that the shopping box 34 can also pour goods into the pick-up place 1.
  • the shopping box rotation mechanism 75 is cancelled, the shopping box lifting guide 30 cannot be rotated, and the shopping box 34 cannot be adjusted in direction.
  • the shopping box connecting rod 70 is canceled, and the shopping box mounting seat guide sleeve 67 is fixedly connected with the movable horizontal guide belt 24 by screws. Then, the shopping box mounting seat guide sleeve 67 is connected to the moving horizontal guide. Like the sleeve 28, it moves together with the moving horizontal guide belt 24.
  • a fixed horizontal guide sleeve 27, a fixed horizontal guide motor 20 and a fixed horizontal guide shaft 25 are installed on the fixed horizontal guide rail 19.
  • a fixed horizontal guide belt 23 and a fixed horizontal guide belt are fixed between the fixed horizontal guide motor 20 and the fixed horizontal guide shaft 25. 23 and the fixed horizontal guide sleeve 27 are connected by screws.
  • the fixed horizontal guide sleeve 27 is installed with a movable horizontal guide 21, a movable horizontal guide motor 22 and a movable horizontal guide shaft 26.
  • a sleeve is provided between the movable horizontal guide motor 22 and the movable horizontal guide shaft 26.
  • There is a moving horizontal guide belt 24, a moving horizontal guide sleeve 28 and a shopping box mounting seat guide sleeve 67 are installed on the moving horizontal guide belt 21, and the moving horizontal guide belt 24 is connected with the moving horizontal guide sleeve 28 and the shopping box installation guide 67 by screws.
  • an arm assembly 8 is installed, and the shopping box installation seat guide sleeve 67 is installed with a shopping box component 9.
  • the shopping box connecting rod 70 is eliminated, and the shopping box mounting seat guide sleeve 67 and the moving horizontal guide sleeve 28 are integrated, that is, the shopping box mounting seat guide sleeve 67 is disposed on the moving horizontal guide sleeve 28.
  • an arm assembly 8, a shopping box assembly 9, an arm assembly 8 and a shopping box assembly 9 are installed on the moving horizontal guide sleeve 28.
  • the arm assembly 8 and the shopping box assembly 9 move together with the moving horizontal guide belt 24.
  • a fixed horizontal guide sleeve 27, a fixed horizontal guide motor 20 and a fixed horizontal guide shaft 25 are installed on the fixed horizontal guide rail 19.
  • a fixed horizontal guide belt 23 and a fixed horizontal guide belt are fixed between the fixed horizontal guide motor 20 and the fixed horizontal guide shaft 25. 23 is connected with the fixed horizontal guide sleeve 27 by screws.
  • the fixed horizontal guide sleeve 27 is installed with a moving horizontal guide 21, a moving horizontal guide motor 22, a moving horizontal guide shaft 26, and a sleeve between the moving horizontal guide motor 22 and the moving horizontal guide shaft 26.
  • the manipulator may also have a code scanning function.
  • a camera is provided in the manipulator terminal grasping mechanism 29 of the manipulator 3, and the camera can scan the code.
  • the manipulator 3 scans the code to obtain the type of the product and the product. Where you want to place it, and put the goods on the storage shelf 2, you can also do automatic returns and automatic loading (tally), which can save some labor.
  • all the solenoid valves in the first to ninth embodiments may be replaced by a cylinder, or a linear motion motor may be used instead.
  • the tip solenoid valve 44, the clip solenoid valve 51, and the shopping box solenoid valve 35 in the manipulator terminal grasping mechanism 29 may be replaced by a cylinder or the like.
  • the mobile horizontal guide rail 21 is provided with a plurality of mobile horizontal guide bushes 28, and each of the mobile horizontal guide bushes 28 is installed with an arm assembly 8 and all the arm assemblies 8 move together, or multiple mobile horizontal guide bushes 28 are installed. Arm assembly 8.
  • the two clips of the grip-type pick-up clip assembly 37 in the manipulator terminal gripping mechanism 29 are replaced with two arm assemblies 8 so that larger products can be taken.
  • the gripper-type pick-up clip assembly 37 in the robot terminal gripping mechanism 29 is cancelled, and only the multi-chamber negative pressure suction head assembly 36 is retained.
  • the product is sucked through the multi-chamber negative pressure suction head assembly 36 and Take the goods to the pick-up point 1.
  • the multi-chamber negative pressure suction head assembly 36 in the manipulator terminal grasping mechanism 29 is canceled, and only the clamp-type retrieval clamp assembly 37 is retained. Place the product at the pick-up location.
  • the shopping box rotation mechanism 75 is cancelled, and a motor is provided instead of the shopping box rotation mechanism 75.
  • the rotation axis of the motor is coaxially and fixedly connected with the shopping box lifting guide 30.
  • the shopping box lifting guide 30 It can also be rotated, so the shopping box 34 can also be adjusted in direction.
  • both the shopping box mounting seat guide 67 and the shopping box assembly 9 are canceled, that is, the shopping box and its related parts are to be canceled, so that this robot does not set a shopping box, such as Figure 13, the robot can only take the goods one by one. Then the generation procedure of this robot is different.
  • This method rule can be sorted based on the characteristics of the product itself such as the weight, volume, and length of the product or the number and position of the product in the system.
  • the robot controller After entering these rules into the system, the robot controller will According to the order, a motion program for executing the order is automatically generated, and the robot moves according to this program, and takes out the goods to the picking place or other places.
  • This rule can be set crosswise, for example, when the weight is greater than N kilograms, then the weight is used as the basis of the order. The heavier ones are taken to the picking place first, so as not to crush the subsequent products; (The value of N can be adjusted in the operating system.)
  • the volume is used as the basis for ordering, and the large-volume products are first taken into the picking place. For those durable consumer goods, you can get them at the picking place first, and then put those fragile goods at the picking place.
  • the weight When the weight is greater than or equal to N kilograms, the weight is used as the basis for ordering, and the heavier weight is first taken to the place for picking or other places; when the weight is less than N kilograms, the length is used as the basis for ordering. Or other places; where the length is greater than or equal to L cm, the length will be used as the basis for ordering, and the larger one will be picked first or elsewhere; when the length is less than L cm, the volume will be used as the basis for ordering, and the larger one will be used first. Get the picking place or other places; when the volume is equal, the order of the goods in the system is the order, and the small serial number is first taken to the picking place or other places.
  • the above picking rules are just one of many rules.
  • Shops can set rules according to specific conditions. This rule is mainly specified according to the characteristics of the product, such as the weight, volume and length of the product. This rule is set in order to The ability of a robot or robot controller to automatically generate a motion program is an important step towards a truly unmanned store.
  • the length of the commodity refers to the largest dimension among the three dimensions of the length, width, and height of the commodity.
  • a universal bearing 81 is installed between the universal guide rail 78 and the universal guide sleeve 76.
  • the rotary shaft of the universal bearing 81 is fixedly connected with the universal guide sleeve 76 by screws, and the universal guide rail 78 and the universal bearing 81 pass through.
  • the flat surface and the toroidal surface are matched, and the universal guide rail 78 and the universal guide sleeve 76 are clearance fit. This is suitable for reducing the friction between the universal guide rail 78 and the universal guide sleeve 76.
  • the robot 3 has the following characteristics: the robot 3 is suitable for an unmanned store; the program of the robot 3 is automatically based on the customer's purchase order. Generated; the program of the robot 3 is executed only once and is not repeatedly executed; the positions where the robot 3 places the products are a plurality of fixed positions, and the multiple position parameters must first be input into the robot controller 7 That is, there are multiple and fixed locations for the picking place 1. The multiple position parameters must first be input to the robot controller 7.
  • the motion program of the robot 3 is a many-to-many program, that is, each of the multiple positions
  • the article can be picked up and placed in any of a number of different positions
  • the position of the fixed horizontal guide rail 19 of the robot is located between the storage shelf 2 and the pick-up point 1 in the storage area, and is fixed and unchanged
  • the robot controller 7 includes an electrically connected networking module, a processor module, a memory module, a processor module and a networking module and a memory module, and the networking module is separately connected to the fixed water Track motor 20, moving the horizontal track motor 22, the robot end effector 29 in the gripping means or clamp solenoid 51 is electrically connected to the motor.
  • the maximum distance L1 that the mobile horizontal guide rail 21 of the robot can move on the fixed horizontal guide 19 is 0.1 m ⁇ L1 ⁇ 500 m; the maximum distance that the mobile horizontal guide sleeve 28 of the robot can move on the mobile horizontal guide 21 Distance L2, 0.1m ⁇ L2 ⁇ 500m; the maximum distance that the robot's shopping box lifting guide 69 can move on the shopping box lifting guide 30 L7, 0.1m ⁇ L7 ⁇ 100m; the motor of the robot is a servo motor or stepper The motor and the servo motor all have a servo motor driver.
  • the fixed horizontal guide rail motor 20 and the mobile horizontal guide rail motor 22 of the manipulator move non-simultaneously, that is, when the fixed horizontal guide rail motor 20 moves, the mobile horizontal guide rail motor 22 stops, and when the mobile horizontal guide rail motor 25 moves, the fixed horizontal guide rail motor 25 moves. The horizontal rail motor 20 is stopped.
  • unmanned stores that use this robot 3 are generally divided into operation area 10 and storage area 5.
  • Customers cannot enter storage area 5 and can only move in operation area 10 and operate in operation area 10.
  • the placed products are affixed with the QR code of the store for customers to scan the codes.
  • the products in the operation area 10 are not sold and are only for customers to scan the codes.
  • the position of the products in the storage area 5 is arranged according to the parameters in the operating system. When the customer purchases these products, the robot 3 can take these products out.
  • the products in the storage area 5 may not have a QR code.
  • the customer enters the store operation area 10 and wants to purchase the product. Then he scans the QR code of the desired product with a mobile phone and other equipment. After scanning the code of all the desired products, the payment is made. At this time, the robot 3 gets an instruction and takes the customer's purchase. After the goods are received at the pick-up place 1 and confirmed, the customer can open the door of the pick-up place through the mobile phone and take away the purchased goods. When the customer returns the goods, after the operating system confirms that there is no damage, the robot 3 takes the original position of the product. After the customer removes the product, the pick-up location 1 automatically returns to the original state.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种单臂机械手，包括：固定水平导轨（19）；固定水平导轨马达（20），设置于固定水平导轨（19）上；安装于固定水平导轨（19）上的固定水平导套（27）和移动水平导轨（21）；设置于移动水平导轨（21）上的移动水平导套（28）和移动水平导轨马达（22）；手臂组件（8），设置于移动水平导套（28）上，及机械手控制器（7），与固定水平导轨马达（20）及移动水平导轨马达（22）电连接；其中，固定水平导轨马达（20）设置为驱动移动水平导轨（21）在固定水平导轨（19）上移动；移动水平导轨马达（22）设置为驱动手臂组件（8）在移动水平导轨（21）上移动。

Description

单臂机械手
本申请要求申请日为2019年3月31日、申请号为201910254304.3；申请日为2018年6月20日、申请号为201810633441.3；申请日为2019年3月14日、申请号为201910191955.2；申请日为2019年3月14日、申请号为201910192045.6及申请日为2019年4月10日、申请号为201910285403.8的中国专利申请的优先权，上述申请的全部内容通过引用结合在本申请中。
技术领域
本公开涉及无人商店设备技术领域，例如涉及一种单臂机械手。
背景技术
早期的商店卖货需要有人及一个柜台，顾客要买什么东西就告诉售货员，售货员就拿什么东西，买卖都在柜台上完成的，顾客是不能进到商店里面去的；后来随着大卖场和超市出现，人们可以进入大卖场和超市选东西，出来再买单；再后来无人商店出现，顾客可以自己在无人商店选商品再自己买单；此外，有的商店，把商品上贴上感应标签，该感应标签自动感应商品的类型及价格，顾客自己自觉买单。
目前市场上已经出现了一种自动售货机，这种售货机只能销售很少的商品，几种或十几种商品，根本满足不了人们日常生活的需要，医院里也有一种自动取药机，也只能取几种药而已，完全不能称为无人商店。
早期的商店需要有售货员拿商品出来在柜台上交易，若通过一个机械手设备代替这个售货员，这样无人商店就能运作。
发明内容
本公开提供了一种单臂机械手，能够应用于无人商店。
一实施例提供的单臂机械手包括：固定水平导轨；固定水平导轨马达，设置于所述固定水平导轨上；固定水平导套，安装于所述固定水平导轨上；移动水平导轨，安装于所述固定水平导套上；移动水平导套，安装于所述移动水平导轨上；移动水平导轨马达，设置于所述移动水平导轨上；手臂组件，设置于所述移动水平导套上，及机械手控制器，与所述固定水平导轨马达及移动水平 导轨马达电连接；其中，所述固定水平导轨马达设置为驱动所述移动水平导轨在所述固定水平导轨上移动；所述移动水平导轨马达设置为驱动手臂组件在所述移动水平导轨上移动
一实施例提供了一种单臂机械手的控制方法，其中，所述方法在上述的单臂机械手上实施，所述方法包括：所述机械手控制器接收顾客订单中的商品信息；所述机械手控制器根据所述商品信息自动生成机械手的运动程式；及所述机械手控制器控制所述机械手执行所述运动程式。
附图说明
图1为一实施例提供的单个机械手应用于无人商店的立体图；
图2为一实施例提供的无人商店的操作区展示柜的立体图；
图3为一实施例提供的无人商店的货架内部的立体图；
图4为实施例一提供的机械手的立体图；
图5为一实施例提供的机械手终端抓取机构的立体图；
图6为一实施例提供的多腔室负压吸头的分解图；
图7为一实施例提供的夹取式取物夹子组件的分解图；
图8为一实施例提供的无人商店总控制器接线示意图；
图9为一实施例提供的机械手控制器接线示意图；
图10为实施例二提供的通用马达与通用丝杠螺纹传动的示意图；
图11为实施例三提供的通用导套与通用丝杠螺纹传动的示意图；
图12为实施例十五提供的马达代替购物箱旋转机构后机械手的立体图；
图13为实施例十六提供的取消购物箱安装座导套和取消购物箱组件后机械手的立体图；
图14为一实施例提供的通用导套和通用导轨轴承配合的示意图。
图中，1-取物处，2-储货架，3-机械手，4-展示柜，5-仓储区，6-总控制器，7-机械手控制器，8-手臂组件,9-购物箱组件，10-操作区，11-行的标识，12-列的标识，13-二维码，14-标签，15-压块，16-斜坡式槽，17-水平部分，18-挡板部分，19-固定水平导轨，20-固定水平导轨马达，21-移动水平导轨，22-移动水平导轨马达，23-固定水平导轨皮带,24-移动水平导轨皮带，25-固定水平导轨转轴,26-移动水平导轨转轴,27-固定水平导套,28-移动水平导套，29-机械手终端抓取机构，30-购物箱升降导轨,31-购物箱旋转转轴，32-购物箱升 降皮带，33-购物箱旋转皮带，34-购物箱，35-购物箱电磁阀，36-多腔室负压吸头组件,37-夹取式取物夹子组件,38-肩关节，39-肘关节，40-腕关节，41-取物终端安装件，42-软胶，43-多腔室体，44-吸头电磁阀，45-型芯，47-吸头安装板，48-多腔室体气孔，49-气槽，51-夹子电磁阀,52-商品夹板，53-减压夹板，54-夹子电磁阀夹板，55-第一转轴，56-第二转轴，57-夹子侧板，58-夹子安装板，591-第一关节连接件，592-第二关节连接件，593-第三关节连接件，60-肩关节上马达，61-肩关节下马达，62-肘关节上马达，63-肘关节下马达，64-腕关节上马达，65-腕关节下马达，66-购物箱旋转马达，67-购物箱安装座导套，68-购物箱升降转轴，69-购物箱升降导套，70-购物箱连杆，71-购物箱挂杆旋转马达，72-购物箱挂杆，73-购物箱升降马达，74-购物箱升降机构，75-购物箱旋转机构，76-通用导套，77-通用丝杠，78-通用导轨，79-通用马达，80-通用马达转轴,81-通用轴承。
具体实施方式
表面组装技术(Surface Mounted Technology，SMT)设备是把多种不同的电子元件拿起来，放到主板的各种不同的位置上去，再去过高温锡炉，电子元件上面沾满锡，温度降下来后，这些电子原件就牢牢地固定在主板上，当然多个电子元件的位置及需要贴到主板上的位置都要在电脑里事先设置好，并且贴的顺序也是事先设置好的，这些物料主要是一些很小的电子元件，有的只有一个毫米。
每个主板有几百个甚至有几千个电子元件，SMT设备都能把这些准确无误地拿起来放到该放的地方去。这个设备尺寸的精度很高，能达到千分之一毫米，自然地这个设备很贵了，贵的有二百万人民币一台的，也有精度要求不高的，便宜的有两万人民币一台的。
SMT设备主要是靠伺服马达来实现从数值参数(电脑等设备中输入的数值)到距离(机械手的运动预设距离)的转换，也就是说当给出一个运动的数值，伺服马达就会按照要求运动，直至达到目的地。这个方式也就是多对多的方式，即在送料处把多种物料拿起来，送到主板上各个不同的位置上去。因为一个主板上有几百个或者上千个零件，贴完这些零件总的时间又不能太长，所以SMT设备贴元件时，机械手运动的速度很快，快到几乎看不清机械手的运动，故这个设备的效率也很高。
还有一种用伺服马达做的机械设备：注塑机，注塑机没有油缸，只有伺服马达驱动，这种注塑机比那种有油缸的注塑机还要精密，一个注塑机注塑量能够精确到一克的一百分之一，调试各种参数时，每设定一个数值，马达就会按数值运动到不同的位置。
日常用的电梯也是由伺服马达驱动的，每按一个数字按钮，电梯就会在对应的楼层停下来，这个也是把数字转换成不同的位置的例子，不过把电梯运动位置的参数换成楼层了。
这个伺服系统是使物体的位置、方位及状态等输出被控量能够跟随输入目标(或给定值)的任意变化的自动控制系统。
伺服主要靠脉冲来定位，伺服电机接收到一个脉冲，就会旋转一个脉冲对应的角度，从而实现位移，因为伺服电机本身具备发出脉冲的功能，所以伺服电机每旋转一个角度，都会发出对应数量的脉冲，这样和伺服电机接受的脉冲形成了呼应，或者叫闭环，如此一来，系统就会知道发了多少脉冲给伺服电机，同时又收了多少脉冲回来，也就是说伺服电机随时把信号传给系统，同时把系统给出的信号来修正自己的运转,这样就能够很精确的控制电机的转动，从而实现精确的定位，可以达到0.001mm。
伺服电机内部的转子是永磁铁，驱动器控制的U/V/W三相电形成电磁场，转子在此磁场的作用下转动，同时电机自带的编码器反馈信号给驱动器，驱动器根据反馈值与目标值进行比较，调整转子转动的角度，所以伺服电机的精度决定于编码器的精度(线数)，可以根据商店需要来确定线数。
根据上述设备的原理及方法，本实施例提出了一种机械手的原理及方法，同时根据这个多对多的方式，即把多个位置上的每个物品拿起来，可以放到多个不同的位置的任何一个位置上去，就可以确定把这种机械手应用到无人商店里去。
虽然SMT设备适用于小的电子元件小，而相当于电子元件一百倍大的日常用品更应该好拿取，所以应用于上述伺服电机的机械手在用在无人商店上是没有问题的。
本实施例提出了一种单臂机械手，这个机械手的精度要远远低于这个SMT贴片机注塑机的，拿一个商品，误差不超过一个厘米。相关技术中，在分拣包裹时用了很多的小机器人在来来回回地跑，实际上用这个机械手更合适，成本更低，更简单。
顾客通过扫贴在商品上的二维码后或者通过其他设备输入所购买商品的信息，商店系统里控制器就会收到商品信息，把商品信息传输给在仓储区内的机械手，等顾客付款后，机械手就去把在仓储区内这个按照商店系统指定位置放置的商品拿到系统指定的取物处，顾客就可以通过手机平板等设备把取物处的门打开，就可以把所买的商品取走了，其中，仓储区里的商品可以不贴二维码。
有用到这个机械手的无人商店在空间上分为操作区和仓储区，操作区主要是摆放所要售卖的商品，供客户选择扫码，仓储区主要是存放所售卖的商品，仓储区和操作区是分开的，客户只能在操作区看商品及扫码，不能进入仓储区。当客户在操作区看到商品后，想购买，就拿手机或者其他扫码设备扫描贴在商品上的二维码，商品的购买信息就通过手机或平板等的网络(3G,4G,5G,Wifi及BT等)传到该商店的控制器，控制器就通过安装有伺服马达的机械手将这些商品放到取物处，客户去取物处拿商品就可以了。由于这个机械手精度要求可以不高，经过很多次运行后，累计的误差可能会有些大，所以要指定一个取物处为基本原点，当机械手运动到这里时，机械手系统就会自动把位置信息归零，一切从头计算，误差就清零了。当无人商店有两个操作区时，因为仓储区内商品摆放是一排一排的，在一排排货架的两端都可以设置成一个操作区。商店概略如图1，其中注释1表示取物处，2表示储货架，3表示机械手，4表示展示柜，5表示仓储区，6表示总控制器，7表示机械手控制器，8表示手臂组件,9表示购物箱组件，10表示操作区。该无人商店系统包括操作区，仓储区，机械手，取物处及总控制器，其中，操作区内的商品都要贴上二维码和价格，仓储区内商品严格按所录入位置摆放。
操作区里展示的商品摆放也有规则，日常用品消耗多的要摆放在显眼的地方，日常用的较少的商品可以放在角落里，并按种类分清楚摆放，如纸品要放在一起，饮料也归为一大类，单独放在一起，食品类也单独放在另一个地方，个别消耗大的可以多摆几个同样的，以便多个客户扫码。如图2，11表示行的标识(行数)，12表示列的标识(列数)，13表示的是二维码，14表示的是商品的标签。操作区设置多个取物处，可供多人同时购物，基本上在操作区下面最下面的一层都是取物处，每个顾客在手机上扫码后买完单了，系统就通过手机通知顾客在哪个取物处取商品，等顾客到了这个取物处时，就在手机的开关设置里打开取物处，顾客就可以把所购的商品取走。在手机里设置取物处的开关，可以防止顾客的商品被别的顾客拿走。取物处的开关是由系统供电的电磁阀控 制的，当取物处的门关闭时，电磁阀会挡住取物处拉不出来，只有通过顾客的手机里点击打开取物处，电磁阀抽回去，顾客才能把取物处拉出来取走商品。除了可以用手机扫码购物外，顾客也可以通过操作区内其它的购物设备来购物，购物设备和无人商店中的总控制器相连，通过购物设备购买的商品也会传送到总控制器，完成购物。
仓储区的商品摆放要严格按照录入系统的位置摆放，可以先把系统里多个商品位置设置好，再摆放好商品，每种商品都一个或多个存放的位置，系统录入的位置是机械手拿这个商品的位置，机械手得到信息，便会取这个商品，机械手只根据位置来取商品，机械手本身不会分辨出商品的种类。也可以先把商品摆放好，再把商品摆放的位置精确地输入到系统里去，输入商品位置时，可以先按坐标系计算测量出数值，然后再输入电脑里，也可以直接将机械手移到商品的位置，按下按键记录位置，并对这个位置的商品扫码，也把商品的种类输入，这样就能建立商品和位置的关系，比从电脑里输入要简单些。之所以要先输入商品的位置到系统里去，就是在控制器里对这些数值(商品位置坐标)做个预处理，以后在购买商品时，只输入商品的信息就可以了，不用再输入商品的坐标位置信息，可以认为商品的信息就是一个编码或编号，而不再是位置的坐标信息。通过将输入商品的坐标位置信息转换为输入商品和位置的关系，对于顾客来讲，购物就容易多了。
对于有保质期的商品，商品的存放更要有先后顺序的，区分先放的商品和后放的商品，尤其是在补充货物时，要做到先进来的商品和后进来的商品分开，必须做到先进先出。仓储区放置商品的槽可以做成斜坡式的槽，让商品自动滑移补充到机械手取物的位置,矿泉水之类的能自动滑移，但是纸巾等轻的商品就不能自动滑移，可以在纸巾上加一个重的压块使其能自动滑移，如图3，其中注释里15表示的是压块，16表示斜坡式槽，17表示位于斜坡式槽前面的水平部分，18表示斜坡式槽前面的挡板部分。这样商店可以做到每天花一个小时左右时间补充货物，或者做到几天来花一个小时左右时间补充一次货物，顾客如有问题，可以按补货时间来无人商店找工作人员处理，如退货等问题，大型商店也可以安排一个人来在某时间段(如在工作时间8:00-18:00)值班，处理异常和退货问题。机械手也要定期检修，如加润滑油等，尤其注意定期更换那些容易磨损的元件。
当顾客扫码后，在手机上就打开一个链接或者界面，链接或者界面上会出 现选购商品的种类、数量及价格之类的信息，待顾客选定后，接下来是继续购买或者买单，待顾客买完所需商品后，买单，界面提示用微信付款还是支付宝付款或是其它方式支付，选定后就从相应的支付方式中扣款，然后提示顾客所买的商品在第几号取物处，待商品都拿到取物处后，系统就提示顾客可以打开取物处的门，顾客在手机里点击打开取物处的门，就能拿走所买的商品了。顾客取走商品后，取物处自动归回原先状态。每个订单只对应一个取物处，有顾客一次购物太多或者大小不一的，可以分成几个订单来处理。
在仓储区里储货架是一排一排地摆放的，机械手在储货架之间来回运动，所以在机械手的固定水平导轨的两端都可以设置一个操作区，操作区都可以摆放商品来供顾客扫码，两边效果功能都是一样，这样也就多出一倍的取物处了。操作区里还可以做一些展示柜，向顾客推荐新到的商品，新开发的商品以及打折促销的宣传等等。系统里在每个位置拿走了多少商品，还有多少这类商品，都是实时更新的记录的，并以一定时间的间隔报送整个商店系统控制中心，以备会计核算、送货及管理等。
设有单臂机械手的商店有很多优点:1、可以节省人力，少雇佣员工；2、可以一周七天销售商品，可以24小时销售商品；3、可以减少管理成本，因为有员工偷懒等等，大大减少这方面的管理成本；4、可以少装修一些店面，大大节省装修成本；5、可以只在操作区开冷气，节省成本；6、可以大大地节省空间，仓储区可以堆积更密集些；7、可以节省顾客的购物时间；8、可以搞很多个取物处，这样购物时买单就不用排队等候了，另外无人商店很容易做到标准化,很好管理。
实施例一
参照附图4，本实施例提供了一种单臂机械手，所述单臂机械手放置在商店储货架2的上方,机械手的移动水平导轨21设置在储货架2上方，可以拿取多个储货架2上的商品，该单臂机械手包括固定水平导轨19、固定水平导轨马达20、移动水平导轨21、移动水平导轨马达22、固定水平导轨皮带23、移动水平导轨皮带24、固定水平导轨转轴25、移动水平导轨转轴26、固定水平导套27、移动水平导套28、购物箱安装座导套67、机械手控制器7、手臂组件8、购物箱组件9，其中固定水平导轨19上安装有固定水平导套27，固定水平导套27上安装有移动水平导轨21，移动水平导轨21安装有移动水平导套28及购物箱安装座导套67，移动水平导套28上安装有所述手臂组件8，购物箱安装座导套67安装有购物箱组 件9，固定水平导轨马达20驱动固定水平导套27上的移动水平导轨21在固定水平导轨19上移动，移动水平导轨马达22驱动移动水平导套28上的手臂组件8、购物箱安装座导套67上的购物箱组件9在移动水平导轨21上移动，所述机械手控制器7根据顾客订单自动生成机械手运动程式，所述机械手运动程式只执行一次。
具体实施例一中，马达传动用皮带实现，这种情况如下：
固定水平导轨19上安装有固定水平导套27、固定水平导轨马达20、固定水平导轨转轴25，固定水平导轨马达20、固定水平导轨转轴25之间套有固定水平导轨皮带23，固定水平导轨皮带23与固定水平导套27以螺钉连接，固定水平导套27上安装有移动水平导轨21，移动水平导轨21上安装有移动水平导轨马达22及移动水平导轨转轴26，移动水平导轨马达22及移动水平导轨转轴26之间套有移动水平导轨皮带24，移动水平导轨21上安装有移动水平导套28、购物箱安装座导套67，移动水平导套28上安装有手臂组件8，购物箱安装座导套67上安装有购物箱组件9，移动水平导套28与购物箱安装座导套67通过移动水平导轨皮带24连接在一起，移动水平导轨皮带24分别与移动水平导套28和购物箱安装座导套67通过螺钉连接。
固定水平导轨19及移动水平导轨21为非圆形的时候，固定水平导轨19及移动水平导轨21只需要设置一条；固定水平导轨19计移动水平导轨21为圆形的时候，圆形的导轨就需要至少两条才能使用。
购物箱组件9包括购物箱34、购物箱电磁阀35、购物箱升降导套69、购物箱升降导轨30、购物箱旋转机构75及购物箱升降机构74，其中购物箱旋转机构75包括购物箱旋转马达66、购物箱旋转转轴31、购物箱旋转皮带33，购物箱升降机构74包括购物箱升降皮带32、购物箱升降转轴68及购物箱升降马达73，购物箱升降马达73、购物箱旋转马达66及购物箱旋转转轴31安装在购物箱安装座导套67上并螺钉固定连接，购物箱旋转马达66与购物箱旋转转轴31通过购物箱旋转皮带33传动连接，购物箱旋转马达66与购物箱升降导轨30同旋转中心，购物箱升降转轴68及购物箱升降马达73通过购物箱升降皮带32传动连接，购物箱升降转轴68安装在购物箱升降导轨30上并以螺钉固定连接，购物箱升降导套69与购物箱升降皮带32以螺钉固定连接，购物箱升降导套69上安装有购物箱电磁阀35，购物箱电磁阀35上安装有购物箱34。
手臂组件8包括肩关节38、肘关节39、腕关节40、多腔室负压吸头组件36及吸取式取物夹子组件37，肩关节38包括第一关节连接件591、肩关节上马达60及 肩关节下马达61，肘关节39包括第二关节连接件592、肘关节上马达62及肘关节下马达63，腕关节40包括第三关节连接件593、腕关节上马达64、腕关节下马达65，每个关节里有两个伺服马达(也可以用其它类型的电机，本实施例中采用伺服电机，这两个马达的转动轴是成预设角度的，在一实施例中，两个马达的转动轴互相垂直)，每个马达能旋转180度，两个马达能旋转的空间叠加起来为半个球面，共有三对(在一实施例中可以有不少于四对)伺服马达。第一关节连接件591、第二关节连接件592及第三关节连接件593上设有两个马达安装位，所述两个马达安装位的中心轴线互相垂直。上述肩关节38、肘关节及腕关节40包括至少有一个伺服马达，一个手臂组件8至少有一个关节，L1表示机械手的移动水平导轨21在固定水平导轨19上能移动的最大的距离,L2表示机械手的移动水平导套28在移动水平导轨21上能移动的最大的距离,L3表示移动水平导套28到肩关节38之间的距离，L4表示肩关节38到肘关节39之间的距离，L5是表示肘关节39到腕关节40之间的距离，L6表示腕关节40到取物终端安装件41的距离,L7为机械手的购物箱升降导套69在购物箱升降导轨30上能移动的最大距离。当商店总控制器6接到购物信息后，商店总控制器6就通知机械手控制器7，要拿商品的种类、数量以及放置到哪个取物处，机械手控制器7就会对多个伺服马达驱动器发出指令，多个马达都会立即转动起来，固定水平导轨马达20带动固定水平导轨皮带23运动，固定水平导轨皮带23和移动水平导轨21是卡死且锁死，所以固定水平导轨皮带23就带动移动水平导轨21在固定水平导轨19上运动；同时移动水平导轨马达22带动移动水平导轨皮带24在移动水平导轨21上运动，移动水平导轨皮带24和移动水平导套28是卡死且锁死的，所以移动水平导轨皮带24就带动移动水平导套28在移动水平导轨21上运动；同时三个关节里的马达也根据所拿商品的位置同时转动，机械手终端抓取机构29就能到达商品的位置并抓取商品，再送到购物箱34里去，等订单所有商品都拿到购物箱34后，这时机械手控制器7对多个伺服马达下达指令，购物箱34向取物处1移动，等到了取物处1后就把购物箱34内商品倒入取物处1内，顾客就可以取走商品了。L3、L4、L5、L6、L7这四个尺寸可根据具体情况调整。这个固定水平导轨19及移动水平导轨21既可以作为导轨，又要作为计量工具用，通过皮带带动，就可以计算出移动水平导套28的位置及购物箱安装座导套67的位置。机械手移动的距离要比相关技术中的贴片机里要大要长，所以L1和L2可以为50米、30米、10米或5米等等，在一实施例中，把固定水平导轨19固定在地上或墙壁上，一般会在最上边或最下边， 确定好机械手运动的起点位置(也就是原点，方便确定商品的位置)，以及机械手终端抓取机构29水平运动方向，水平运动方向包括沿X轴方向和Y轴方向，另外竖直方向为Z轴方向，建立一个坐标系，再把商品在这个坐标系(三维坐标)里的坐标输入系统里去，这些坐标都要在机械手终端抓取机构29运动的范围之内，不在运动范围之内的坐标属于机械手够不着的地方。有时为了节省空间，货架高度直至屋顶。机械手终端抓取机构29包括吸取式的多腔室负压吸头组件36及夹取式的夹取式取物夹子组件37，夹取式取物夹子组件37的作用为机械手夹取商品的夹子，多腔室负压吸头组件36就是靠负压来吸取商品的，这两种要根据不同商品来使用，比如：矿泉水或啤酒等要用夹取式，方便面或饼干等要用吸取式的。夹取式取物夹子组件37设有一个夹子电磁阀51，夹子电磁阀51设置为实现夹取和松开的动作，夹子电磁阀51与夹子连接，夹子电磁阀51伸缩就会带动夹子张开或闭合；多腔室负压吸头组件36设有一个吸头电磁阀44，吸头电磁阀44设置为实现产生负压吸取和释放负压松开的动作，吸头电磁阀44伸缩时商品和多腔室负压吸头23就形成了一个密闭的空间，随着吸头电磁阀44的拉伸，密闭空间变大，密闭空间内压强降低，商品就吸附在多腔室负压吸头23上了，上述吸头电磁阀44和夹子电磁阀51也可以用气动的夹取气缸或夹取马达来代替，来实现吸附和夹取的动作。这种机械手的购物箱34会根据所拿商品的位置运动，并与机械手终端抓取机构29保持同一高度，减少机械手终端抓取机构29的运动距离。
相比SMT中的导轨，购物箱升降导轨30的长度较小，在一实施例中，购物箱升降导轨30的长度小于0.5米。单臂机械手的长度小于500米。
在一实施例中，机械手的移动水平导轨21在固定水平导轨19上能移动的最大距离L1，0.1米＜L1＜500米。
在一实施例中，机械手的移动水平导套28、购物箱安装座导套67在移动水平导轨21上能移动的最大距离L2，0.1米＜L2＜500米。
在一实施例中，机械手的购物箱升降导套69在购物箱升降导轨30上能移动的最大距离L7，0.1米＜L7＜100米。
一个商店有一部或多部机械手3，每部机械手3都有机械手控制器7，但是商店还有一个数据输入和数据接收的控制器，总控制器6，这个总控制器6分配、协调多个机械手控制器7的工作。总控制器6需要与有线网络连接，以便接收来自网络的商品信息，总控制器6还需要通讯电缆与商店里的其它购买设备相连， 除了可以用购物设备购物外，顾客也可以通过操作区内其它的购物设备来购物，购物设备和商店里面总控制器6相连，通过购物设备购买商品的信息也会传送到总控制器6，也会完成购物的。顾客通过购物设备来购买商品，总控制器6接收来自这些设备的购物信息，即能接收一切在本商店的购物信息；同时这个总控制器6既要与商店里的其它机械手控制器7连接，以便能控制这些机械手的动作，又要与该商店的电脑主机相连接，以便这个商店的管理员能及时地查看购物信息及销售情况；总控制器6与公司的控制中心通讯连接，为商店管理，补货管理，会计核算等等提供数据，所以这个总控制器6设有很多接口，接口如图8，图中的机械手的个数是不确定的，可能是一个，也可以是多个，非如图中所示数量，其中总控制器6与该商店的电脑主机是以并行接口连接，总控制器6与控制中心通过以太网接口连接，其余的设备与总控制器以串行接口连接。在一实施例中，总控制器6包括联网模块，处理器模块，存储器模块，以太网模块及支付模块，也可以还包括WIFI模块或蓝牙模块，其中联网模块和蓝牙模块设置为接收多个设备的信息或发送信息给多个设备；以太网模块连接外网；处理器模块主要协调商店内资源，安排合适的机械手将商品放置到合适的取物处，计算商品价格及完成商品销售；存储器模块主要存储商品在仓储区内的位置及商品价格等资料，以便处理器调用。
当一个购物设备有顾客操作时，联网模块接收到了信息，总控制器6便将该购物设备列为使用中；等顾客把商品选完后就提出买单时，联网模块接收到要买单的信息，这时总控制器6的处理器模块就调取存储器模块，就核算商品单价、总价及优惠价等，联网模块把核算出来信息发给该购物设备；等顾客买单后，联网模块接收到了信息，总控制器6的处理器模块调取存储器模块里商品位置信息，联网模块就把这个商品位置信息发给取物的机械手3；机械手3就把商品都拿到购物箱34内，总控制器6联网模块发送信息给机械手3去取物处；联网模块接收信息，机械手3已经到达取物处1，联网模块发送信息给机械手3把商品倒入取物处1内，联网模块接收到机械手取物将商品倒入取物处1的信息后，把机械手3列为空闲；联网模块接收到机械手取物将商品倒入取物处1的信息，发送信息给购物设备，此时顾客可以把门打开；顾客在购物设备里选择打开门，联网模块就收到信息，联网模块就发送信息给取物处电磁阀，取物处电磁阀控制门打开，顾客取走商品。每个机械手3都有机械手控制器7，且能够控制五个以上马达的动作，以及多个电磁阀的动作，如图9，图中的伺服马达驱动器和取物处 电磁阀的个数是不确定的，可能是一个，也可以是很多个，并非如图中所示的数量，其中机械手控制器7所有接口都是串行接口，而且是没有以太网接口的；夹子电磁阀51主要是机械手终端抓取机构29抓紧松开用的。在一实施例中，机械手控制器7包括联网模块，处理器模块及存储器模块，处理器模块主要是合理优化取物顺序，调出商品存储位置数据及发送指令给伺服马达驱动器，存储器模块主要存储商品在仓储区内的位置。当总控制器6发来购物信息，取物机械手3的联网模块接收信息；处理器模块就优化取货顺序，调取存储器模块商品存放位置并把多个运动部件的运动参数做出来，运动部件的运动参数包括什么时间开始运动及运动多少距离；之后联网模块把这些运动参数发给多个运动部件，机械手3去取商品，由于这个机械手3有购物箱34，所以能把商品放入购物箱34内，等把商品取完，联网模块发送信息给总控制器6，总控制器6获取商品都已经放置在购物箱34内；总控制器6给联网模块发送信息，及控制机械手3将购物箱34内商品倒入对应的取物处1，联网模块发送信息给总控制器6，商品已倒入取物处1，其中，上述多个运动部件指的是机械手的手臂组件8、购物箱组件9及机械手终端抓取机构。这个商店的软件操作系统，可以用Windows操作系统,也可以用Android操作系统，也可以用苹果的Mac OS操作系统，由于这个购物设备及软件操作系统只在商店内使用，所以商店还可以用其它的小的操作系统Linux,甚至可以自行开发一个操作系统来用。该系统只用于无人商店内，跟外界没有文件传输交换，不存在一个文件发到另外的无人商店打不开的情况。
如图6所示，多腔室负压吸头组件36包括软胶42、多腔室体43、吸头电磁阀44、型芯45、侧板及吸头安装板47，其中软胶42和多腔室体43为一体成型的，型芯45插入多腔室体43后与商品就形成了密闭的腔室，软胶42起辅助密封作用，多腔室体43设置有多腔室体气孔48，型芯45设置有气槽49和型芯气孔，气槽49和型芯气孔连通。当型芯45插入多腔室体43与商品就形成了密闭的腔室时，吸头电磁阀44收缩时，型芯气孔与多腔室体气孔48错开了，空气不能进入，负压就形成了，型芯45抽出越多，负压就越大，商品就吸附的越紧。当吸头电磁阀44伸长时，负压就变小了，商品吸附就松了，型芯气孔与多腔室体气孔48接触，空气就从多腔室体气孔48、型芯气孔、气槽49再到密闭的腔室，这时负压就消失了。上述工作过程为多腔室负压吸头23的工作原理。
夹取式取物夹子组件37包括夹子电磁阀51、夹子电磁阀夹板54、商品夹板52、减压夹板53、第一转轴55、第二转轴56、夹子侧板57及夹子安装板58，夹 子安装板58与移动竖直导套36螺钉连接，夹子电磁阀51与夹子安装板58螺钉连接，夹子安装板58与商品夹板52通过第一转轴55转动连接，商品夹板52与减压夹板53通过转轴转动连接，商品夹板52通过第二转轴56安装在夹子侧板57上，夹子电磁阀51伸出或收缩带动夹子电磁阀夹板54、商品夹板52及减压夹板53运动，以实现夹取商品。减压夹板53是为了增大夹取式取物夹子组件37与商品的接触面积及减小压强而设置的。
商店用的应用于无人商店的机械手3与工业上用的机械手不同，工业上用的机械手一般取物的位置是固定，并且放置物品的位置是有预定顺序的，或者取物的位置有预定顺序的而放置的位置是固定的，而商店的机械手取物的位置和放置的位置都不是固定的，是随顾客的要求而变的。工业机械手的动作每次设置后是重复的，有重复性，一个动作模式可以做几天几个月或者几年，而本实施例中的机械手则不同，每次动作都可能和上次的不同，也可以相同，它的动作决定于顾客购买商品的种类，一个订单只要不一样，它的动作就不同,每个订单就是一个运动的程式，每个订单只执行一次操作，也可以说每一次买单机械手就操作一次。这个机械手运动程式的生成，是机械手控制器7先把取商品的先后顺序优化后，找出最小路径，而后多个运动部件根据指令沿着最下路径运动，从而形成一个运动程式。关键是顾客的订单要数字化，能够及时地传到机械手控制器7里去形成一个程式，同时，仓库里的商品摆放也要数字化，商品的种类和位置要对应好，也要输入到控制器中，这样数字化的输入，机械手3就能够根据数字化的订单准确地拿到商品。机械手3、储货架2上的商品及取物处1之间的相对位置不变，是固定的，所以往往把这三者之间用铁条或用螺丝固定，做到标准化，多个商店的数据要相同，便于管理、操作。
这些机械手都自带有一个购物箱34，无需逐次取商品。这种机械手运动程式自动生成的方法，就是根据商品的特征来设置规则，这些特征有重量、体积、长度、商品在商店里位置及商品在系统里编号等等。通常设置为：当商品重量大于N1千克时、当商品体积大于N2立方厘米时或当商品长度大于N3厘米时，这些商品需要一个个地拿到取物处1，或放到购物箱34后再倒入取物处1，或其他地方，当商品重量小于N1千克、商品体积小于N2立方厘米且商品长度小于N3厘米时，这时就可以先把商品拿到购物箱60内，然后一起送到取物处1并倒入取物处1或放至其它地方，并且这多个商品先后顺序是根据商品在商店的位置进行优化，把机械手3拿货所走的路径最短的那一个计算出来，作为机械手运动程式。 这个机械手的运动程式是根据顾客购物的订单(付款后的订单)而自动生成的，所以该机械手每个运动程式只执行一次。机械手控制器7也对放入购物箱34内商品进行评估，一个购物箱34装不下，就分成两次来装,机械手控制器7会根据商品的体积重量分成两次取货，并按照以重量优先顺序先装一部分重量大的商品。根据所拿商品的位置，确定购物箱34的运动，并使购物箱34与机械手终端抓取机构29保持同一高度，减少机械手终端抓取机构29的运动距离。
对于多个一起放到一个购物箱34内商品，也可以这样设置：通常情况如下设置，其中M和L的值根据商店情况具体设定:
当重量大于或等于M千克时,以重量为排序依据,重量大的先拿到购物箱34；
当重量小于M千克时,以长度为排序依据,长度长的先拿到购物箱34；
其中当长度大于或等于L厘米时,以长度为排序依据,长度大的先拿到购物箱34；
当长度小于L厘米时,以体积为排序依据,体积大的先被拿到购物箱34；
其中当体积大于或等于V立方厘米时,以体积为排序依据,体积大的先拿到购物箱34；
当体积小于V立方厘米时,以商品在商店里的位置为排序依据,每拿到一个商品，再去拿离这个商品最近的商品，尽量缩短机械手运动的路程。这里是把重量作为优先级的，其次是长度，然后是体积，最后没有要求优先级时就按商品位置来排序，从多种取货途径里，选用路径最短的一种方式作为机械手运动程式。
从上面可以看出，这个机械手程式生成主要是依据商品的本身的特征以及商品在商店里位置及商品在系统里的编号。当商品特征超出范围，这个商品就一个一个地被拿到取物处1或其它地方，当商品特征在预设范围内时，机械手控制器7就根据商品在商店里的位置来优化路径，把机械手运动路径最短的那一种找出来并作为程式(如果有N个商品需要拿取，那么就有N！种途径取货，这时先拿哪个商品是随机的，再拿哪个商品也是随机的，由于拿商品时随机的，所以有很多种组合，有N！种，其中机械手运动路径最短的一种作为程式)。
在一实施例中，机械手控制器7生成运动程式的依据包括位置、重量、体积及长度。
实施例二
在实施例二中，马达传动通过丝杠实现，其他结构与实施例一结构相同， 马达传动通过丝杠实现具体如下：
如图10和图12所示，机械手3设置有固定座，固定座上安装有固定水平导轨19及固定水平导轨丝杠，固定水平导轨19上安装有固定水平导套27，固定水平导套27上安装有移动水平导轨21、固定水平导轨马达20及移动水平丝杠，固定水平导套27与固定水平导轨马达20以螺钉连接并一起运动，固定水平导轨马达20与固定水平导轨丝杠之间以螺纹传动连接，移动水平导轨21上安装有移动水平导套28及购物箱安装座导套67，移动水平导套28上安装有移动水平导轨马达22及手臂组件8，移动水平导轨马达22与移动水平丝杠之间以螺纹传动连接，移动水平导套28与移动水平导轨马达22以螺钉连接并一起运动，购物箱安装座导套67上安装有购物箱组件9，移动水平导套28与购物箱安装座导套67通过购物箱连杆70连接在一起，购物箱连杆70分别以螺钉与移动水平导套28及购物箱安装座导套67连接，手臂组件8下部安装机械手终端抓取机构29，购物箱安装座导套67安装有购物箱升降导轨30及购物箱升降丝杠，购物箱升降导轨30安装有购物箱升降导套69，购物箱升降导套69上安装有购物箱升降马达73，购物箱升降马达73与购物箱升降导套69螺钉固定连接，购物箱升降马达73与购物箱升降丝杠以螺纹传动连接。所述固定水平导轨19、移动水平导轨21、购物箱升降导轨30、固定水平丝杠、移动水平丝杠及购物箱升降丝杠是由圆棒制成，其中固定水平丝杠、移动水平丝杠及购物箱升降丝杠上设有与驱动马达匹配的螺纹，就如导轨外加一个带螺纹的圆棒来计量运动的距离一样，所述固定水平导轨马达20、移动水平导轨马达22及购物箱升降导轨30均在自身的转轴上外接一个带螺纹的传动件，所述传动件的螺纹与导轨螺纹匹配，带有螺纹的丝杠与马达上带螺纹的传动件通过螺纹传动连接。
本实施例提供的丝杠与传动件的传动方式中，丝杠不转动，靠马达转动来驱动导套在导轨上运动。以下通过图10中的通用马达79，通用丝杠77，通用导套76及通用导轨78为例说明上述丝杠与传动件的传动方式，通用马达79上的螺纹与通用丝杠77的螺纹匹配，通用马达79固定通用导套76上，通用丝杠77与通用导轨78平行放置。其中，通用马达79、通用丝杠77、及通用导轨78并非特指，对通用马达79，通用丝杠77，通用导套76及通用导轨78的工作过程的描述为对本实施例中的马达、导套、丝杠及导轨的传动方式的示例性说明。
实施例三
如图11所示，实施例三提供了丝杆传动的另外一种方式，就是马达的转轴 与丝杠固定连接，丝杠与导轨平行放置，导套上设置有与丝杠外螺纹匹配的内螺纹，导套与丝杠以螺纹连接。这种方式丝杠转动，马达带动丝杠一起转动，从而使导套在丝杠上移动，而由于有另外的导轨限制，导套不能转动，此时，丝杠传动的连接关系如下：
机械手设置有固定座，固定座上安装有固定水平导轨19、固定水平丝杠及固定水平导轨马达20，固定水平导轨19、固定水平导轨马达20与固定座以螺钉固定连接，固定水平导轨19上安装有固定水平导套27，固定水平导轨马达20的转轴与固定水平丝杠同轴设置且固定连接，固定水平导套27与固定水平丝杠以螺纹连接，固定水平导轨19与固定水平丝杠平行放置，固定水平导套27设有固定水平丝杠孔和固定水平导轨孔，固定水平丝杠孔设有与固定水平丝杠外螺纹匹配的内螺纹，固定水平导轨孔无螺纹，固定水平导套27上安装有移动水平导轨21、移动水平丝杠及移动水平导轨马达22，移动水平导轨21上安装有移动水平导套28及购物箱安装座导套67，移动水平导轨马达22与移动水平丝杠之间同中心轴线固定连接，移动水平导套28设有移动水平丝杠孔和移动水平导轨孔，移动水平丝杠孔设有与移动水平丝杠外螺纹匹配的内螺纹，移动水平导轨孔无螺纹，移动水平导套28上安装有手臂组件8，购物箱安装座导套67上安装有购物箱升降导轨30、购物箱升降丝杠及购物箱升降马达73，购物箱升降导轨30安装有购物箱升降导套69，购物箱升降导套69上安装有购物箱电磁阀35，购物箱升降马达73与购物箱安装座导套67螺钉固定连接，购物箱升降马达73与购物箱升降丝杠以螺纹传动连接，购物箱升降马达73的转轴与购物箱升降丝杠同中心轴线固定连接，购物箱升降导套69设有购物箱升降丝杠孔和购物箱升降导轨孔，购物箱升降丝杠孔设有与购物箱升降丝杠外螺纹匹配的内螺纹，购物箱升降导轨孔无螺纹，移动水平导套28与购物箱安装座导套67通过购物箱连杆70连接在一起，购物箱连杆70分别以螺钉与移动水平导套28及购物箱安装座导套67连接。
本实施例中以图11中所示的通用马达79，通用丝杠77，通用导套76及通用导轨78为例说明丝杠的传动方式，通用导套76上的内螺纹与通用丝杠77的外螺纹匹配，通用丝杠77与通用马达转轴80同中心轴线设置且固定连接，通用丝杠77与通用导轨78平行设置，通用马达79驱动通用马达转轴80及通用丝杠77转动，从而驱动通用导套76沿通用导轨78及通用丝杠77移动。其中，通用马达79，通用丝杠77，通用导套76及通用导轨78并非特指，上述对通用马达79，通用丝杠77，通用导套76及通用导轨78的工作过程的描述作示例性说明。
丝杠与皮带都能达到传动的效果，所以在一个机械手里可以在固定水平导轨19、移动水平导轨21里选择一个或两个使用丝杠传动形式，即一个机械手3里可以包括两种传动方式，混合的传动方式也是可以的。
实施例四
在实施例四中，购物箱34倒商品的方式与实施例一至实施例三的倒商品的方式不同，本实施例中，购物箱电磁阀35可以不要，而购物箱34上设置一个机构，该机构使购物箱34的底盖可以水平方向抽走，这样购物箱34也可以把商品倒入取物处1。
实施例五
在实施例五中，购物箱34倒商品的方式与实施例一至实施例四的倒商品的方式不同，本实施例中，购物箱电磁阀35可以不要，而购物箱34上设置一个机构，该机构使购物箱34的底盖可以沿一侧边翻转，这样购物箱34也可以把商品倒入取物处1。
实施例六
在本实施例中，购物箱旋转机构75取消，购物箱升降导轨30就不能旋转，那么购物箱34就不能调整方向了。
实施例七
在本实施例中，如图13所示，购物箱连杆70取消，购物箱安装座导套67与移动水平导轨皮带24通过螺钉固定连接，那么购物箱安装座导套67就与移动水平导套28一样，在移动水平导轨皮带24带动下一同运动。固定水平导轨19上安装有固定水平导套27、固定水平导轨马达20及固定水平导轨转轴25，固定水平导轨马达20及固定水平导轨转轴25之间套有固定水平导轨皮带23，固定水平导轨皮带23与固定水平导套27通过螺钉连接，固定水平导套27上安装有移动水平导轨21、移动水平导轨马达22及移动水平导轨转轴26，移动水平导轨马达22与移动水平导轨转轴26之间套有移动水平导轨皮带24，移动水平导轨21上安装有移动水平导套28及购物箱安装座导套67，移动水平导轨皮带24分别与移动水平导套28及购物箱安装座导套67通过螺钉连接，移动水平导套28上安装有手臂组件8，购物箱安装座导套67上安装有购物箱组件9。
实施例八
在本实施例中，购物箱连杆70取消，购物箱安装座导套67与移动水平导套28为一体结构，也就是说把购物箱安装座导套67设置在移动水平导套28上，或 者说移动水平导套28上安装有手臂组件8、购物箱组件9，手臂组件8及购物箱组件9，在移动水平导轨皮带24带动下，手臂组件8和购物箱组件9一同运动。固定水平导轨19上安装有固定水平导套27、固定水平导轨马达20及固定水平导轨转轴25，固定水平导轨马达20与固定水平导轨转轴25之间套有固定水平导轨皮带23，固定水平导轨皮带23与固定水平导套27以螺钉连接，固定水平导套27上安装有移动水平导轨21、移动水平导轨马达22、移动水平导轨转轴26，移动水平导轨马达22与移动水平导轨转轴26之间套有移动水平导轨皮带24，移动水平导轨21上安装有移动水平导套28，移动水平导轨皮带24与移动水平导套28以螺钉连接，移动水平导套28上安装有手臂组件8和购物箱组9。
实施例九
在本实施例中，这个机械手也可以有扫码功能，在机械手3的机械手终端抓取机构29设置一个摄像头，该摄像头能够扫码，机械手3将商品扫码后获取该商品的种类及该商品所要放置的位置，并把商品放到储货架2上，也可以做到自动退货，自动上货(理货)，从而可以省去一些人员劳动。
在城市里，人们居住的空间小，很多工具没地方放，且不经常使用，这样就可以发展共享经济，做个共享商店，把人们平时用的不多的商品放在这里，人们扫码取走使用，用完后扫码退还，中间再收取费用。这样既减少人们的使用成本，又减少资源的浪费。这也是这个机械手应用的一个场景。
实施例十
在本实施例中，实施例一至实施例九中的所有电磁阀可以用气缸来代替，或者用直线运动的马达来代替。尤其是机械手终端抓取机构29里的吸头电磁阀44、夹子电磁阀51及购物箱电磁阀35，这类电磁阀可以用气缸等代替。
实施例十一
在本实施例中，移动水平导轨21安装有多个移动水平导套28，每个移动水平导套28安装一个手臂组件8，所有手臂组件8一同运动，或者在移动水平导套28上安装多个手臂组件8。
实施例十二
在本实施例中，将机械手终端抓取机构29里的夹取式取物夹子组件37的两个夹子用两个手臂组件8代替，这样可以拿取更大的商品。
实施例十三
在本实施例中，将机械手终端抓取机构29里的夹取式取物夹子组件37取消， 只保留多腔室负压吸头组件36，通过多腔室负压吸头组件36吸取商品并把商品拿到取物处1里去。
实施例十四
在本实施例中，将机械手终端抓取机构29里的多腔室负压吸头组件36取消，只保留夹取式取物夹子组件37，用夹取式取物夹子组件37夹取商品并把商品放至取物处1处。
实施例十五
在本实施例中，如图12，购物箱旋转机构75取消，另外设置一个马达代替购物箱旋转机构75，该马达的转轴与购物箱升降导轨30同轴设置且固定连接，购物箱升降导轨30也能旋转，因此购物箱34也能调整方向。
实施例十六
如图13所示，在本实施例中，购物箱安装座导套67和购物箱组件9都取消，也就是要取消购物箱及其相关部件，那这样这个机械手便不再设置购物箱，如图13，机械手就只能一个个地把商品拿到取物处了。那么这个机械手的生成程序也就不一样了。
这个方法规则可以以商品的重量、体积、长度等商品本身的特征或者商品在系统里的编号及位置作为依据来排序，把这些规则输入到系统去后，当有订单时，机械手控制器就会根据订单，自动生成执行这个订单的运动程式，机械手就按照这个程式运动，把商品都拿出来放到取物处或其它地方。这个规则可以交叉设置,如,当重量大于N千克时,这时以重量为排序依据,重量大的先拿到取物处里去,以免把后面的商品压坏了；当重量小于N千克时(N值可以在操作系统里调整),这时就以体积为排序依据,先把体积大的商品拿到取物处里去。对于那些耐用消费品,可以先拿到取物处,然后，再将那些容易破碎的商品拿到取物处。
通常情况可以设置为:
当重量大于或等于N千克时,以重量为排序依据,重量大的先拿到取物处或其他地方；当重量小于N千克时,以长度为排序依据,长度长的先拿到取物处或其他地方；其中当长度大于或等于L厘米时,以长度为排序依据,长度大的先拿到取物处或其他地方；当长度小于L厘米时,以体积为排序依据,体积大的先拿到取物处或其他地方；当体积相等时，以商品在系统里的编号为顺序，序号小的先拿到取物处或其他地方。
上述的拿取规则只是多种规则里的一种,商店可以根据具体情况设置规则,这个规则主要是根据商品的特性来指定的,如商品的重量、体积及长度等，设定这个规则是为了机械手或机器人控制器能够自动生成运动程式，是实现真正的无人商店的重要一步。所述商品的长度是指商品的长宽高三个尺寸里的最大尺寸。
实施例十七
在本实施例中，如图14所示，通用导轨78和通用导套76之间安装有通用轴承81，通用轴承81的转轴与通用导套76螺钉固定连接，通用导轨78与通用轴承81通过以平面与圆环面接触的方式配合，通用导轨78与通用导套76为间隙配合，这个适用于要减轻通用导轨78和通用导套76之间摩擦的情况。
上述是机械手3及其应用的场合无人商店的情况，可以看出这个机械手3有以下特征：所述机械手3适用于无人商店；所述机械手3的程式是根据顾客购买商品的订单而自动生成的；所述机械手3的程式是只执行一次，不重复执行的；所述机械手3放置商品的位置是多个固定的位置，并且要先把这个多个位置参数输入要机械手控制器7中，也就是取物处1有多个且固定，要先把这多个位置参数输入要机械手控制器7中；机械手3的运动程式是多对多的程式，即把多个位置上的每个物品拿起来，可以放到多个不同的位置的任何一个位置上去；所述机械手的固定水平导轨19的位置位于仓储区的储货架2以及取物处1之间，且是固定的不变的；机械手控制器7包括电性连接的联网模块、处理器模块、存储器模块，处理器模块与联网模块及存储器模块，联网模块分别与固定水平导轨马达20、移动水平导轨马达22、机械手终端抓取机构29里夹子电磁阀51或马达电性连接。
在一实施例中，机械手的移动水平导轨21在固定水平导轨19上能移动的最大距离L1，0.1米＜L1＜500米；机械手的移动水平导套28在移动水平导轨21上能移动的最大距离L2，0.1米＜L2＜500米；机械手的购物箱升降导套69在购物箱升降导轨30上能移动的最大距离L7，0.1米＜L7＜100米；机械手的马达是伺服马达或步进电机，所述伺服马达都带伺服马达驱动器。
在一实施例中，机械手的固定水平导轨马达20和移动水平导轨马达22非同时运动，即当固定水平导轨马达20运动时，移动水平导轨马达22停止，当移动水平导轨马达25运动时，固定水平导轨马达20停止。
如图1所示，有用到这个机械手3的无人商店一般划分为操作区10和仓储区5， 顾客不能进到仓储区5里去，只能在操作区10里活动，在操作区10所摆放的商品都贴上本店的二维码，以便顾客扫码，其中，操作区10里的商品是不卖的，仅供顾客扫码。同时把仓储区5的商品位置按照操作系统里的参数摆放好，方便顾客购买这些商品时，机械手3能够拿这些商品出去，其中，仓储区5里的商品可以不贴二维码。
顾客走进商店操作区10，想购买商品，就拿手机等设备扫所想购买商品的二维码，等把所有想购买商品扫码后，付款，这时机械手3得到指令，取顾客购买的商品，待所买商品都拿到取物处1得到确认后，顾客就可以通过手机打开取物处的门，将所买的商品拿走。当顾客退货时，操作系统确认无损坏后，就由机械手3拿到这个商品原来的位置上去。顾客取走商品后，取物处1自动归回原先状态。

Claims (11)

  1. 一种单臂机械手，包括：
    固定水平导轨；
    固定水平导轨马达，设置于所述固定水平导轨上；
    固定水平导套，安装于所述固定水平导轨上；
    移动水平导轨，安装于所述固定水平导套上；
    移动水平导套，安装于所述移动水平导轨上；
    移动水平导轨马达，设置于所述移动水平导轨上；
    手臂组件，设置于所述移动水平导套上，及
    机械手控制器，与所述固定水平导轨马达及移动水平导轨马达电连接；
    其中，所述固定水平导轨马达设置为驱动所述移动水平导轨在所述固定水平导轨上移动；所述移动水平导轨马达设置为驱动手臂组件在所述移动水平导轨上移动。
  2. 根据权利要求1所述的单臂机械手，其中，所述移动水平导轨在固定水平导轨上能移动的最大距离L1，0.1米＜L1＜500米。
  3. 根据权利要求1所述的一种单臂机械手，其中，所述移动水平导套在移动水平导轨上能移动的最大距离L2，0.1米＜L2＜500米。
  4. 根据权利要求1所述的单臂机械手，其中，所固定水平导轨马达和所述移动水平导轨马达为步进电机或设有伺服马达驱动器的伺服马达。
  5. 根据权利要求1所述的单臂机械手，还包括机械手终端抓取机构，所述机械手终端抓取机构包括夹子电磁阀或夹取马达，其中，所述机械手控制器包括电性连接的联网模块、处理器模块、存储器模块，处理器模块与联网模块及存储器模块，所述联网模块与所述固定水平导轨马达、所述移动水平导轨马达、所述夹子电磁阀或所述夹取马达电性连接。
  6. 根据权利要求1所述的单臂机械手，其中，所述手臂组件包括肩关节、肘关节、腕关节、多腔室负压吸头组件及吸取式取物夹子组件，肩关节包括第一关节连接件、肩关节上马达及肩关节下马达，第一关节连接件分别与肩关节上马达、肩关节下马达通过螺钉连接；
    肘关节包括第二关节连接件、肘关节上马达及肘关节下马达，所述第二关节连接件分别与所述肘关节上马达及所述肘关节下马达通过螺钉连接；
    腕关节包括第三关节连接件、腕关节上马达及腕关节下马达，所述第三关节连接件分别与所述腕关节上马达及所述腕关节下马达通过螺钉连接。
  7. 根据权利要求1所述的单臂机械手，其中，所述手臂组件包括关节，及多腔室负压吸头组件和夹取式取物夹子组件这两种组件中的至少一种，所述关节包括马达。
  8. 根据权利要求1所述的单臂机械手，还包括购物箱组件，所述购物箱组件包括购物箱及设置为控制将所述购物箱内的商品倒出的购物箱电磁阀，所述购物箱安装在所述购物箱电磁阀上，所述购物箱电磁阀与所述机械手控制器电路连接。
  9. 根据权利要求8所述的单臂机械手，其中，所述购物箱组件还包括升降机构及购物箱升降导套，所述购物箱电磁阀安装于所述购物箱升降导套上，所述升降机构包括购物箱升降马达，及皮带和丝杠中的一种，所述购物箱升降马达设置为通过所述皮带或所述丝杠与所述购物箱升降导套连接，所述购物箱升降马达与所述机械手控制器电路连接。
  10. 根据权利要求8所述的单臂机械手，其中，所述购物箱组件还包括购物箱旋转机构，所述购物箱旋转机构包括设置为使购物箱水平旋转的购物箱旋转马达，所述购物箱旋转马达与所述机械手控制器电路连接。
  11. 一种单臂机械手的控制方法，其中，所述方法在权利要求1-10任一项所述的单臂机械手上实施，所述方法包括：
    所述机械手控制器接收顾客订单中的商品信息；
    所述机械手控制器根据所述商品信息自动生成机械手的运动程式；及
    所述机械手控制器控制所述机械手执行所述运动程式。
PCT/CN2019/092120 2018-06-20 2019-06-20 单臂机械手 WO2019242693A1 (zh)

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