WO2019242694A1 - 用于无人商店的机械手及其控制方法 - Google Patents

用于无人商店的机械手及其控制方法 Download PDF

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Publication number
WO2019242694A1
WO2019242694A1 PCT/CN2019/092121 CN2019092121W WO2019242694A1 WO 2019242694 A1 WO2019242694 A1 WO 2019242694A1 CN 2019092121 W CN2019092121 W CN 2019092121W WO 2019242694 A1 WO2019242694 A1 WO 2019242694A1
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WIPO (PCT)
Prior art keywords
shopping box
motor
guide rail
moving
horizontal guide
Prior art date
Application number
PCT/CN2019/092121
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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.)
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Publication date
Priority claimed from CN201910162774.7A external-priority patent/CN109719716A/zh
Priority claimed from CN201910200472.4A external-priority patent/CN110116899A/zh
Priority claimed from CN201910245829.0A external-priority patent/CN109866211A/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 WO2019242694A1 publication Critical patent/WO2019242694A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type

Definitions

  • the present disclosure relates to the field of unmanned store equipment, for example, to a manipulator for an unmanned store and a control method thereof.
  • vending machine In the related technology, a vending machine has appeared. This kind of vending machine can only sell a small number of products, that is, a few or a dozen kinds. It can not meet the needs of people's daily life. There is also an automatic medicine taking in the hospital. Machine, the automatic medicine taking machine can only take a few medicines, can not be called an unmanned store at all.
  • the present disclosure provides a manipulator used in an unmanned store and a control method thereof, which can solve the problem of automatic pickup of goods in an unmanned store.
  • An embodiment provides a manipulator for an unmanned store, comprising: a fixed horizontal guide rail; a fixed horizontal guide rail motor disposed on the fixed horizontal guide rail; a fixed horizontal guide sleeve mounted on the fixed horizontal guide rail; and moving A horizontal guide is installed on the fixed horizontal guide sleeve; a moving horizontal guide is installed on the moving horizontal guide; a moving horizontal guide motor is provided on the moving horizontal guide; a moving vertical guide is provided on the horizontal guide Moving on a horizontal guide sleeve; moving a vertical guide motor provided on the moving vertical guide; moving a vertical guide sleeve provided on the moving vertical guide; a manipulator terminal grasping mechanism provided on the moving vertical guide A straight guide sleeve; and a manipulator controller electrically connected to the fixed horizontal guide rail motor, the mobile horizontal guide rail motor, the mobile vertical guide rail motor, and the manipulator terminal grasping mechanism; wherein the fixed horizontal guide rail A motor is configured to drive the moving horizontal guide rail to move on the fixed horizontal guide rail, and the moving horizontal rail motor is configured to
  • An embodiment provides a method for controlling a manipulator, wherein the method is implemented on the manipulator according to any one of claims 1-10, and the method includes: the manipulator controller receives a customer order; the manipulator The controller automatically generates a motion program of the robot according to the customer order; and the robot controller controls the robot to execute the motion program.
  • FIG. 1 is a schematic diagram of a manipulator applied to an unmanned store according to an embodiment
  • FIG. 2 is a schematic diagram of a 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 an exploded view of a multi-chamber negative pressure suction head assembly according to an embodiment
  • FIG. 6 is a perspective view of a manipulator terminal grasping mechanism according to 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 canceling a shopping box assembly according to the fourteenth embodiment
  • FIG. 13 is a perspective view of a manipulator after canceling the lifting mechanism according to the sixteenth embodiment
  • FIG. 14 is a schematic diagram of a guide bush guide bearing fit provided in the seventeenth embodiment.
  • FIG. 15 is an enlarged view of A in FIG. 1;
  • FIG. 16 is a structural diagram of a robot controller 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 relies on servo motors to convert 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.
  • the SMT equipment is suitable for small electronic components, and daily products equivalent to one hundred times as large as electronic components should be easier to handle, it is not a problem for robots used in 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 unmanned store provided by this embodiment 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. Greatly reduce the management cost in this area; 4, can reduce the number of stores to reduce the cost of decoration; 5, can only open the air-conditioning in the operating area, saving costs; 6, can greatly save space, storage areas can be more densely stacked; 7. It can save customers' shopping time. 8. You can set up a lot of pick-up locations, so you don't have to wait in line to pay when you shop. In addition, unmanned stores are easy to standardize and manage well.
  • this embodiment provides a manipulator for an unmanned store.
  • the 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. Goods on multiple storage shelves 2 can be taken.
  • the manipulator includes a fixed horizontal guide 19, a fixed horizontal guide motor 20, a moving vertical guide rotating motor 22, a moving horizontal guide sleeve 38, a moving vertical guide sleeve 36, a fixed horizontal guide sleeve 37, and a moving horizontal guide.
  • fixed horizontal guide sleeve 37 is mounted on fixed horizontal guide 19
  • a fixed horizontal guide bushing 37 is provided with a moving horizontal guide rail 21
  • a moving horizontal guide bushing 21 is installed with a moving horizontal guide bushing 38 and a shopping box assembly 4
  • a moving horizontal guide bushing 38 is installed with a moving vertical guide rail 24 and a moving vertical guide rail 24
  • a mobile vertical guide sleeve 36 is installed on the mobile vertical guide sleeve 36
  • a robot terminal grasping mechanism 31 is installed on the fixed horizontal guide motor 20 to drive the mobile horizontal guide 21 to move on the fixed horizontal guide 19 and the mobile horizontal guide motor 25 to drive
  • the moving vertical guide rail 24 and the shopping box assembly 4 move on the moving horizontal guide rail 21, and the moving vertical guide rail motor 27 drives the manipulator terminal grasping mechanism 31 to move the vertical guide rail 2 4 moves up, moves the vertical guide rail rotation motor 22 drives the mobile vertical guide rail 24 to rotate to change the gripping mode of the robot
  • the motor transmission is realized by a belt. This situation is as follows:
  • a fixed horizontal guide sleeve 37, a fixed horizontal guide motor 20, and a fixed horizontal guide shaft 32 are installed on the fixed horizontal guide rail 19.
  • a fixed horizontal guide belt 28 and a fixed horizontal guide belt are fixed between the fixed horizontal guide motor 20 and the fixed horizontal guide shaft 32.
  • 28 is fixed to the fixed horizontal guide sleeve 37 by screws.
  • the fixed horizontal guide sleeve 37 is installed with a moving horizontal guide 21, a moving horizontal guide motor 25 and a moving horizontal guide shaft 33.
  • a sleeve is provided between the moving horizontal guide motor 25 and the moving horizontal guide shaft 33.
  • a mobile horizontal guide belt 39 There is a mobile horizontal guide belt 39, the mobile horizontal guide belt 39 is connected with the mobile horizontal guide sleeve 38 by screws, the mobile horizontal guide sleeve 38 and the shopping box mounting base guide sleeve 65 are installed on the mobile horizontal guide sleeve 21, and the mobile horizontal guide sleeve 38 is installed.
  • a mobile vertical guide belt 40 is installed between the mobile vertical guide motor 27 and the mobile vertical guide rotating shaft 35.
  • the mobile vertical guide A rotating vertical guide rotating belt 41 is installed between the rotating motor 22 and the moving vertical guide rotating shaft 34, and the moving vertical guide belt 40 and The mobile vertical guide sleeve 36 is connected by screws.
  • the mobile vertical guide sleeve 24 is installed with the mobile vertical guide sleeve 36, the mobile vertical guide shaft 35 and the mobile vertical guide rotation shaft 34.
  • the mobile vertical guide sleeve 36 is provided with a robot terminal.
  • the grasping mechanism 31 and the shopping box assembly 4 include a shopping box 60, a lifting shopping box guide sleeve 67, a lifting shopping box guide 63, a shopping box solenoid valve 61, a shopping box mounting seat guide 65, a lifting mechanism 5 and a shopping box rotating mechanism 9
  • the lifting mechanism 5 includes 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 includes 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 equipped with a lifting shopping box guide 63, a lifting shopping box motor 69, a lifting shopping box rotation motor 59 and a lifting
  • the rotating belt 62 is drivingly connected, and the lifting shopping box guide sleeve 67 and the lifting shopping box rotating shaft 64 are installed on the lifting shopping box guide 63.
  • the lifting shopping box motor 69 and the lifting shopping box rotating shaft 64 are connected through the lifting shopping box belt 68 to lift the shopping box belt.
  • a shopping box solenoid valve 61 is installed on the lifting shopping box guide sleeve 67
  • a shopping box 60 is installed on the shopping box solenoid valve 61
  • a shopping box mounting seat guide sleeve 65 and a moving horizontal guide sleeve 38 is connected by the moving horizontal guide belt 39 and slides together
  • the shopping box mounting seat guide 65 is connected with the moving horizontal guide belt 39 by screws.
  • the elevating shopping box rotation motor 59 and the elevating shopping box guide 63 are coaxially connected by screw fixing.
  • This manipulator 3 for an unmanned store is provided with a moving vertical guide rotation motor 22, which mainly causes the manipulator terminal grasping mechanism 31 to rotate when grasping goods, and put the goods into the shopping box 60, or directly put in and take out
  • the object 1 is used to switch the grasping mode of the robot terminal grasping mechanism 31 and put the goods into the shopping box 60.
  • the shopping box solenoid valve 61 mainly flips the shopping box 60 and pours the goods in the shopping box 60 into the pick-up place 1.
  • the shopping box rotation motor 63 mainly adjusts the direction of the shopping box to make it convenient for the shopping box to pour the goods into the pick-up. Office 1.
  • the lifting and lowering of the shopping box motor 69 mainly adjusts the height of the shopping box 60 and the height of the robot terminal grasping mechanism 31 to be substantially the same, thereby saving the operation time of the robot terminal grasping mechanism 31.
  • the key equipment in an unmanned store is a manipulator for an unmanned store.
  • the manipulator can perform three-dimensional movement, as shown in Figure 4, where two or one fixed horizontal guide rail 19 is sometimes used.
  • L1 indicates that the mobile horizontal guide rail 21 is fixed.
  • the maximum distance that the horizontal guide 19 can move L2 indicates the maximum distance that the mobile vertical guide 24 can move on the moving horizontal guide 21, and L3 indicates the robot terminal grasping mechanism 31 can move on the moving vertical guide 24
  • L4 represents the maximum distance that the lifting shopping box guide sleeve 67 can move on the lifting shopping box guide 63.
  • the manipulator mainly includes a fixed horizontal guide rail 19, a mobile horizontal guide rail 21, a mobile vertical guide rail 24, an elevating shopping box guide rail 63, a manipulator terminal grasping mechanism 31, and a shopping box.
  • Each guide rail is provided with a servo motor and a belt or a wire. Other types of motors can also be used for the servo motor.
  • the manipulator provided in this embodiment is provided with four servo motors. In one embodiment, more servo motors can be provided.
  • the belt or lead screw is set for distance measurement. The lead screw is more accurate than the belt.
  • the shopping box mounting seat guide sleeve 65 and the manipulator moving vertical guide rail 24 are connected and move together. In one embodiment, they can also be set to move separately, so that the mechanism will be more complicated. Fix the fixed horizontal guide rail 19 on the ground or the wall so that the fixed horizontal guide rail 19 is at the top or bottom. Determine the starting position of the manipulator movement and the horizontal movement direction of the manipulator.
  • the horizontal movement direction includes along the X-axis direction and the Y-axis direction.
  • the vertical direction is the Z axis, establish a coordinate system, and then enter a number of products in the coordinate system (three-dimensional coordinates) into the coordinate system, these coordinates must be within the range of the robot's movement, not in the range of movement
  • the coordinates inside are out of reach of the robot.
  • the shelf height reaches the roof.
  • the manipulator terminal gripping mechanism 31 includes a gripping type gripping type gripping clip assembly 26 and a suctioning type multi-chamber negative pressure suction head assembly 23, and the gripping type is a gripping type gripping type gripping component assembly 26 for gripping
  • the suction type is to suck the goods by negative pressure.
  • the controller When the controller receives the shopping information, the robot controller 30 will issue a command to the servo motor driver, and the servo motor will immediately rotate.
  • the movement of the X-axis direction of the robot terminal grasping mechanism 31 is achieved by moving the horizontal guide motor 25 to pull the moving vertical guide 24 to move on the moving horizontal guide 21.
  • the Y-axis direction of the robot terminal grasping mechanism 31 The movement is achieved by pulling the fixed horizontal rail motor 20 to move the moving horizontal rail 21 on the fixed horizontal rail 19, and the Z-axis movement of the robot terminal grasping mechanism 31 is pulling the robot terminal grasping mechanism 31 by moving the vertical rail motor 27 It is achieved by moving on the moving vertical guide rail 24. By moving in these three directions, the robot terminal grasping mechanism 31 can move in full coverage on the space where the goods are placed, and then the goods placement position can be reached.
  • the shopping box 60 is driven by the lifting shopping box motor 69 to pull the lifting shopping box guide sleeve 67 up and down on the lifting shopping box guide 63; the robot hand
  • a mobile vertical guide rotary motor 22 which is used to switch between two types of picking methods: gripping and picking.
  • the clip solenoid valve 51 is connected to the clip, and the clip solenoid valve 51 expands and contracts to open or close the clip.
  • Multi-chamber There is a nozzle solenoid valve 44 in the negative pressure suction head assembly 23, which realizes the suction and release of negative pressure to release the negative pressure.
  • the suction head solenoid valve 44 expands and contracts, the commodity and the multi-chamber negative pressure suction head assembly 23 are formed.
  • With a closed space as the suction head 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 assembly 23, and the functions of these solenoid valves are also It can be replaced by a pneumatic cylinder to achieve the action of adsorption and clamping.
  • the shopping box rotation motor 59 pulls the shopping box assembly 4 to rotate.
  • the multi-chamber negative pressure suction head assembly 23 includes a soft rubber 42, a multi-chamber body 43, a suction head solenoid valve 44, a core 45, a side plate, and a tip mounting plate, wherein the soft rubber 42 and the multi-chamber body 43 are integrated.
  • the core 45 is inserted into the multi-chamber body 43 to form a closed chamber with the product.
  • the soft glue 42 serves as an auxiliary seal.
  • the multi-chamber body 43 is provided with a multi-chamber body air hole 48.
  • the core 45 is provided with The air groove 49 communicates with the core air hole.
  • the clip-on pick-up clip assembly 26 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 move the clip solenoid valve cleat 54, the product cleat 52 and the decompression cleat 53 to move the product.
  • the decompression clamping plate 53 is provided in order to increase the contact area between the clamp-type pick-up clamp assembly 37 and the product and reduce the pressure.
  • the maximum distance L1 that the moving horizontal guide 21 can move on the fixed horizontal guide 19 is moving vertically.
  • the maximum distance that a rail similar to the fixed horizontal rail 19 can move on similar mobile horizontal rail 21 The distances are all less than 1.0 meter, and the maximum distance of movement on a similar moving vertical rail 24 is 0.5 meter.
  • the three parameters of the robot for the unmanned store provided in this embodiment: L1, L2, and L3 (that is, the characteristic parameters of the robot) can be set as follows: the maximum distance that can be moved on the fixed horizontal guide rail is greater than 0.1 meters and less than 500 meters, the maximum distance that can be moved on the mobile horizontal guide rail is greater than 0.1 meters and less than 500 meters, and the height can be smaller, taking 100 meters, so the maximum distance that can be moved on the mobile vertical guide rails is greater than 0.1 meters and less than 100 metres.
  • the maximum distance L1 that the movable horizontal guide 21 can move on the fixed horizontal guide 19 is 0.1 m ⁇ L1 ⁇ 500 meters; the maximum distance L2 that the movable vertical guide 24 can move on the mobile horizontal guide 21 is 0.1, 0.1 M ⁇ L2 ⁇ 500m; the maximum distance L3 of the robotic terminal grasping mechanism 31 on the moving vertical guide rail 24, 0.1 m ⁇ L3 ⁇ 100 m; the maximum distance L4 of the shopping box 60 moving up and down on the lifting shopping box guide 63, 0.1 m ⁇ L4 ⁇ 100 m.
  • the four parameters L1, L2, L3, and L4 of the manipulator can be set as follows: the maximum distance L1 that the moving horizontal guide 21 can move on the fixed horizontal guide 19 is 0.1 m ⁇ L1 ⁇ 200 m; the moving vertical The maximum distance L2 that the guide rail 24 can move on the moving horizontal guide 21, 0.1 m ⁇ L2 ⁇ 200 meters; the maximum distance L3 that the robot terminal grasping mechanism 31 can move on the moving vertical guide rail 24, 0.1 m ⁇ L3 ⁇ 50 meters ; The maximum distance L4 of the shopping box 60 moving up and down on the lifting shopping box guide 63 is 0.1 m ⁇ L4 ⁇ 50 m.
  • the four parameters L1, L2, L3, and L4 of the manipulator can be set as follows: the maximum distance L1, 5 meters ⁇ L1 ⁇ 20 meters, which the manipulator can move on the fixed horizontal guide rail 19; manipulator The maximum distance L2 of the moving vertical guide 24 that can move on the moving horizontal guide 21 is 5 meters ⁇ L2 ⁇ 20 meters; the maximum distance L3 of the mobile terminal gripping mechanism 31 can move on the moving vertical guide 24 is 2 meters ⁇ L3 ⁇ 10 meters; the maximum distance L4 of the shopping box 60 moving up and down on the lifting shopping box guide 63 is 2 meters ⁇ L4 ⁇ 10 meters.
  • the four parameters L1, L2, L3, and L4 of the manipulator can be set as follows: the maximum distance L1 that the moving horizontal guide 21 can move on the fixed horizontal guide 19 is 10 meters ⁇ L1 ⁇ 15 meters; the moving vertical The maximum distance L2 that the guide rail 24 can move on the moving horizontal guide rail 21, 10 meters ⁇ L2 ⁇ 15 meters; the maximum distance L3 that the robot terminal grasping mechanism 31 can move on the moving vertical guide rail 24, 3 meters ⁇ L3 ⁇ 5 meters ; The maximum distance L4 of the shopping box 60 moving up and down on the lifting shopping box guide 63 is 3 meters ⁇ L4 ⁇ 5 meters.
  • the controller for data input and data reception and the robot controller 30 can be made into one, but when there are multiple robots in a store, each robot has its own robot controller 30.
  • the main controller should be connected to the wired network in order to receive product information from the network, and a communication cable should be connected to other purchasing equipment in the store.
  • customers can also shop through other shopping devices in the operation area. This device is connected to the main controller in the store. Information on the purchase of goods through this device will also be transmitted to the main controller and completed.
  • Shopping this device is called shopping equipment, and customers buy goods through shopping equipment.
  • the main controller can receive the shopping information from the shopping device. In short, it can receive all the shopping information in the store. At the same time, the main controller must be connected with the controllers of other robots in the store to control the actions of these robots. It should be connected with the computer host of the store, so that the administrator of the store can check the information and sales situation in time; the main controller also communicates with the company's control center to manage the store, replenishment management and accounting, etc. Provide data, so this total controller must have many interfaces. The interface is shown in Figure 8. The number of robots 3 for unmanned stores in the figure is uncertain. It may be one or many, not as shown in the figure. The quantity shown.
  • the main controller is connected to the computer host of the store in a parallel interface, the main controller 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 main controller Including networking module, processor module, memory module, Ethernet module and payment module, you can also add a WIFI module or Bluetooth module.
  • the networking module and the Bluetooth module are set to receive information from multiple devices or send information to multiple devices;
  • the Ethernet module is connected to the external network;
  • the processor module is mainly used to coordinate resources in the store and arrange suitable robots to place the goods to the appropriate Take the place, calculate the price of the product and complete the sale of the product;
  • the memory module mainly stores the position of the product in the storage area and the price of the product, so that the processor can call it.
  • 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 main controller 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 retrieves the product position information in the memory module, and the networking module sends this product position information to the robot 3 for the unmanned store; the robot 3 for the unmanned store sends the products one by one.
  • the robot After getting into the shopping box 60, the robot will move the shopping box 60 to the place where the goods are to be poured into 1 and the goods into the place where the goods are received.
  • the networking module receives the manipulator to take the goods and place the goods into the place where the goods are placed. After the information is displayed, the robot 3 for the unmanned store is listed as idle; at the same time, the networking module sends information to the shopping device, and the customer can open the door; the customer is in the shopping setting Was selected to open the door, to receive information on the networking module, the module sends a message to the network solenoid valve was taking place, was taken at the open solenoid valve control, customer product removed.
  • Each manipulator has a controller, and can control the actions of more than five motors, as well as the actions of multiple solenoid valves, as shown in Figure 9, the number of servo motor drivers and the number of solenoid valves at the object is uncertain. It may be one or many, not the number as shown in the figure.
  • all the interfaces of the robot controller 30 are serial interfaces, and there is no Ethernet interface; the clip solenoid valve 51 is mainly used for releasing the gripping mechanism 31 of the robot terminal.
  • the robot controller 30 includes a network module, a processor module, and a memory module.
  • the processor module mainly optimizes the order of taking goods, retrieves the storage location data of the product, and sends instructions to the servo motor.
  • the memory module mainly stores the positions of the commodities in the storage area.
  • the networking module receives the information; the processor module optimizes the pickup order, calls the storage location of the memory module products, and makes the motion parameters of multiple moving parts. What time does the moving parameter of the moving parts include? Start the movement and how much distance to move; after that, the networking module sends these movement parameters to multiple moving parts, which are used by the robot 3 in the unmanned store to pick up the goods. Since this robot has a shopping box 60, it can take the goods one by one first. In the robotic shopping box 60 for unmanned stores, when the goods are finished, the networking module sends information, and the networking module sends information to the general controller. The products obtained by the general controller are already in the shopping box 60.
  • the general controller When the robot 3 is notified, it goes to the picking place 1 and pours the goods in the shopping box 60 into the picking place 1, as shown in FIG.
  • 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 system are only used in this store system, the store can also With other small operating systems Linux, you can even develop an operating system yourself. This system is only used in this unmanned store, there is no file transfer exchange with the outside world, and there is no case where a file is sent to another unmanned store and cannot be opened.
  • the robot 3 used in the unmanned store receives the information from the main controller, that is, the order information, it analyzes the order of picking up the goods first, so you can save wasted distance and use the most saved distance to complete the picking up.
  • Object task because the robot 3 used in the unmanned store has a shopping box 60. After receiving a product, it is placed in the shopping box 60, and you can go directly to the next product instead of putting the already acquired product. Go to Pickup 1 and come back to pick up a product.
  • the shopping box 60 of such a robot will move according to the position of the goods to be taken, and always maintain the same height as the robot terminal grasping mechanism 31 to reduce the moving distance of the robot terminal grasping mechanism 31.
  • the robot controller 30 will find the one with the smallest distance to take out of a variety of routes, and generate a program as the robot 3's current picking execution program. At this time, this robot motion program Build.
  • the robot controller 30 first optimizes the order of taking goods, and finds out the order of the smallest path, and then this order is added to the instructions of a plurality of moving parts to become a motion program. It can be seen that the execution program of the robot 3 is automatically generated by the customer's shopping order and is executed only once.
  • the above-mentioned moving parts refer to the shopping box assembly 4 of the robot, the shopping box rotation mechanism 9 and the robot terminal grasping mechanism 31.
  • the storage shelves 2 in the storage area 7 of the unmanned store are arranged row by row.
  • the robot hand is placed above the store storage rack 2.
  • the mobile horizontal guide rail 21 of the manipulator is placed above the storage rack 2.
  • a pick-up location 1 can be set around the storage area 7.
  • the number of products taken at each location, and how many of these products are recorded in real time. This system can be mixed with other systems. If the moving horizontal guide rail 21 of the robot is arranged below the storage shelf 2, then the robot can only take the goods of two storage shelves 2, and cannot pick up more than three storage shelves 2, so the efficiency is greatly reduced.
  • the manipulator used in the unmanned store is different from the manipulator used in industry.
  • the manipulator used in industry generally has a fixed position for picking things up, and there is a certain order in which the articles are placed, or the positions for picking things up. There is a certain order and the placement position is fixed.
  • the robot picking position and placement position of the unmanned store are not fixed. It changes according to the customer's requirements.
  • the action of the industrial robot is repetitive after each setting, and it is repetitive. An action mode can be done for several days, months, or years, but this robot is different. Each action may be different from the last time, and it can be the same. , Its action depends on the type of product purchased by the customer.
  • Each order is a motion program. Each order only executes one operation. It can also be said that each time the order is purchased, the robot will Do it once.
  • the generation of this manipulator motion program is that the manipulator controller first optimizes the order of taking goods to find out the order of the smallest path, and then this order is added to the instructions of multiple moving parts to become a motion program.
  • the key is that the customer's order must be digitized, which can be transmitted to the robot controller 30 in time and form a program. At the same time, the merchandise in the storage area 7 must also be digitized.
  • the type and location of the product must be corresponding, and it must be entered in Into the robot controller 30, so that the digital input can accurately obtain the goods according to the digital order.
  • the fixed horizontal guide rail 19 of the manipulator 3, the goods on the storage rack 2, and the storage place 1 and the picking place 1 should be fixed to each other so that the relative position is fixed, and the parameters of the manipulator 3's picking will not change, so that multiple manipulators can Perform the task accurately.
  • the relative positions between multiple robots 3, storage shelves 2, and pick-up locations 1 are locked with iron bars and screws to achieve standardization.
  • the data of multiple stores must be the same to facilitate management and operation.
  • the robot 3 has its own shopping box 60, so the robot 3 does not need to take the goods one by one.
  • the shopping box 60 of such a robot will move according to the position of the goods to be taken, and always maintain the same height as the robot terminal grasping mechanism 31 to reduce the moving distance of the robot terminal grasping mechanism 31.
  • This method of automatic generation of a robot motion program is to set rules based on the characteristics of the product, such as the weight, volume, length, position of the product in the store, and numbering of the product in the system.
  • the weight of the product is greater than N1 kg or when the volume of the product is greater than N2 cm3, when the length of the product is greater than N3cm, these products need to be taken one by one to the pick-up location 1 or elsewhere.
  • the product is N2 cubic centimeters and the length of the product is less than N3 cm, you can first take the product into the shopping box 60, and then take multiple products together to the picking place 1 and pour it into the picking place 1 or elsewhere.
  • the order of the plurality of products is that the robot controller 30 optimizes according to the location of the products in the store, and uses the shortest path taken by the robot to pick up the goods as the robot motion program.
  • 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 robotic controller 30 also evaluates the products placed in the shopping box 60. If one shopping box 60 cannot fit, the robotic controller 30 will be divided into two according to the volume and weight of the product, and will be installed first according to the priority of weight. Heavy goods.
  • the following settings can also be made: when the weight is greater than or equal to M kilograms, the weight is used as the basis for ordering, and the heavier one is taken to the shopping box 60 first; when the weight is less than M For kilograms, the length is used as the basis for ordering. If the length is greater than or equal to L centimeters, the order will be based on the length. If the length is greater than the length, the first will be referred to the shopping box 60.
  • the volume is used as the basis for ordering, and the large one is first obtained in the shopping box 60; when the volume is less than V cubic In centimeters, the order is based on the position of the goods in the store. Every time you get a product, you go to the nearest product to minimize the movement of the robot.
  • the weight is taken as the priority, followed by the length, and then the volume.
  • the products are sorted according to the position of the product. From the multiple pickup paths, the shortest path is selected as the robot motion program.
  • the values of M and L are specifically set according to the situation of the store.
  • the manipulator can load the goods without the shopping box 60, and only use the manipulator to grasp the terminal mechanism 31 to get the goods. Then the formula of the manipulator is: the manipulator takes the goods one by one to get the goods. If the item is at 1 or obtained elsewhere, when there are multiple items, the multiple items are picked up according to a preset order, a preset method, or a preset rule.
  • the robot controller 30 determines a preset method or a preset rule, so that the robot can automatically generate a pickup program.
  • the preset method or 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 30 After entering these rules into the system, the robot controller 30 when there is an order According to the order, the movement 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.
  • the preset rules can be set crosswise.For example, when the weight is greater than N kilograms, then the weight is used as the basis for ordering. The heavier ones are first taken to the picking place to avoid crushing the subsequent products; when the weight is less than N kilograms (The N value can be adjusted and set in the system), based on the volume order, first take the bulky goods to the picking place; for those durable consumer goods, you can get the picking place first, and those foods are easily broken The goods can be taken to the picking place later.
  • the preset rule can be set as follows: 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 picking place 1 or elsewhere; when the weight is less than N kilograms, the length is used as the basis for ordering, the length If the length is greater than or equal to L cm, the length will be based on the order of the length. If the length is greater than the length, get it at the pick 1 or other place. When the length is less than L cm, Sort by volume. If the volume is the same, get it at the picking place 1 or other place first; when the volume is equal, use the number of the product in the system as the order. This is just one of many rules. Stores 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 for the robot controller 30
  • the ability to automatically generate exercise programs is an important step towards unmanned stores.
  • the length of the commodity refers to the largest dimension among the three dimensions of the length, width, and height of the commodity.
  • the robot When an order is received, the robot automatically generates a program according to the rules in the system according to the order.
  • the robot moves from the current position of the robot to the position of the first product, grabs the product and moves to the pickup location 1, and waits for the pickup location. 1.
  • the manipulator puts the product in the picking place 1, and then moves to the position of the second product, grabs the product and moves to the picking place 1, and when it reaches the picking place 1, it puts the product in. Go 1 mile ... Repeatedly, when the last product is taken, the robot will move to the standby position or stop and wait.
  • the generation of the manipulator program in this embodiment 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 is taken one by one to the picking place or other places.
  • the robot controller 30 optimizes the path according to the position of the product in the store. Find the one with the shortest motion path of the manipulator and use it as a program. If there are N items to take, then there is N! There are several ways to pick up the goods. At this time, which product is random, and which product is random. Since the product is random, there is N! A combination in which the shortest path of the robot's motion is found and used as a program.
  • the basis for generating the motion program by the robot controller 30 includes position, weight, volume and length.
  • the above is the case where the robot arm 3 and the robot arm 3 are applied to an unmanned store.
  • the robot arm 3 for an unmanned store provided in this embodiment has the following characteristics: The robot arm 3 for an unmanned store is used for an unmanned store; The information about the product obtained by the robot 3 for the unmanned store is input to the main controller through a mobile tablet, a voice recognition device, and other input information devices, and then the input information is forwarded by the main controller to the manipulator of the robot.
  • the motion program of the robot 3 is automatically generated by the robot controller 30 according to the customer's order; the program for the robot 3 in the unmanned store is executed only once and is not repeated; the program for the unmanned
  • the position of the robot 3 in the store for picking up objects is a plurality of fixed positions, and the multiple position parameters must be sent to the robot controller 30 first, that is, there are multiple and fixed positions in the picking place 1. Multiple position parameters need to be set.
  • the input is to the robot controller 30.
  • the motion program of the robot 3 is a many-to-many program, that is, each item in a plurality of positions can be picked up and placed in any one of a plurality of different positions.
  • the position of the fixed horizontal guide rail 19 of the manipulator 3 for an unmanned store is fixed to the storage rack 2 and the pick-up place 1 of the storage area 7.
  • the motor for the robot 3 of the unmanned store is a servo motor or a stepping motor.
  • the robot 3 for an unmanned store has a shopping box 60 provided.
  • the manipulator grasping terminal mechanism 31 of the manipulator 3 for an unmanned store and the shopping box 60 move together.
  • the robot 3 for an unmanned store has a rotary solenoid valve or a shopping box rotation motor 70 or a shopping box rotation mechanism 9.
  • a shopping cart rotary solenoid valve 61 or a rotary motor is provided at the bottom of the shopping cart 60.
  • the basis for generating the motion program by the robot controller 30 includes position, weight, volume, and length.
  • the fixed horizontal guide rail motor 20 and the mobile horizontal guide rail motor 25 of the manipulator move non-simultaneously, that is, when the fixed horizontal guide rail motor 20 moves, the mobile horizontal guide rail motor 25 stops, and when the mobile horizontal guide rail motor 25 moves, the fixed horizontal guide rail motor 20 stops.
  • Moving vertical rail rotation motor 22, moving vertical rail motor 27, lifting shopping box rotation motor 59, lifting shopping box motor 69 and fixed horizontal rail motor 20 can move simultaneously, moving vertical rail rotating motor 22, moving vertical rail The motor 27, the moving vertical rail motor 27, the lifting shopping box rotation motor 59, the lifting shopping box motor 69 and the moving horizontal rail motor 25 can move simultaneously.
  • the robot controller 30 includes a networking module, a processor module, and a memory module.
  • the processor module is electrically connected to the networking module and the memory module.
  • the networking module is connected to the fixed horizontal guide motor 20 and the mobile vertical guide rotation motor 22.
  • the moving horizontal guide rail motor 25, the moving vertical guide rail motor 27, the suction head solenoid valve 44, the clip solenoid valve 51, the shopping box solenoid valve 61, the lifting shopping box rotation motor 59 and the lifting shopping box motor 69 are electrically connected.
  • the manipulator further includes a shopping box assembly 4 including a shopping box 60, a shopping box solenoid valve 61 configured to pour out the goods, and the shopping box is installed on the shopping box solenoid valve.
  • the shopping box solenoid valve 61 is electrically connected to the robot controller 30.
  • the shopping box assembly 4 further includes a lifting mechanism 5.
  • the lifting mechanism 5 includes a lifting shopping box motor 69.
  • the lifting shopping box motor 69 is connected with a shopping box solenoid valve 61 through a belt or a screw.
  • the lifting shopping box guide sleeve 67 is connected, and the lifting shopping box motor 69 is electrically connected to the robot controller 30.
  • the shopping box assembly 4 further includes a shopping box rotation mechanism 9, and the shopping box rotation mechanism 9 includes a lifting shopping box rotation motor 59 configured to rotate the shopping box horizontally, and the lifting shopping box rotation motor 59 is electrically connected to the robot controller 30.
  • the manipulator terminal grasping mechanism 31 includes one or two of the two components of a multi-chamber negative pressure suction head assembly 23 and a clamp-type retrieval clamp assembly 26.
  • the unmanned store provided with the robot in this embodiment includes an operation area 10 and a storage area 7.
  • Customers cannot enter the storage area 7 and can only move in the operation area 10.
  • the goods placed in the operation area 10 are all Paste the QR code of the unmanned store so that customers can scan the code.
  • the products in the operation area 10 are not sold.
  • the products in the storage area 7 are arranged according to the location parameters in the system, so that when customers purchase these products, the robot can take these products out, and the products in the storage area 7 can be without the QR code.
  • the customer enters the operation area 10 of the store and wants to purchase the goods. Take the mobile phone and other devices to scan the QR code of the goods they want to purchase. After scanning all the goods that they want to purchase, they will pay. At this time, the robot will get instructions to get these After the goods have been confirmed at the pick-up place 1, the customer can open the door of the pick-up place 1 through the mobile phone and take away the purchased goods. When the customer returns the product, after the system confirms that there is no damage, the robot picks up the original position of the product. After the customer removes the product, the pickup place will automatically return to the original state.
  • the motor transmission is implemented by a lead screw, and the implementation of the transmission is as follows:
  • the manipulator is provided with a fixed seat, a fixed horizontal guide 19 and a fixed horizontal screw are installed on the fixed seat, a fixed horizontal guide sleeve 37 is installed on the fixed horizontal guide 19, and a fixed horizontal guide motor 20 is installed on the fixed horizontal guide sleeve 37.
  • the horizontal guide sleeve 37 and the fixed horizontal guide motor 20 are connected by screws and move together.
  • the fixed horizontal guide motor 20 and the fixed horizontal lead screw are connected by a screw thread transmission.
  • the fixed horizontal guide sleeve 37 is equipped with a moving horizontal guide 21 and a mobile A horizontal screw, a mobile horizontal guide sleeve 38 and a shopping box mounting base guide sleeve 65 are installed on the mobile horizontal guide rail 21, and a mobile horizontal guide motor 25 is installed on the mobile horizontal guide sleeve 38. They are connected by a threaded transmission.
  • the shopping box mounting seat guide sleeve 65, the moving horizontal guide sleeve 38 and the moving horizontal guide motor 25 are screwed with the moving horizontal guide 21 and move together.
  • the moving horizontal guide sleeve 38 is provided with a moving vertical guide. 24. Rotating vertical guide rail rotating motor 22 and moving vertical lead screw.
  • the moving vertical guide rail 24 is provided with a moving vertical guide sleeve 36 and a mobile vertical guide.
  • the motor 27 and the moving vertical guide shaft rotate the rotating shaft 34.
  • the moving vertical guide motor 27 and the moving vertical guide sleeve 36 are connected with the moving vertical guide 24 by screws and move together.
  • the moving vertical screw and the moving vertical guide are moved together.
  • the motor 27 is connected by a thread.
  • a mobile vertical guide rotating belt 41 is installed between the mobile vertical guide rotating motor 22 and the mobile vertical guide rotating shaft 34.
  • a mobile terminal guide mechanism 31 is installed on the mobile vertical guide sleeve 36 for shopping.
  • the box mounting base guide sleeve 65 is provided with a lifting shopping box guide 63 and a lifting shopping box screw.
  • the moving horizontal guide motor 25 and the moving horizontal screw are connected by a screw thread transmission.
  • the lifting shopping box guide 63 is equipped with lifting shopping
  • the box guide sleeve 67 and the lifting shopping box motor 69, the lifting shopping box screw and the lifting shopping box motor 69 are connected by a screw drive, the lifting shopping box motor 69 and the lifting shopping box guide 67 are fixedly connected by screws, and the lifting shopping box guide 67
  • a shopping box solenoid valve 61 is mounted thereon, and a shopping box solenoid valve 61 is mounted thereon.
  • the fixed horizontal guide rail 19, the mobile vertical guide rail 24, the mobile horizontal guide rail 21, and the lifting shopping box guide rail 63 are made of round rods.
  • the fixed horizontal rails The guide rail motor 20, the moving vertical guide rail motor 27, the lifting shopping box motor 69, and the moving horizontal guide rail motor 25 are all externally connected with a threaded transmission member on the rotating shaft thereof, and the thread of the transmission member matches the thread of the guide rail.
  • a thread matching the driving motor is provided on the threaded guide rail and the threaded transmission member on the motor is connected by thread transmission.
  • the lead screw does not rotate, and the guide sleeve moves by driving the motor.
  • the following uses the universal motor 74, universal screw 72, universal guide sleeve 71, and universal guide rail 73 in FIG. 10 as examples to describe the transmission method of the above-mentioned screw and transmission member.
  • the threads on the universal motor 74 match the threads of the universal screw 72.
  • the universal motor 74 is fixed on the universal guide sleeve 71 with screws, and the universal screw 72 is placed parallel to the universal guide rail 73.
  • the universal motor 74, the universal screw 72, the universal guide sleeve 71, and the universal guide rail 73 are not specifically referred to above.
  • the introduction of the motor 74, the universal lead screw 72, the universal guide sleeve 71, and the universal guide rail 73 is an exemplary description of the motor, guide sleeve, lead screw, and guide rail driving methods in this embodiment.
  • the characteristic of the screw drive in this embodiment is that the screw does not rotate.
  • 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 installed with a fixed horizontal guide sleeve 37, and the rotating shaft of the fixed horizontal guide motor 20 is fixed.
  • the horizontal screw is coaxially arranged and fixedly connected.
  • the fixed horizontal guide sleeve 37 is screwed with the fixed horizontal screw.
  • the fixed horizontal guide rail 19 is placed in parallel with the fixed horizontal screw.
  • the fixed horizontal guide sleeve 37 is provided with a fixed horizontal screw hole and Fixed horizontal guide hole.
  • the fixed horizontal screw hole is provided with internal threads matching the external screw of the fixed horizontal screw.
  • the fixed horizontal guide hole is unthreaded.
  • the fixed horizontal guide sleeve 37 is equipped with a mobile horizontal guide 21, a mobile horizontal screw, and a mobile.
  • the horizontal guide rail motor 25 is provided with a moving horizontal guide sleeve 38 and a shopping box mounting base guide sleeve 65 on the moving horizontal guide rail 21.
  • the shaft between the moving horizontal guide rail motor 25 and the moving horizontal screw is fixed and fixedly connected.
  • Both 65 and the mobile horizontal guide sleeve 38 are provided with a mobile horizontal screw hole and a mobile horizontal guide hole. These two mobile horizontal screw holes are provided with a mobile horizontal screw.
  • the internal thread of the bar is matched with the internal thread.
  • the two moving horizontal rail holes are not threaded.
  • the moving horizontal guide sleeve 38 and the shopping box mounting guide 65 are connected and moved together by the shopping box connecting rod 77.
  • the shopping box mounting guide 65 is equipped with a lifting shopping box guide 63, a lifting shopping box screw and a lifting shopping box motor 69, a lifting shopping box guide sleeve 67 is installed on the lifting shopping box guide 63, and the lifting shopping box screw and the lifting shopping box motor 69 are fixedly connected by screws It is coaxially arranged.
  • the lifting shopping box guide sleeve 67 is provided with a lifting shopping box guide hole and a lifting shopping box screw hole.
  • the lifting shopping box screw hole is provided with an internal thread matching the external thread of the lifting shopping box screw. There is no thread in the guide hole of the shopping box.
  • the rotation of the lifting shopping box motor 69 drives the lifting shopping box screw to rotate, so that the lifting shopping box guide sleeve 67 is lifted, because the lifting shopping box guide sleeve 67 cannot rotate, and the lifting shopping box guide sleeve 67
  • a shopping box solenoid valve 61 is attached to the shopping box solenoid valve 61.
  • a mobile vertical guide 24, a mobile vertical guide rotary motor 22, a mobile vertical lead screw and a mobile vertical guide motor 27 are installed on the mobile horizontal guide sleeve 38.
  • the mobile vertical lead screw is coaxially disposed with the mobile vertical guide motor 27.
  • a mobile vertical guide sleeve 36 and a mobile vertical guide rotation shaft 34 are installed on the mobile vertical guide 24.
  • the mobile vertical guide sleeve 36 is provided with a mobile vertical screw hole and a mobile vertical guide hole.
  • the straight screw hole is provided with an internal thread matching the external thread of the moving vertical screw.
  • the moving vertical guide hole is not threaded.
  • a moving vertical guide is installed between the moving vertical guide rotating motor 22 and the moving vertical guide rotating shaft 34.
  • the rotating belt 41 and the moving vertical guide sleeve 36 are equipped with a manipulator terminal grasping mechanism 31.
  • the universal motor 74, universal screw 72, universal guide sleeve 71, and universal guide rail 73 shown in FIG. 11 are used as examples to explain the transmission method of the screw.
  • the internal thread on the universal guide sleeve 71 and the universal screw 72 The universal screw is matched with the external thread of the universal screw.
  • the universal screw 72 is arranged coaxially with the universal motor shaft 75.
  • the universal screw 72 is arranged parallel to the universal rail 73.
  • the universal motor 74 drives the universal motor shaft 75 and the universal screw 72 to rotate, thereby driving the universal screw.
  • the guide sleeve 71 moves along the universal guide rail 73 and the universal screw 72.
  • the universal motor 74, the universal screw 72, the universal guide sleeve 71, and the universal guide rail 73 are not specifically referred to.
  • the above description of the universal motor 74, universal screw 72, universal guide sleeve 71, and universal guide rail 73 is for the purpose of this embodiment. Exemplary description of motor, guide bush, lead screw and guide rail drive.
  • the characteristic of the screw drive in this embodiment is that the screw will rotate with the universal motor shaft 75.
  • Both the screw and the belt can achieve the transmission effect, so one or more of the fixed horizontal guide 19, mobile vertical guide 24, mobile horizontal guide 21 and lifting shopping box guide 63 can be used in one robotic hand.
  • the rest are driven by a belt, that is, two hybrid transmissions in one robotic arm are also possible.
  • the manner in which the shopping box pours goods is different from that in the first to third embodiments.
  • the shopping box solenoid valve 61 may be omitted, and the shopping box 34 is provided with a mechanism. The mechanism enables the bottom cover of the shopping box 60 to be removed horizontally, so that the shopping box 60 can also pour the goods into the pick-up place 1.
  • the manner in which goods are poured in the shopping box is different from the manner in which goods are poured in the first to fourth embodiments.
  • the shopping box solenoid valve 61 may be omitted, and a mechanism is provided on the shopping box 34. The mechanism enables the bottom cover of the shopping box 60 to be flipped along one side, so that the shopping box 60 can also pour goods into the pick-up place 1.
  • the shopping box mounting seat guide sleeve 65 can also be screwed with the moving horizontal guide sleeve 38 through the shopping box link 77, so that the shopping box mounting seat guide sleeve 65 can be omitted and moved.
  • the horizontal guide belt 39 is fixedly connected.
  • the solenoid valve of the manipulator may be replaced by a cylinder, or a linear motion motor may be used instead.
  • the solenoid valve 44, the clamp solenoid 51 and the shopping box solenoid valve 61 in the robot terminal grasping mechanism 31 can be replaced by a cylinder or a linear motion motor.
  • the multi-chamber negative pressure suction head assembly 23 in the manipulator terminal grasping mechanism 31 is cancelled, and only the clamp-type retrieval clamp assembly 26 is retained.
  • the commodity is clamped by the clamp-type retrieval clamp assembly 26 and Take the goods to the pick-up point 1.
  • the shopping box rotation mechanism 9 is cancelled, that is, the lifting shopping box rotation motor 59, the lifting shopping box rotation belt 62, and the lifting shopping box rotation rotating shaft 66 are canceled.
  • the lifting shopping box guide 63 cannot rotate, and the shopping box 60 is Can't adjust the direction.
  • the shopping box mounting seat guide sleeve 65 can also be directly integrated with the mobile horizontal guide sleeve 38 into an integrated structure, then the shopping box assembly 4 is installed on the mobile horizontal guide sleeve 38, the mobile horizontal guide sleeve 38 and the mobile horizontal guide rail.
  • the belt 39 is screwed so that the shopping cart link 77 can be dispensed with.
  • the cross section of the guide rail may be non-circular, such as square.
  • a code scanning mechanism is added to the robot terminal grasping mechanism 31.
  • the robot scans the code before grasping the product, knows the type of the product, and can automatically place it in a preset place, so that Achieve automatic loading.
  • the manipulator is not provided with a shopping box assembly 4, so the manipulator can only take the goods to the picking place 1 one by one.
  • the operating speed of the robot terminal grasping mechanism 31 needs to be controlled, and the goods will fall down too fast. If there is a shopping box 60, the operation speed of the robot terminal grasping mechanism 31 can be made faster.
  • the program generation program of the robot without the shopping box 60 is the same as the program when the robot with the shopping box 60 is installed without holding the shopping box.
  • the manipulator is not provided with a 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 cancelled, so that the lifting shopping box guide sleeve 67 cannot be lifted up and down.
  • the robot terminal grasping mechanism 31 receives a product, it first moves to the height of the shopping box 60, and then lowers the product, which is equivalent to directly fixing the lifting shopping box guide sleeve 67 on the lifting shopping box guide 63.
  • the manipulator is not provided with a lifting mechanism 5, that is, the lifting shopping box rotating shaft 64, the lifting shopping box motor 69, and the lifting shopping box belt 68 are canceled. Then, the lifting shopping box guide 63 can be adjusted and done.
  • the curved shopping cart hanger 76 is replaced with a shopping cart rotation motor 70 instead of the shopping cart rotation mechanism 9 so that the shopping cart guide 67 cannot be raised and lowered.
  • Each time the robot terminal grasping mechanism 31 receives a product Moving to the height of the shopping box 60 and then lowering the product is equivalent to directly fixing the lifting shopping box guide sleeve 67 on the lifting shopping box guide 63 with screws.
  • the structure of such a manipulator is shown in FIG. 13. In this embodiment, the shopping box 60 itself cannot rotate, and it cannot lift.
  • a universal bearing 78 is installed between the universal guide 73 and the universal guide sleeve 71.
  • the rotation shaft of the universal bearing 78 is fixedly connected with the universal guide sleeve 71 by screws.
  • the flat surface and the toroidal surface cooperate with each other.
  • the universal guide rail 73 and the universal guide sleeve 71 are clearance fit. This is suitable for reducing the friction between the universal guide rail 73 and the universal guide sleeve 71.

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  • Manipulator (AREA)

Abstract

一种用于无人商店的机械手（3），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；固定水平导套（37），安装于固定水平导轨（19）上；移动水平导轨（21），安装于固定水平导套（37）上；移动水平导套（38），安装于移动水平导轨（21）上；移动水平导轨马达（25），设置于移动水平导轨（21）上；移动竖直导轨（24），设置于移动水平导套（38）上，移动竖直导轨马达（27），设置于移动竖直导轨（24）上；移动竖直导套（36），设置于移动竖直导轨（24）上；机械手终端抓取机构（31），设置于移动竖直导套（36）上；及机械手控制器（30），与固定水平导轨马达（20），移动水平导轨马达（25），移动竖直导轨马达（27）及机械手终端抓取机构（31）电连接。

Description

用于无人商店的机械手及其控制方法
本申请要求申请日为2018年6月20日、申请号为201810633434.3；申请日为2019年3月28日、申请号为201910245828.6；2019年3月16日、申请号为201910200472.4；2019年3月6日、申请号为201910162774.7及2019年3月29日、申请号为201910245829.0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领域,例如涉及一种用于无人商店的机械手及其控制方法。
背景技术
早期的商店卖货需要有人及一个柜台，顾客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；后来随着大卖场及超市出现，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，让顾客可以自己在无人商店选商品再自己去买单；此外，有的商店，在商品上贴上感应标签，该感应标签可以自动感应商品及其价格，顾客自己自觉买单。
相关技术中，出现了一种自动售货机，这种售货机只能销售很少的商品，也就是几种或十几种，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，该自动取药机只能取几种药而已，完全不能称为无人商店。
早期商店是有售货员拿商品出来在柜台上交易的，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了。
发明内容
本公开提供了一种用于无人商店的机械手及其控制方法，能够解决无人商店自动取货的问题。
一实施例提供了一种用于无人商店的机械手，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；移动竖直导轨，设置于所述移动水平导套上；移动竖直导轨马达，设置于所述移动竖直导轨上；移动竖直导套，设置于所述移动竖直导轨上；机械手终端抓取机构，设置于所述移动竖直导套上；及机械手控制器，与所述固定水平导轨马达、所述移动水平导轨马达、所述移动竖直导轨马达及所述机械手终端抓取机构电连接；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所述移动竖直导轨在所述移动水平导轨上移动，所述移动竖直导轨马达设置为驱动机械手终端抓取机构在所述移动竖直导轨上移动。
一实施例提供了一种机械手的控制方法，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；所述机械手控制器根据所述顾客订单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为一实施例提供的机械手应用于无人商店简略图；
图2为一实施例提供的无人商店的展示柜示意图；
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为一实施例提供的多腔室负压吸头组件的分解图；
图6为一实施例提供的机械手终端抓取机构的立体图；
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为实施例十四提供的取消购物箱组件后机械手的立体图；
图13为实施例十六提供的取消升降机构后机械手的立体图；
图14为实施例十七提供的导套导轨轴承配合的示意图；
图15为图1在A处的放大图；
图16为一实施例提供的机械手控制器的结构图。
图中，1-取物处，2-储货架，3-机械手，4-购物箱组件，5-升降机构，6-展示柜，7-仓储区，8-总控制器,9-购物箱旋转机构，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-槽水平部分，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-移动竖直导轨旋转马达，23-多腔室负压吸头组件，24-移动竖直导轨，25-移动水平导轨马达，26-夹取式取物夹子组件，27-移动竖直导轨马达，28-固定水平导轨皮带，30-机械手控制器，31-机械手终端抓取机构，32-固定水平导轨转轴,33-移动水平导轨转轴,34-移动竖直导轨旋转转轴，35-移动竖直导轨转轴，36-移动竖直导套，37-固定水平导套,38-移动水平导套,39-移动水平导轨皮带,40-移动竖直导轨皮带,41-移动竖直导轨旋转皮带，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，59-升降购物箱旋转马达，60-购物箱，61-购物箱电磁阀，62-升降购物箱旋转皮带，63-升降购物箱导轨,64-升降购物箱转轴，65-购物箱安装座导套,66-升降购物箱旋转转轴,67-升降购物箱导套,68-升降购物箱皮带,69-升降购物箱马达,70-购物箱旋转马达,71-通用导套，72-通用丝杠、73-通用导轨，74-通用马达，75-通用马达转轴,76-购物箱挂杆,77-购物箱连杆,78-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。
本实施例提供的无人商店有很多优点: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
参照图1-图3及图15，本实施例提供了一种用于无人商店的机械手，所述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。如图4所示，该机械手包括固定水平导轨19、固定水平导轨马达20、移动竖直导轨旋转马达22、移动水平导套38、移动竖直导套36、固定水平导套37、移动水平导轨马达25、移动竖直导轨马达27、移动水平导轨21、移动竖直导轨24、机械手控制器30、机械手终端抓取机构31及购物箱组件4，固定水平导轨19上安装有固定水平导套37，固定水平导套37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38及购物箱组件4，移动水平导套38上安装有移动竖直导轨24，移动竖直导轨24上安装有移动竖直导套36，移动竖直导套36上安装有机械手终端抓取机构31，固定水平导轨马达20 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25驱动移动竖直导轨24和购物箱组件4在移动水平导轨21上移动，移动竖直导轨马达27驱动机械手终端抓取机构31在移动竖直导轨24上移动，移动竖直导轨旋转马达22驱动移动竖直导轨24旋转来调换机械手终端抓取机构31的抓取方式，所述机械手控制器30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。
机械手控制器30与固定水平导轨马达20、移动竖直导轨旋转马达22、移动水平导轨马达25、移动竖直导轨马达27、升降购物箱旋转马达59、升降购物箱马达69及购物箱电磁阀61电路连接。
在一实施例中，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37、固定水平导轨马达20及固定水平导轨转轴32，固定水平导轨马达20和固定水平导轨转轴32之间套有固定水平导轨皮带28，固定水平导轨皮带28与固定水平导套37以螺钉连接，固定水平导套37上安装有移动水平导轨21、移动水平导轨马达25及移动水平导轨转轴33，移动水平导轨马达25与移动水平导轨转轴33之间套有移动水平导轨皮带39，移动水平导轨皮带39与移动水平导套38以螺钉连接，移动水平导轨21上安装有移动水平导套38和购物箱安装座导套65，移动水平导套38上安装有移动竖直导轨24、移动竖直导轨马达27及移动竖直导轨旋转马达22，移动竖直导轨马达27和移动竖直导轨转轴35之间安装有移动竖直导轨皮带40，移动竖直导轨旋转马达22与移动竖直导轨旋转转轴34之间安装有移动竖直导轨旋转皮带41，移动竖直导轨皮带40与移动竖直导套36以螺钉连接，移动竖直导轨24安装有移动竖直导套36、移动竖直导轨转轴35及移动竖直导轨旋转转轴34，移动竖直导套36上安装有机械手终端抓取机构31，购物箱组件4包括购物箱60、升降购物箱导套67、升降购物箱导轨63、购物箱电磁阀61、购物箱安装座导套65、升降机构5及购物箱旋转机构9，其中升降机构5包括升降购物箱转轴64、升降购物箱马达69及升降购物箱皮带68，购物箱旋转机构9包括升降购物箱旋转马达59、升降购物箱旋转皮带62及升降购物箱旋转转轴66，购物箱安装座导套65安装有升降购物箱导轨63、升降购物箱马达69、升降购物箱旋转马达59及升降购物箱旋转转轴66，升降购物箱马达69、升降购物箱旋转马达59、升降购物箱旋转转轴66分别与购物箱安装座导套65以螺钉连接，升降购物箱旋转马达59和升降购物箱旋转转轴66通过升降购物箱旋转皮带62传动连接，升降购物箱导轨63上安装升降购物箱 导套67及升降购物箱转轴64，升降购物箱马达69和升降购物箱转轴64通过升降购物箱皮带68传动连接，升降购物箱皮带68与升降购物箱导套67螺钉连接，升降购物箱导套67上安装有购物箱电磁阀61，购物箱电磁阀61上安装有购物箱60，购物箱安装座导套65与移动水平导套38通过移动水平导轨皮带39相连接并一起滑动，购物箱安装座导套65与移动水平导轨皮带39以螺钉连接。升降购物箱旋转马达59与升降购物箱导轨63以螺钉固定同轴心连接。
固定水平导轨19、移动水平导轨21、移动竖直导轨24及升降购物箱导轨63为非圆形的时候，固定水平导轨19、移动水平导轨21及移动竖直导轨24只需要一条就可以了；固定水平导轨19、移动水平导轨21及移动竖直导轨24为圆形的时候，就需要至少两条。固定水平导轨19通常需要设置两组。
这个用于无人商店的机械手3设置移动竖直导轨旋转马达22，主要使机械手终端抓取机构31在抓取商品时，发生旋转，并把商品放入购物箱60内，或者直接放入取物处1内，或者用来切换机械手终端抓取机构31的抓取方式和把商品放入购物箱60里去。购物箱电磁阀61主要是使购物箱60翻转，把购物箱60内的商品倒入取物处1，购物箱旋转马达63主要是使购物箱调整方向，使购物箱方便把商品倒入取物处1。升降购物箱马达69主要是调整购物箱60的高度与机械手终端抓取机构31的高度大体相同，节省机械手终端抓取机构31动作的时间。
无人商店里的关键设备是用于无人商店的机械手，该机械手可以做三维运动，如图4，其中固定水平导轨19有时用二根或一根，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表示机械手的移动竖直导轨24在移动水平导轨21上能移动的最大的距离，L3表示机械手终端抓取机构31在移动竖直导轨24上能移动的最大的距离，L4表示升降购物箱导套67在升降购物箱导轨63上能移动的最大的距离。所述机械手主要包括固定水平导轨19、移动水平导轨21、移动竖直导轨24、升降购物箱导轨63以及机械手终端抓取机构31及购物箱，每个导轨上设有一个伺服马达及皮带或者丝杠，伺服马达也可以用其它类型的电机，本实施例提供的机械手设置有四个伺服马达，在一实施例中，伺服马达可以设置更多。皮带或者丝杠设置为测量距离用，丝杠比带皮带要精确。购物箱安装座导套65和机械手移动竖直导轨24是相连的，是一起运动的，在一实施例中，也可以设置成分别运动的，那样机构就会复杂些。将固定水平导轨19固定在地上或墙壁上，使固定水平导轨19位于最上边或最下边，确定好机械手运动的起点位置，以及机械手水平运动方向，水平运动方向包括沿X 轴方向和Y轴方向，竖直方向为Z轴，建立一个坐标系，再把多个商品在这个坐标系(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31包括夹取式的夹取式取物夹子组件26和吸取式的多腔室负压吸头组件23，夹取式就是用机械手的夹取式取物夹子组件26去夹取商品，吸取式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。当控制器接到购物信息后，机械手控制器30就会对伺服马达驱动器发出指令，伺服马达都会立即转动起来。在图4中，机械手终端抓取机构31的X轴方向移动是靠移动水平导轨马达25拉动移动竖直导轨24在移动水平导轨21上移动来实现的，机械手终端抓取机构31的Y轴方向移动是靠固定水平导轨马达20拉动移动水平导轨21在固定水平导轨19上移动来实现的，机械手终端抓取机构31的Z轴方向移动是靠移动竖直导轨马达27拉动机械手终端抓取机构31在移动竖直导轨24上移动来实现的，通过这三个方向上移动，机械手终端抓取机构31就能在摆放商品的空间上全覆盖地移动，就能到达商品的摆放位置，就拿走所需商品并送到购物箱里去，继而送到取物处去；购物箱60是靠升降购物箱马达69拉动升降购物箱导套67在升降购物箱导轨63实现上下运动的；机械手的移动竖直导轨24顶端有移动竖直导轨旋转马达22，移动竖直导轨旋转马达22用来切换夹取式取物和吸取式取物两种取物方式；夹取式取物夹子组件26里有一个夹子电磁阀51，是实现夹取和松开动作，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23里有一个吸头电磁阀44，是实现产生负压吸取和释放负压松开动作的，吸头电磁阀44伸缩时商品和多腔室负压吸头组件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组件23上了，这些电磁阀的功能也可以用气动的气缸来代替，实现吸附和夹取的动作。升降购物箱旋转马达59拉动购物箱组件4旋转。
多腔室负压吸头组件23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，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接触了，空气就从多腔室体气孔48、型芯气孔、气槽49再到前面密闭的腔室，这时负压就消失了。上述工作过程为多腔室负压吸头组件23的工作原理。
夹取式取物夹子组件26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，就能夹取商品。减压夹板53是为了增大夹取式取物夹子组件37与商品的接触面积减小压强而设置的。
本实施例中，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，移动竖直导轨24在移动水平导轨21上能移动的最大距离L2，机械手终端抓取机构31在移动竖直导轨24上能移动的最大距离L3，购物箱60在升降购物箱导轨63上下运动的最大距离L4，在SMT设备中，与固定水平导轨19类似的导轨在类似移动水平导轨21上能移动的最大距离都小于1.0米，而在类似的移动竖直导轨24上运动的最大距离于0.5米。本实施例提供的用于无人商店的机械手这三个参数:L1、L2及L3(也就是这个机械手特征参数)可进行如下设置：在固定水平导轨上能移动的最大距离大于0.1米并小于500米，在移动水平导轨上能移动的最大距离大于0.1米并小于500米，在高度上可以更小点，取100米，故在移动竖直导轨上能移动的最大距离大于0.1米并小于100米。
在一实施例中，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；移动竖直导轨24在移动水平导轨21上能移动的最大距离L2，0.1米＜L2＜500米；机械手终端抓取机构31在移动竖直导轨24上能移动最大距离L3，0.1米＜L3＜100米；购物箱60在升降购物箱导轨63上下运动的最大距离L4，0.1米＜L4＜100米。
在一实施例中，机械手这四个参数L1、L2、L3及L4可以如下设置：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＜200米；移动竖直导轨24在移动水平导轨21上能移动的最大距离L2，0.1米＜L2＜200米；机 械手终端抓取机构31在移动竖直导轨24上能移动的最大距离L3，0.1米＜L3＜50米；购物箱60在升降购物箱导轨63上下运动的最大距离L4，0.1米＜L4＜50米。
在一实施例中，机械手这四个参数L1、L2、L3及L4可以如下设置：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L1，5米＜L1＜20米；机械手的移动竖直导轨24在移动水平导轨21上能移动的最大距离L2，5米＜L2＜20米；机械手终端抓取机构31在移动竖直导轨24上能移动的最大距离L3，2米＜L3＜10米；购物箱60在升降购物箱导轨63上下运动的最大距离L4，2米＜L4＜10米。
在一实施例中，机械手这四个参数L1、L2、L3及L4可以如下设置：移动水平导轨21在固定水平导轨19上能移动的最大距离L1，10米＜L1＜15米；移动竖直导轨24在移动水平导轨21上能移动的最大距离L2，10米＜L2＜15米；机械手终端抓取机构31在移动竖直导轨24上能移动的最大距离L3，3米＜L3＜5米；购物箱60在升降购物箱导轨63上下运动的最大距离L4，3米＜L4＜5米。
当一个商店只有一个机械手时，这个数据输入和数据接收的控制器和机械手控制器30可以做成一个，但是当一个商店有多部机械手时，每部机械手都有自己机械手控制器30，另外商店还有设置为对数据输入和数据接收的总控制器，这个总控制器还要分配、协调多部机械手的工作。这个总控制器要和有线网络连接，以便接收来自网络的商品信息，又要有通讯电缆与这个商店里的其它购买设备相连。除了可以用手机购物外，顾客也可以通过操作区内其它的购物设备来购物，这种设备和商店里面总控制器相连，通过这个设备购买商品的信息也会传送到总控制器，也会完成购物，这个设备就叫做购物设备，顾客通过购物设备来购买商品的。总控制器能够接收来自购物设备的购物信息，总之能接收一切在本商店的购物信息，同时这个总控制器又要与商店里的其它机械手的控制器连接，以便能控制这些机械手的动作，还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信息及销售情况；总控制器还与该公司的控制中心通讯，从而为商店管理、补货管理及会计核算等等提供数据，所以这个总控制器要有很多接口，接口如图8，图中的用于无人商店的机械手3的个数是不确定的，可能是一个，也可以是很多个，非如图中所示数量。其中总控制器与该商店的电脑主机以并行接口连接，总控制器与控制中心是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，也可以加个 WIFI模块或蓝牙模块。其中联网模块及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；处理器模块主要是用协调商店内资源，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用于无人商店的机械手3；用于无人商店的机械手3就一个个地把商品都拿到购物箱60内，机械手就把购物箱60运动到所要把商品倒入的取物处1并把商品倒入取物处1，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，把用于无人商店的机械手3列为空闲；同时联网模块发送信息给购物设备，顾客可以把门打开了；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，取物处电磁阀控制开门，顾客取走商品。每个机械手都有控制器，且能够控制器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30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紧机构31松开用的。在一实施例中，如图16所示，机械手控制器30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。当总控制器发来购物信息，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，用于无人商店的机械手3就去拿商品，由于这个机械手有购物箱60，所以能一个一个把商品先拿到用于无人商店的机械手购物箱60内，等把商品拿完了，联网模块发送信息，联网模块发送信息给总控制器，总控制器获取商品都已经拿到购物箱60内，总控制器就通知机械手3就去取物处1把购物箱60的里面的商品倒入 取物处1，如图1。这个商店的软件操作系统，可以用Windows的操作系统,也可以用Android的操作系统，也可以用苹果的Mac OS操作系统，由于这个购物设备及系统只在本商店系统内使用，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。该系统只用于这个无人商店内，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而打不开的情况。
当用于无人商店的机械手3接到总控制器发来的信息，也就是订单信息时，就先分析一下取物的先后顺序，这样就可以省得浪费路程，用最节省的路程来完成取物任务，因为用于无人商店的机械手3有购物箱60，拿到一个商品后就放到购物箱60里，就可以直接去拿下一个商品了，而不用把这个已经拿到的商品放到取物处1里去后再回来拿下一个商品了。这种机械手的购物箱60会根据所拿商品的位置运动，始终和机械手终端抓取机构31保持同一高度，减少机械手终端抓取机构31的运动距离。要先分析一下取物先后顺序，机械手控制器30将多种路线中找出要走的路程最小的那一种，生成程序，作为机械手3本次取物执行程序，此时，这个机械手运动程式的生成。机械手控制器30先把取商品的先后顺序优化一下，找出最小路径的那一种顺序，而后这个顺序加上多个运动部件的指令就成了一个运动程式。由此可见，机械手3的执行程序由顾客购物订单而自动生成，并且只执行一次。上述多个运动部件指的是机械手的购物箱组件4、购物箱旋转机构9及机械手终端抓取机构31。
无人商店的仓储区7里储货架2是一排一排地摆放的,所述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，机械手在储货架2之间来回运动，仓储区7的四周可以设置取物处1。操作区10里是还可以做一些展柜，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。这个系统可以和其他的系统混合使用的。如果机械手的移动水平导轨21设置在储货架2下方，那么机械手只能拿取两个储货架2的商品，就不能对三个以上储货架2取货，那么效率就大大降低了。
本实施例提供的用于无人商店的机械手与工业上用的机械手不同，工业上用的机械手一般取物有的位置是固定，并且放置物品的位置是有一定顺序的，或者取物的位置有一定顺序的而放置的位置是固定的，而本实施中无人商店的机械手取物的位置和放置的位置都不是固定的，随顾客的要求而变，放置物品的位置是有预设顺序的。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，而这个机械手则不同，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，是机械手控制器先把取商品的先后顺序优化一下，找出最小路径的那一种顺序，而后这个顺序加上多个运动部件的指令就成了一个运动程式。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30中并形成一个程式，同时，仓储区7里的商品摆放也要数字化，商品的种类和位置要对应好，也要输入到机械手控制器30里去，这样数字化的输入，就能够根据数字化的订单准确地拿到商品。机械手3的固定水平导轨19、储货架2、储货架2上的商品、取物处1要相互固定，以使相对位置固定，机械手3取物的参数就不会变，这样多个机械手就能准确地执行任务了。一般把多个机械手3、储货架2、取物处1等之间的相对位置用铁条用螺丝锁起来固定，做到标准化，多个商店数据要相同，便于管理和操作。
机械手3都自带有一个购物箱60，机械手3就不用一个个地拿商品了。这种机械手的购物箱60会根据所拿商品的位置运动，始终和机械手终端抓取机构31保持同一高度，减少机械手终端抓取机构31的运动距离。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，这些特征包括商品的重量、体积、长度、商品在商店里位置及商品在系统里编号等等。
当商品重量大于N1千克时或当商品体积大于N2立方厘米时当商品长度大于N3厘米时，这些商品需要一个个地拿到取物处1或其它地方，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，然后将多个商品一起拿到取物处1并倒入取物处1或拿到其它地方，并且这多个商品先后顺序是机械手控制器30根据商品在商店的位置进行优化，将机械手拿货所走的路径最短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30也对放入购物箱60内商品进行评估，一个购物箱60装不下，机械手控制器30就会根据商品的体积重量分成两次来装，并按照以重量作为优先顺序先装一部分重量大的商品。
对于将多个商品一起放到一个购物箱60内时，也可以做如下设置：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60；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60；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60；当长度小于L厘米时,以体积为排序依据,体积大的先拿到购物箱60；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60；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，其次是长度，再其次是体积，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。其中，M和L的值根据商店情况具体设定。
在一实施例中，机械手可以不用购物箱60来装商品，只用机械手抓取终端机构31来取商品，那么这时机械手的程式为：机械手拿取商品都是一个个地把商品拿到取物处1或者拿到其他地方，当有多个商品时，这个多个商品取货按照预设顺序、预设方法或预设规则。机械手控制器30确定好预设方法或预设规则，这样机械手就能自动生成取货程式了。预设方法或规则可以以商品的重量、体积及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后，当有订单时，机械手控制器30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。预设规则可以交叉设置,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,以免把后面的商品压坏了；当重量小于N千克时(N值可以在系统里调整设置),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,那些食品等容易破碎的商品可以后拿到取物处里去。
预设规则可以设置为: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1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1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1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1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1或其他地方。这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控制器30能够自动生成运动程式，而这是实现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。
当接到订单时，机械手就根据订单按照系统里的规则自动生成程式，就从机械手当前的位置运动到第一个商品的位置，抓取商品并向取物处1运动，等到了取物处1，机械手就把商品放到取物处1里去，接着就运动到第二个商品的位置，抓取商品并向取物处1运动，等又到了取物处1，就把商品放进取物处1里去……如此重复,待拿完最后一个商品时,机械手就运动到待机位置或就此停住并待机。
本实施例中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编号。当商品的特征超出范围时，这个商品就是一个一个地被拿到取物处或其它地方，当商品特征在某个范围内时，机械手控制器30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，由于拿商品是随机的，所以有N！种组合，其中将机械手运动路径最短的一种找出来并作为程式。
在一实施例中，机械手控制器30生成运动程式的依据包括位置、重量、体积及长度。
上述是机械手3及机械手3应用于无人商店的情况，本实施例提供的用于无人商店的机械手3有以下特征：所述用于无人商店的机械手3是用于无人商店；所述用于无人商店的机械手3获得商品的信息是通过手机平板电脑、语音识别设备以及其它输入信息设备而输入到总控制器，然后再由总控制器将输入信息而转发过来至机械手的机械手控制器中；机械手3的运动程式是机械手控制器30根据顾客订单而自动生成的；所述用于无人商店的机械手3的程式是只执行一次，不重复执行的；所述用于无人商店的机械手3取物的位置是多个固定的位置，并且要先把这个多个位置参数发送至机械手控制器30中，也就是取物处1设置有多个且固定，多个位置参数需要输入要机械手控制器30中。
在一实施例中，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。所述用于无人商店的机械手3的固定水平导轨19的位置是与仓储区7的储货架2以及取物处1之间是固定的不变的。所述用于无人商店的机械手3的马达是伺服马达或步进电机。所述用于无人商店的机械手3是有个自带的购物箱60。所述用于无人商店的机械手3的机械手抓取终端机构31和购物箱60是一起运动的。所述用于无人商店的机 械手3有旋转电磁阀或购物箱旋转马达70或者购物箱旋转机构9。所述购物箱60底部设置有购物箱旋转电磁阀61或旋转马达。机械手控制器30生成运动程式的依据包括位置、重量、体积、长度。
优选的，机械手的固定水平导轨马达20和移动水平导轨马达25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25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,移动竖直导轨旋转马达22、移动竖直导轨马达27、升降购物箱旋转马达59、升降购物箱马达69与固定水平导轨马达20可以同时运动，移动竖直导轨旋转马达22、移动竖直导轨马达27、移动竖直导轨马达27、升降购物箱旋转马达59、升降购物箱马达69与移动水平导轨马达25可以同时运动。
在一实施例中，机械手控制器30包括联网模块、处理器模块、存储器模块，处理器模块与联网模块、存储器模块电性连接，联网模块与固定水平导轨马达20、移动竖直导轨旋转马达22、移动水平导轨马达25、移动竖直导轨马达27、吸头电磁阀44、夹子电磁阀51、购物箱电磁阀61、升降购物箱旋转马达59及升降购物箱马达69电性连接。
在一实施例中，所述机械手还包括购物箱组件4，所述购物箱组件4包括购物箱60、设置为将商品倒出的购物箱电磁阀61，所述购物箱安装在购物箱电磁阀61上，购物箱电磁阀61与机械手控制器30电路连接。
在一实施例中，所述购物箱组件4还包括升降机构5，所述升降机构5包括升降购物箱马达69，所述升降购物箱马达69通过皮带或丝杠与安装有购物箱电磁阀61的升降购物箱导套67连接，升降购物箱马达69与机械手控制器30电路连接。
在一实施例中，所述购物箱组件4还包括购物箱旋转机构9，所述购物箱旋转机构9包括设置为使购物箱水平旋转的升降购物箱旋转马达59，所述升降购物箱旋转马达59与机械手控制器30电路连接。
在一实施例中，所述机械手终端抓取机构31包括多腔室负压吸头组件23及夹取式取物夹子组件26这两种组件里的一种或两种。
设有本实施例中的机械手的无人商店包括操作区10和仓储区7，顾客不能进到仓储区7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无人商店的二维码，以便顾客扫码，操作区10里的商品是不卖的。同时把仓储区7的商品按照系统里的位置参数摆放好，方便让顾客购买这些商品时，机械手能够拿这些商品出去，仓储区7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，就拿手机等设备扫描所想购买商品的二维码，等把所有想购买商品扫码后，就付款，这时机械手就得到指令，去拿这些商品，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1的门，就可以拿走所买的商品了。当顾客退货时，系统确认无损坏后，就由机械手拿到这个商品原来的位置上去。顾客取走商品后，取物处自动归回原先状态。
实施例二
在本实施例中，马达传动用丝杠实现，实现传动的情况如下：
机械手上设置有固定座，固定座上安装有固定水平导轨19及固定水平丝杠，固定水平导轨19上安装有固定水平导套37，固定水平导套37上安装有固定水平导轨马达20，固定水平导套37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和固定水平丝杠之间以丝杆螺纹传动连接，固定水平导套37上安装有移动水平导轨21及移动水平丝杠，移动水平导轨21上安装有移动水平导套38及购物箱安装座导套65，移动水平导套38上安装有移动水平导轨马达25，移动水平导轨马达25与移动水平丝杠之间以螺纹传动连接，购物箱安装座导套65、移动水平导套38与移动水平导轨马达25分别与移动水平导轨21以螺钉连接并一起运动，移动水平导套38上安装有移动竖直导轨24、移动竖直导轨旋转马达22及移动竖直丝杠，移动竖直导轨24上安装有移动竖直导套36、移动竖直导轨马达27及移动竖直导轨旋转转轴34，移动竖直导轨马达27、移动竖直导套36之间分别与移动竖直导轨24以螺钉连接并一起运动，移动竖直丝杠与移动竖直导轨马达27以螺纹连接，移动竖直导轨旋转马达22与移动竖直导轨旋转转轴34之间安装有移动竖直导轨旋转皮带41，移动竖直导套36上安装有机械手终端抓取机构31，购物箱安装座导套65上安装有升降购物箱导轨63及升降购物箱丝杠，移动水平导轨马达25与移动水平丝杠之间以丝杆螺纹传动连接，升降购物箱导轨63上安装有升降购物箱导套67及升降购物箱马达69，升降购物箱丝杠与升降购物箱马达69以螺纹传动连接，升降购物箱马达69与升降购物箱导套67以螺钉固定连接，升降购物箱导套67上安装有购物箱电磁阀61，购物箱电磁阀61上安装有购物箱60。所述固定水平导轨19、移动竖直导轨24、移动水平导轨21及升降购物箱导轨63由圆棒制成，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、移动竖直导轨马达27、升降购物箱马达69及移动水平导轨马达25均在自身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，其中一条圆棒上设有与驱动马达匹配的螺纹，带有螺纹的导轨与马达上带螺纹的传动件以螺纹传动连接。
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运动。以下通过图10中的通用马达74、通用丝杠72、通用导套71及通用导轨73为例说明上述丝杠与传动件的传动方式，通用马达74上的螺纹与通用丝杠72的螺纹匹配，通用马达74用螺钉固定通用导套71上，通用丝杠72与通用导轨73平行放置，其中，通用马达74、通用丝杠72、通用导套71及通用导轨73并非特指，上述对通用马达74、通用丝杠72、通用导套71及通用导轨73的介绍为对本实施例中的马达、导套、丝杠及导轨传动方式的示例性说明。本实施例中丝杠传动的特点为丝杠不转动。
实施例三
在本实施例中，提供了丝杆传动的另外一种方式，如图11所示，马达的转轴与丝杠同轴设置且固定连接，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，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：
机械手上设置有固定座，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上安装有固定水平导套37，固定水平导轨马达20的转轴与固定水平丝杠同同轴设置且固定连接，固定水平导套37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37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37上安装有移动水平导轨21、移动水平丝杠、移动水平导轨马达25，移动水平导轨21上安装有移动水平导套38、购物箱安装座导套65，移动水平导轨马达25与移动水平丝杠之间轴设置且固定连接，购物箱安装座导套65及移动水平导套38均设有移动水平丝杠孔和移动水平导轨孔，这两个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，这两个移动水平导轨孔无螺纹，移动水平导套38及购物箱安装座导套65以购物箱连杆77连接在一起并一起运动，购物箱安装座导套65安装有升降购物箱导轨63、升降购物箱丝杠及升降购物箱马达69，升降购物箱导轨63上安装升降购物箱导套67，升降购物箱丝杠与升降购物箱马达69以螺钉固定连接，且同轴设置，升降购物箱导套67设置有升降购物箱导轨孔、升降购物箱丝杠孔，升降购物箱丝杠孔设有与升降购物箱丝杠的外螺纹匹配的内 螺纹，升降购物箱导轨孔内无螺纹，升降购物箱马达69转动带动升降购物箱丝杠转动，从而带着升降购物箱导套67升降，因为升降购物箱导套67不能转动，升降购物箱导套67上安装有购物箱电磁阀61，购物箱电磁阀61上安装有购物箱60。移动水平导套38上安装有移动竖直导轨24、移动竖直导轨旋转马达22、移动竖直丝杠及移动竖直导轨马达27，移动竖直丝杠与移动竖直导轨马达27同轴设置且固定连接，移动竖直导轨24上安装有移动竖直导套36及移动竖直导轨旋转转轴34，移动竖直导套36设有移动竖直丝杠孔和移动竖直导轨孔，移动竖直丝杠孔设有与移动竖直丝杠外螺纹匹配的内螺纹，移动竖直导轨孔无螺纹，移动竖直导轨旋转马达22与移动竖直导轨旋转转轴34之间安装有移动竖直导轨旋转皮带41，移动竖直导套36上安装有机械手终端抓取机构31。本实施例中以图11中所示的通用马达74、通用丝杠72、通用导套71及通用导轨73为例说明丝杠的传动方式，通用导套71上的内螺纹与通用丝杠72的通用丝杠外螺纹匹配，通用丝杠72与通用马达转轴75同轴设置，通用丝杠72与通用导轨73平行设置，通用马达74驱动通用马达转轴75及通用丝杠72转动，从而驱动通用导套71沿通用导轨73及通用丝杠72移动。其中，通用马达74、通用丝杠72、通用导套71及通用导轨73并非特指，上述对通用马达74、通用丝杠72、通用导套71及通用导轨73的介绍为对本实施例中的马达、导套、丝杠及导轨传动方式的示例性说明。本实施例中丝杠传动的特点就丝杠会随通用马达转轴75一起转动。
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、移动竖直导轨24、移动水平导轨21及升降购物箱导轨63里选择一个或多个使用丝杠传动形式，其余用皮带传动的方式，即一个机械手里有两种混合的传动方式也是可以的。
实施例四
在本实施例中，购物箱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，在本实施例中，购物箱电磁阀61可以不要，而购物箱34上设置一个机构，该机构使购物箱60的底盖可以水平方向抽走，这样购物箱60也可以把商品倒入取物处1。
实施例五
在本实施例中，购物箱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，在本实施例中，购物箱电磁阀61可以不要，而购物箱34上设置一个机构，该机构使购物箱60的底盖可以沿一侧边翻转，这样购物箱60也可以把商品 倒入取物处1。
实施例六
在本实施例中，如图13所示，购物箱安装座导套65也可以与移动水平导套38通过购物箱连杆77以螺钉连接，这样购物箱安装座导套65就可以不用和移动水平导轨皮带39固定连接了。
实施例七
在本实施例中，机械手的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31里的吸头电磁阀44、夹子电磁阀51及购物箱电磁阀61，这类电磁阀可以用气缸或者用直线运动的马达等代替。
实施例八
在本实施例中，将机械手终端抓取机构31里的夹取式取物夹子组件26取消，只保留多腔室负压吸头组件23，通过多腔室负压吸头组件23吸取商品并把商品拿到取物处1里去。
实施例九
在本实施例中，将机械手终端抓取机构31里的多腔室负压吸头组件23取消，只保留夹取式取物夹子组件26，通过夹取式取物夹子组件26夹取商品并把商品拿到取物处1里去。
实施例十
在本实施例中，购物箱旋转机构9取消，即取消升降购物箱旋转马达59、升降购物箱旋转皮带62、升降购物箱旋转转轴66，升降购物箱导轨63就不能旋转，那么购物箱60就不能调整方向了。
实施例十一
在本实施例中，购物箱安装座导套65也可以直接与移动水平导套38合并为一体结构，那么购物箱组件4安装在移动水平导套38上，移动水平导套38与移动水平导轨皮带39以螺钉连接，这样购物箱连杆77就可以不要了。
实施例十二
在本实施例中，导轨的横截面可以是非圆形的，如方形的等多种形式。
实施例十三
在本实施例中，在机械手终端抓取机构31里增加一个扫码机构，在抓取商品之前机械手先扫码，并知道该商品的种类，并能将自动放置在预设地方，这样就可以做到自动上货。
实施例十四
在本实施例中，机械手未设置购物箱组件4，那么这个机械手就只能一个个拿商品到取物处1。
如图12，由于没有购物箱60，机械手终端抓取机构31的运行速度需要控制，速度太快商品会掉下来。若有购物箱60时，就可以将机械手终端抓取机构31的运行速度快些。未设置购物箱60的机械手的程式生成程序与设置购物箱60的机械手而不用购物箱拿商品时的程序是一样的。
实施例十五
在本实施例中，机械手未设置升降机构5，即把升降购物箱转轴64、升降购物箱马达69及升降购物箱皮带68这三个部件取消，这样升降购物箱导套67就不能上下升降了，机械手终端抓取机构31每拿到一个商品，就先运动到购物箱60的高度后，再放下商品，就相当于把升降购物箱导套67直接用螺钉固定在升降购物箱导轨63上。
实施例十六
在本实施例中，机械手未设置升降机构5，即把升降购物箱转轴64、升降购物箱马达69、升降购物箱皮带68这三个部件取消，那么升降购物箱导轨63就可以调整一下，做成弯曲形状的购物箱挂杆76,同时用一个购物箱旋转马达70代替购物箱旋转机构9，这样升降购物箱导套67就不能上下升降了，机械手终端抓取机构31每拿到一个商品，就运动到购物箱60的高度，再放下商品，就相当于把升降购物箱导套67直接用螺钉固定在升降购物箱导轨63上。这种机械手结构如图13,这个实施例中购物箱60自身不能旋转，也不能升降。
实施例十七
在本实施例中，如图14所示，通用导轨73和通用导套71之间安装有通用轴承78，通用轴承78的转轴与通用导套71螺钉固定连接，通用导轨73与通用轴承78以平面与圆环面接触的方式配合，通用导轨73与通用导套71为间隙配合，这个适用于要减轻通用导轨73和通用导套71之间摩擦的情况。

Claims (11)

  1. 一种用于无人商店的机械手，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；
    移动竖直导轨，设置于所述移动水平导套上；
    移动竖直导轨马达，设置于所述移动竖直导轨上；
    移动竖直导套，设置于所述移动竖直导轨上；
    机械手终端抓取机构，设置于所述移动竖直导套上；及
    机械手控制器，与所述固定水平导轨马达、所述移动水平导轨马达、所述移动竖直导轨马达及所述机械手终端抓取机构电连接；
    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所述移动竖直导轨在所述移动水平导轨上移动，所述移动竖直导轨马达设置为驱动机械手终端抓取机构在所述移动竖直导轨上移动。
  2. 根据权利要求1所述的机械手，其中，所述移动水平导轨在所述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所述的机械手，其中，所述机械手的移动竖直导轨在所述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所述的机械手，其中，所述机械手终端抓取机构在所述移动竖直导轨上能移动的最大距离L3，0.1米＜L3＜100米。
  5. 根据权利要求1所述的械手，其中，所述固定水平导轨马达、所述移动水平导轨马达及所述移动竖直导轨马达为伺服马达或步进电机。
  6. 根据权利要求1所述的机械手，其中，所述机械手控制器包括联网模块、处理器模块及存储器模块，所述处理器模块分别与所述联网模块及所述存储器模块电性连接，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及所述移动竖直导轨马达电性连接。
  7. 根据权利要求1所述的机械手，其中，所述机械手终端抓取机构包括多腔室负压吸头组件和夹取式取物夹子组件中的至少一个。
  8. 根据权利要求1所述的机械手，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，所述购物箱安装在购物箱电磁阀上，购物箱电磁阀与机械手控制器电路连接。
  9. 根据权利要求8所述的机械手，其中，所述购物箱组件还包括升降机构及升降购物箱导套，所述购物箱电磁阀设置于所述升降购物箱导套上，所述升降机构包括升降购物箱马达及皮带或丝杠，所述升降购物箱马达通过所述皮带或所述丝杠与所述升降购物箱导套连接，所述升降购物箱马达与机械手控制器电路连接。
  10. 根据权利要求8所述的机械手，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升降购物箱旋转马达，所述升降购物箱旋转马达与机械手控制器电路连接。
  11. 一种机械手的控制方法，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/CN2019/092121 2018-06-20 2019-06-20 用于无人商店的机械手及其控制方法 WO2019242694A1 (zh)

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CN201910162774.7A CN109719716A (zh) 2018-06-20 2019-03-05 一种用于无人商店的机械手
CN201910200472.4A CN110116899A (zh) 2018-06-20 2019-03-16 一种自带购物箱的机械手
CN201910200472.4 2019-03-16
CN201910245829.0A CN109866211A (zh) 2018-06-20 2019-03-28 一种带升降购物箱的机械手
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