WO2019242695A1 - 无人商店系统及其控制方法 - Google Patents

无人商店系统及其控制方法 Download PDF

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Publication number
WO2019242695A1
WO2019242695A1 PCT/CN2019/092122 CN2019092122W WO2019242695A1 WO 2019242695 A1 WO2019242695 A1 WO 2019242695A1 CN 2019092122 W CN2019092122 W CN 2019092122W WO 2019242695 A1 WO2019242695 A1 WO 2019242695A1
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WIPO (PCT)
Prior art keywords
horizontal guide
guide rail
robot
product
mobile
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PCT/CN2019/092122
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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 CN201910177685.XA external-priority patent/CN109712323A/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 WO2019242695A1 publication Critical patent/WO2019242695A1/zh

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    • GPHYSICS
    • G07CHECKING-DEVICES
    • G07FCOIN-FREED OR LIKE APPARATUS
    • G07F11/00Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/004Restocking arrangements therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06QINFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00Commerce
    • G06Q30/06Buying, selling or leasing transactions

Definitions

  • the present disclosure relates to the technical field of unmanned stores, for example, to an unmanned store system 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 hospital Machine, automatic medicine dispenser can only take several medicines, can not be called an unmanned store at all.
  • the present disclosure provides an unmanned store system and a control method thereof, which can complete automatic pickup, information input, and sales management of the unmanned store system.
  • the present application provides an unmanned store system, comprising: a storage section and a robot, a pick-up point, a general controller, and a storage shelf provided in the storage section, the storage shelf includes a slope groove, and the slope groove is provided as Placing the goods, the robot is configured to take the goods on the storage shelf to a place for taking goods;
  • the manipulator includes: a fixed horizontal guide rail; a fixed horizontal guide rail motor provided on the fixed horizontal guide rail; a fixed horizontal guide sleeve installed on the fixed horizontal guide rail; and the position of the fixed horizontal guide rail, the The position of the picking place and the position of the storage shelf are relatively unchanged; a moving horizontal guide is installed on the fixed horizontal guide sleeve and is disposed above the storage shelf; a horizontal guide sleeve is installed on the moving On a horizontal guide rail; a moving horizontal guide rail motor provided on the moving horizontal guide rail; a manipulator terminal grasping mechanism connected to the moving horizontal guide sleeve; and a manipulator controller connected to the main controller circuit;
  • the fixed horizontal guide rail motor is configured to drive the mobile horizontal guide rail to move on the fixed horizontal guide rail
  • the mobile horizontal guide rail motor is configured to drive the mobile horizontal guide bush to move on the mobile horizontal guide rail
  • the robot arm controls And the circuit are respectively connected with the fixed horizontal guide rail motor and the mobile horizontal guide rail motor.
  • An embodiment provides a method for controlling an unmanned store system, wherein the method is configured to be implemented in the unmanned store system described above, and the method includes: the robot controller receives a customer order; the robot controller Automatically generating 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 an unmanned store system according to an embodiment
  • FIG. 2 is a schematic diagram of a display cabinet of an operation part of an unmanned store system according to an embodiment
  • FIG. 3 is a schematic structural diagram of a storage shelf according to an embodiment
  • FIG. 4 is a structural diagram of a manipulator provided by an embodiment
  • FIG. 5 is an exploded view of a multi-chamber negative pressure suction head provided by an embodiment
  • FIG. 6 is an exploded view of a clip-type pick-up clip provided by an embodiment
  • FIG. 7 is a perspective view of a robotic terminal grasping mechanism according to an embodiment
  • FIG. 8 is a schematic diagram of the wiring of the total controller provided by an embodiment
  • FIG. 9 is a schematic wiring diagram of a robot controller provided by an embodiment
  • FIG. 10 is a schematic diagram of an unmanned store system with an exchange robot according to an embodiment
  • 11 is a schematic diagram of an unmanned store system with two robots according to an embodiment
  • FIG. 12 is a schematic diagram of an unmanned store system with a robot arm according to an embodiment
  • FIG. 13 is a schematic structural diagram of a total controller provided by an embodiment
  • FIG. 14 is a schematic structural diagram of a wireless module according to an embodiment.
  • SMT Surface Mounted Technology
  • Each motherboard has hundreds or even thousands of electronic components, and SMT equipment can pick them up and put them where they should be.
  • the size of this device has a high precision, which can reach one thousandth of a millimeter.
  • this device is very expensive. It costs two million yuan per unit, and there are not high precision requirements. The cheap one has 20,000 yuan per unit. of.
  • SMT equipment mainly uses servo motors to achieve the conversion from numerical parameters (values entered in computers and other equipment) to distances (preset distances of the manipulator's movement). That is, when a motion value is given, the servo motor will Ask for exercise until you reach your destination.
  • This method is also a many-to-many method, that is, picking up multiple materials at the feeding place and sending them to different positions on the motherboard. Because there are hundreds or thousands of parts on a motherboard, the total time to paste these parts can not be too long, so when the components are attached to the SMT device, the robot moves quickly, so fast that it is almost impossible to see the movement of the robot. So the efficiency of this equipment is also very high.
  • injection molding machines injection molding machines have no oil cylinders, and are driven only by servo motors. This injection molding machine is more precise than those with cylinders.
  • the injection volume of an injection molding machine can be accurate to one gram. One hundredth of a percent.
  • the commonly used elevator is also driven by a servo motor. Every time you press a number button, the elevator stops at the corresponding floor. This is also an example of converting the number to a different position. However, the parameters of the elevator movement position are replaced by the floor. .
  • This servo system is an automatic control system that enables the output controlled quantity such as the position, orientation and state of the object to follow the arbitrary change of the input target (or given value).
  • Servo is mainly positioned by pulses.
  • a servo motor When a servo motor receives a pulse, it will rotate the angle corresponding to a pulse to achieve displacement. Because the servo motor itself has the function of sending pulses, each time the servo motor rotates, a corresponding number of Pulse, which forms a echo with the pulse received by the servo motor, or is called a closed loop. In this way, the system will know how many pulses are sent to the servo motor, and how many pulses are received at the same time, which means that the servo motor transmits the signal at any time. To the system, at the same time, the signal given by the system is used to correct its own operation, so that the rotation of the motor can be controlled very accurately to achieve accurate positioning, which can reach 0.001mm.
  • the rotor inside the servo motor is a permanent magnet.
  • the U / V / W three-phase electricity controlled by the driver forms an electromagnetic field.
  • the rotor rotates under the action of this magnetic field.
  • the encoder's built-in feedback signal is sent to the driver.
  • the driver according to the feedback value and the target Compare the values and adjust the rotation angle of the rotor, so the accuracy of the servo motor depends on the accuracy of the encoder (the number of lines), and the number of lines can be determined according to the needs of the store.
  • this embodiment proposes a principle and method of a manipulator.
  • each item in multiple positions can be picked up and placed in multiple different If you go to any of the locations, you can determine the application of this robot in unmanned stores.
  • SMT equipment is suitable for small electronic components, and daily goods equivalent to one hundred times as large as electronic components should be easier to handle, it is not a problem for robots applied to the above-mentioned servo motors to be used in unmanned stores.
  • This embodiment proposes a single-arm manipulator.
  • the accuracy of this manipulator is much lower than that of the SMT placement machine injection molding machine. Take a commodity and the error does not exceed one centimeter.
  • a lot of small robots are used to run back and forth while sorting parcels. 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 system includes a warehousing section 3, and the warehousing section 3 includes a robot 4, a pick-up point 9, a general controller 7, A storage shelf 2 and a shopping device 10, wherein the storage shelf 2 includes a slope groove 16 on which goods are placed, and the commodity is placed with a pressure block 15, and the goods on the storage shelf 2 are provided by a robot 4 Take it to the picking place 9, and the customer removes the purchased goods from the picking place 9, which is provided with a picking place solenoid valve that controls the switch of the picking place.
  • the controller 7 is connected to the manipulator 4, the shopping device 10, and the solenoid valve circuit of the pick-up place.
  • the overall controller 7 stores position parameters, price information and quantity information of all products.
  • the main controller 7 includes an Ethernet module, a wireless module, a networking module, a processor module, and a memory module.
  • the processor module is electrically connected to the Ethernet module, the wireless module, the networking module, and the memory module.
  • the wireless module includes at least one of a WIFI module, a 4G module, and a 5G module;
  • the robot hand 4 includes a fixed horizontal guide rail 19, a fixed horizontal guide rail motor 20, a mobile vertical guide rotation motor 22, and a horizontal guide rail.
  • Motor 25, mobile vertical rail motor 27, mobile horizontal rail 21, mobile vertical rail 24, robot controller 30, and robot terminal grasping mechanism 31, said mobile horizontal rail 21 is placed above the storage shelf 2 of the store.
  • the robot controller 30 automatically generates a robot motion program according to a customer order.
  • the robot controller 30 generates a motion program based on the position, weight, volume, and length of the product.
  • the robot motion program is executed only once.
  • a fixed horizontal guide bushing 37 is installed on the fixed horizontal guide rail 19
  • a moving horizontal guide rail 21 is installed on the fixed horizontal guide bushing 37
  • a moving horizontal guide bushing 38 and a moving horizontal guide bushing are installed on the moving horizontal guide rail 21.
  • a mobile vertical guide 24 is installed on 38, a mobile vertical guide sleeve 36 is installed on the mobile vertical guide 24, a manipulator terminal grasping mechanism 31 is installed on the mobile vertical guide sleeve 36, and a fixed horizontal guide motor 20 drives the mobile horizontal guide 21 moves on the fixed horizontal guide rail 19, the moving horizontal guide rail motor 25 drives the moving vertical guide rail 24 to move on the moving horizontal guide rail 21, and the mobile vertical guide rail motor 27 drives the robot terminal gripping mechanism 31 to move on the moving vertical guide rail 24,
  • the mobile vertical rail rotary motor 22 drives the mobile vertical rail 24 to rotate to change the gripping method of the robot terminal grasping mechanism 31, the robot controller 30 and the fixed horizontal rail motor 20, the mobile vertical rail rotary motor 22, and the mobile horizontal rail motor 25 and mobile vertical rail motor 27 are electrically connected.
  • the fixed horizontal guide rail motor 20 and the mobile horizontal guide rail motor 25 of the manipulator 4 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 stationary horizontal rail motor 20 stops, and the mobile vertical rail rotary motor 22, the mobile vertical rail motor 27 and the fixed horizontal rail motor 20 can move simultaneously, the mobile vertical rail rotary motor 22, the mobile vertical rail motor 27, and the horizontal rail motor 25 can exercise at the same time.
  • the motion program of the robot 4 is automatically generated by the robot controller 30 according to a customer order.
  • the motion program of the robot 4 is executed only once and is not repeatedly executed.
  • the motion program of the robot 4 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 where the manipulator fixes the horizontal guide rail 19, the position of the storage shelf 2 and the position of the pick-up place 9 are fixed.
  • the unmanned store system further includes an operation unit 1, and the operation unit 1 is provided with a display cabinet 8, where the display cabinet 8 is used to display products, and the customers who display the products in the display cabinet 8 Can't take away.
  • the pick-up place 9 is provided with a pick-up place solenoid valve that controls the switch of the pick-up place 9, and the pick-up place solenoid valve is electrically connected to the main controller 7.
  • the shopping device 10 includes an input device and a payment device, the input device is configured to receive input of shopping information, and the payment device is configured to receive and process payment information.
  • the payment method of the shopping device 10 includes one or more of eight payment methods including magnetic stripe card payment, chip card payment, inductive payment, code scanning gun payment, face payment, fingerprint payment, WeChat payment and Alipay payment.
  • the payment method of the shopping device 10 includes one or more of five payment methods: magnetic stripe card payment, chip card payment, inductive payment, face payment, and fingerprint payment.
  • the shopping device 10's input means for shopping information includes one or more of four methods: touch screen input, mouse input, voice input, and keyboard key input.
  • the motor used by the robot arm 4 is a servo motor or a stepper motor, and the servo motors each have a servo motor driver.
  • the information input method of the shopping device 10 includes a mobile phone, a tablet, a laptop computer, etc., log in to a store webpage to select a product and pay by using the above information input method.
  • use a code scanning device to scan the code to purchase the product and pay the bill.
  • a voice recognition device use the voice input to the device to select the product and pay, and one can open this Shop for items on the store page and pay for them.
  • the shopping device 10 uses one or more of the five information input methods.
  • the unmanned store system is divided into an operation department 1 and a storage department 3 in space.
  • the operation department 1 is mainly used to store the products to be sold for customers to choose a code.
  • the storage department 3 is mainly used to store the sold products.
  • the storage department 3 is separate from the operation section 1. The customer can only view the product, scan the code, or select the product on the device in the operation section 1, but the customer cannot enter the storage section 3.
  • Some stores have two rows of storage shelves 2 because the storage of goods in the storage section 3 is row by row, and both ends of a row of shelves can be set as an operation section 1. If the display cabinet 8 is mounted on the outer wall, and the pick-up point 9 is also inlaid on the store wall 5, it can be said that there is no operation unit 1.
  • the store system is shown in Figure 1. Among them, 1 indicates the operation section, 2 indicates the storage shelf, 3 indicates the storage section, 4 indicates the robot, 5 indicates the store wall, 6 indicates the product guide, 7 indicates the total controller, 8 indicates the showcase, and 9 indicates Pick up place, 10 means shopping equipment.
  • the merchandise displayed in the operation section 1 is placed according to preset rules.
  • the daily consumption of goods should be placed in a conspicuous place.
  • the less frequently used goods can be placed in the corner and clearly arranged by type, such as paper.
  • Products should be put together, beverages are also classified into a large category, and food products are also placed in another place separately.
  • Individually expensive ones can be placed a few more, so that multiple customers can scan the code or check the records.
  • This operation unit 1 also needs to place the products according to the characteristics of the area where the unmanned store system is located, and mainly adjusts according to the sales situation of the usual products. If there are more sales, put a few more scanning points and sell them. If you do n’t have as much as possible, put less, and even put this product in the corner.
  • the operation section 1 is provided with multiple pick-up points 9 for multiple people to shop at the same time.
  • the bottom-most layer of the operation section 1 is a pick-up point 9.
  • Each customer selects a product in one way and pays the bill.
  • the system notifies the customer through the paid shopping device 10 that the customer can open the door of the pick-up place 9 to pick up the product, and the customer can take the purchased product away.
  • the reason why the switch of the pick-up point 9 should be set in the mobile phone can prevent customers' products from being taken away by other customers.
  • Some products in the operation section 1 can be placed in the fence where the hand can be touched or touched, but the products cannot be taken out.
  • Some products can display some real items, some valuable products can display some pictures or models, and even a packaging box, so that no one will take away the products displayed in the operation section 1, and can Let customers see the products they want to choose.
  • 11 is the row identifier (number of rows)
  • 12 is the column identifier (number of columns)
  • 13 is a two-dimensional code
  • 14 is a label.
  • Some products are relatively large, such as quilts, chairs, and some small items in bags.
  • the picking place 9 for these goods is larger, but such as mineral water, snacks, or paper towels. No need for such a large pick-up place.
  • the switch of the pick-up place 9 is controlled by the system-powered pick-up place solenoid valve.
  • the pick-up solenoid valve When the door of the pick-up place 9 is closed, the pick-up solenoid valve will block the pick-up place 9 and cannot be pulled out. Only through the customer's mobile phone Click to open the pick-up place 9 and the solenoid valve at the pick-up place is pulled back, so that the customer can pull out the pick-up place 9 to take away the goods.
  • the product placement in the storage department 3 should be placed strictly according to the position of the entry system. You can set the product position in the system first, and then place the product. Each product has one or more storage positions.
  • the system entry position is Robot 4 takes the position of the product. When Robot 4 gets the information, it picks up the product. Robot 4 only picks the product based on the position. Robot 4 itself will not distinguish the type of the product. It is this product that is placed here; You can also place the product first, and then accurately input the position of the product into the system.
  • the controller and robot controller set for data input and data reception can be made into one, but when there are multiple robots 4 in a store, each robot 4 has its own controller.
  • the unmanned store system has a general controller 7 for data input and data reception. This general controller 7 distributes machines to coordinate the work of multiple robots 4.
  • the groove for placing the goods can be made into a sloped slope groove 16 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 pressure block on the paper towel to make the paper towel slide automatically. As shown in Figure 3, 15 is the pressure block, 16 is the slope groove, 17 is the horizontal part provided in front of the groove, and 18 is the baffle provided in front of the cargo groove. section.
  • the quantity of goods prepared by the storage department 3 should be based on the quantity sold in a preset time, and the preset time should be based on the actual situation, such as three days or seven days.
  • This kind of store is aimed at selling daily consumer goods and does not sell those rarely used products. Therefore, for those products that cannot be sold for one month, they are no longer sold, and fresh agricultural products are not sold, because fresh products are not easy to take with a robot, but fresh agricultural products can also be sold after packaging. This maximizes the effectiveness of the store.
  • this type of store is divided into three types: large, medium, and small. Generally speaking, a small store can be opened for about 10,000 people; a middle store can be opened for every 100,000 people; and every 1 million people can be opened. A big store.
  • the store can spend about an hour a day replenishing the goods, or it can only spend an hour or so within a predetermined number of days to replenish the goods. If customers have any questions, they can come to the store to find staff to handle the replenishment time, such as Returns and other issues. Large stores can also arrange a person to be on duty within a preset period of time to handle abnormal and return issues, such as during working hours 8: 00-18: 00.
  • the manipulator 4 should also be inspected regularly, such as adding lubricating oil, etc. Pay special attention to periodically replacing those components that are easy to wear.
  • This store can also separate the place where the robot walks from the place where employees replenish, and divide it into the robot's active area and the employee's replenishment channel, so that the robot can replenish the goods without stopping the robot, without delaying the sales of goods, otherwise, It is necessary to stop the robot before restocking, and then to sell the product after the replenishment, which will delay some sales time.
  • This embodiment provides a code scanning shopping method. After the customer scans the code, a link or interface is opened on the mobile phone, and information such as the type, quantity, and price of the products purchased in the store appears. The next step is to continue the purchase or purchase order. After the customer has purchased the required product, the purchase order, link or interface prompts whether to use WeChat payment or Alipay payment or other methods. After the selection, the payment will be deducted from the corresponding payment method, and then the customer is prompted. The product you bought is picked up at the corresponding pick-up point 9. After the goods are all picked up at the pick-up point 9, the system prompts the customer to open the door of the pick-up point 9. The customer clicks on the mobile phone to open the pick-up point 9.
  • the payment will be deducted from the corresponding payment method.
  • the mobile device prompts the customer to open the door of the pick-up point to take the product. Click on the door of the pick-up point 9 in the mobile device to take away the goods you bought. After the customer removes the goods, the pick-up point 9 automatically returns to the original state. The user can also log in to the store's webpage elsewhere.
  • the system will generate an order number. The customer can pay online and then go to the store, then enter the order number in front of the mobile device, and the system will Take out the purchased goods, customers can buy the goods; or you can generate an order number without payment, enter the order number in the store before the mobile device, and then pay for the goods.
  • the customer can pay online and then go to the store, and then in front of the voice recognition device.
  • the order number the system will take out the purchased product, and the customer will buy the product; select the product online, and you can generate an order number without paying, and the same is true after you say the order number to the store.
  • the shopping device 10 includes: a processor module that processes a customer's voice or clicks on the screen to display the store's web page and other modules' function integration and communicates with the main controller; a voice recognition module, which mainly processes and recognizes the customer's voice To enter shopping information; display module, the display module is the display screen on the device, as long as there is a click action or recognizable voice, the display screen will display the store's web page; input module, customers through the touch screen, buttons, or mouse Select a product or enter shopping information; the payment module, the customer chooses to pay by inductive payment through the payment module. Inductive payment methods include WeChat, Alipay, or online banking to pay for the goods.
  • Network module the network module can send information.
  • the main controller sends a message to the shopping.
  • the device is displayed on the screen can Take the door was open at the customer side can tap the screen to open the door.
  • the input device of the operation section 1 uses the input device of the operation section 1 to make a purchase.
  • the customer finishes viewing the product in the operation section 1, the customer selects the name of the selected product and selects an order.
  • the device displays or outputs the voice: Please enter the name of the purchased product or its Number, at this time, enter the name and number of the product recorded in the operation unit 1.
  • information such as the type, quantity, and price of the purchased product appears.
  • the customer checks the screen display information and the input If the information is consistent or not, choose to buy. If there is an error, modify the input information until it is correct. After the customer selects, there will be two options. One is to continue to enter the product name or number, and the other is End the input and pay the bill.
  • the customer When the customer pays the bill, it will prompt whether to use WeChat payment or Alipay payment or other methods. After the selection, the payment will be deducted from the corresponding payment method.
  • the input device After the goods have been picked up, the input device will prompt The customer can open the door of the pick-up place. The customer clicks on the input device to open the door of the pick-up place 9 and can take away the purchased goods. After the customer removes the goods, the pick-up point 9 automatically returns to the original state.
  • This device includes: a processor module, which is mainly used to process customer input information and other module functions to integrate and communicate with the main controller; a display module, such as a screen; an input module, one or more input methods, such as: keys, Touch screen, stylus or mouse, etc .; payment module, one or more payment methods, such as: magnetic stripe card, chip card, inductive payment, scan code, face payment, fingerprint payment, WeChat payment and Alipay payment And so on; and a networking module that communicates with the main controller.
  • a processor module which is mainly used to process customer input information and other module functions to integrate and communicate with the main controller
  • a display module such as a screen
  • an input module one or more input methods, such as: keys, Touch screen, stylus or mouse, etc .
  • payment module one or more payment methods, such as: magnetic stripe card, chip card, inductive payment, scan code, face payment, fingerprint payment, WeChat payment and Alipay payment And so on
  • a networking module that communicates with the main controller.
  • the system will generate an order number.
  • the customer can pay online and then go to the store, and then enter the order number before entering the device.
  • the system will take out the purchased product, and the customer buys the product; select the product online, you can generate an order number without payment, go to the store and enter the order number on the input device, and then pay.
  • the online shopping device in the operation section 1 to make a purchase. If the customer wants to purchase the product, open the store web page in the store operation section 1 through the man-machine interface in this online shopping device, and select the desired product to be purchased through this online shopping device. Later, you can pay through this online shopping equipment or other ways.
  • the controller of the unmanned store system will receive the product information and transmit the product information to the robot in the storage department, and the robot will go to the warehouse to designate the system. The products placed at the location are taken to the designated pick-up place of the system. After the purchased goods are all picked up, the customer can remove the purchased goods.
  • the online shopping device includes a display screen.
  • online shopping equipment There are one or more payment methods for online shopping equipment, such as brushing a magnetic strip card slot or a code scanning gun, etc .; there are one or more operation methods for online shopping equipment, such as keys, touch screen, or mouse; etc. Communication interface; online shopping equipment has other auxiliary functions. Customers can enter product information through keys; those with a mouse can enter product information through the mouse and virtual keyboard; if the screen is a touch screen, you can also enter product information by clicking the screen.
  • the shopping device's input method of shopping information includes one or more of the following three types. After viewing the product name and number in the display cabinet in the operation section, enter the product name and number in the operation section. Use the device to explain the product name and number with your voice, or open a store webpage on a shopping device in the operation department and select the product name and number in the webpage.
  • the shopping device payment method includes one or more of a magnetic stripe card payment, a chip card payment, an inductive payment, a code gun payment, a face payment, a fingerprint payment, a WeChat payment, and an Alipay payment.
  • Payment methods include one or more of magnetic stripe card payment, chip card payment, inductive payment, face payment, and fingerprint payment.
  • the input means for shopping information of the shopping device include touch screen input, mouse input, and voice input. And one or more of keyboard input.
  • the operation section can be omitted, and sometimes the shopping device can be placed in the outer wall, or one of several methods can be selected. There is no need to set the operation section. At this time, there is no operation section, but the customer still cannot enter the storage department.
  • This store 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, which means that it can't sell goods without time (some replenishment time can't sell goods temporarily); 3. It can reduce the management cost; 4. It can reduce the decoration of some stores and greatly save the decoration cost; 5. You can only open the air-conditioning in the operation department to save costs; 6. It can greatly save space and the storage department can be stacked more densely, without Leave a wide corridor for customers to walk around, and the shelves can also be made higher. Some people can only reach two meters in height. Ordinary people with shelves that are as high as it are difficult to get goods; 7.
  • the cost of the store is mainly the logistics cost and labor cost, which can save a large part of the labor cost, which can create huge advantages for other forms of stores.
  • hiring one less person can reduce many costs and disputes with respect to employment, such as payment of social security, labor contracts, annual leave, overtime pay and maternity benefits, and other aspects; and the second and The third advantage is that in the case of high labor protection requirements for employees, these two measures are a good evasion measure. European and American stores are closed on Saturdays and Sundays and open for several hours during the day. Worker protection. For some people, a store that is open 24 hours a week is convenient.
  • the manipulator 4 which is placed above the store shelf 2, includes a fixed horizontal guide rail 19, a fixed horizontal guide rail motor 20, a mobile vertical guide rail rotation motor 22, a mobile horizontal guide rail motor 25, and a mobile vertical guide rail motor 27.
  • the fixed horizontal guide 19 is installed with a fixed horizontal guide sleeve 37
  • the fixed horizontal guide sleeve 37 is installed with a mobile horizontal guide 21.
  • the mobile horizontal guide 21 is installed with a mobile horizontal guide sleeve 38, the mobile horizontal guide sleeve 38 is installed with a mobile vertical guide 24, the mobile vertical guide 24 is installed with a mobile vertical guide sleeve 36, and the mobile vertical guide sleeve 36 is installed
  • a manipulator terminal grasping mechanism 31 a fixed horizontal guide rail motor 20 drives a moving horizontal guide rail 21 to move on the fixed horizontal guide rail 19
  • a mobile horizontal guide rail motor 25 drives a mobile vertical guide rail 24 to move on the mobile horizontal guide rail 21,
  • a mobile vertical guide rail motor 27 drives the manipulator terminal grasping mechanism 31 to move on the moving vertical guide 24, and the moving vertical guide rotation motor 22 drives the moving vertical guide 24 to rotate
  • the robot controller 30 is electrically connected to the fixed horizontal guide motor 20, the mobile vertical guide rotary motor 22, the mobile horizontal guide motor 25, and the mobile vertical guide motor 27 by changing the grasping manner of the robot terminal grasping mechanism 31.
  • the controller 30 automatically generates a robot motion program according to a customer order, and the robot
  • the drive is connected by a belt between the motor and the guide rail.
  • a belt between the motor and the guide rail.
  • a fixed horizontal guide sleeve 37, a fixed horizontal guide motor 20, a fixed horizontal guide shaft 32, and a fixed horizontal guide motor 20 are installed on the fixed horizontal guide rail 19.
  • the fixed horizontal guide belt 32 is fixed with a fixed horizontal guide belt 28 and a fixed horizontal guide belt 28. It is connected with 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.
  • the mobile horizontal guide belt 39 is connected with the mobile horizontal guide sleeve 38 by screws.
  • the mobile horizontal guide sleeve 21 is provided with a mobile horizontal guide sleeve 38.
  • the mobile horizontal guide sleeve 38 is provided with a mobile vertical guide 24 and a mobile vertical guide.
  • Straight rail motor 27 and mobile vertical rail rotary motor 22 a mobile vertical rail belt 40 is installed between the mobile vertical rail motor 27 and the mobile vertical rail rotating shaft 35, and the mobile vertical rail rotary motor 22 and the mobile vertical rail rotate
  • a rotating vertical guide rotating belt 41 is installed between the rotating shafts 34, and the moving vertical guide belt 40 and the moving vertical guide sleeve 36 are screwed.
  • move the vertical guide rail 24 is mounted vertically movable guide sleeve 36, the shaft 35 moves the vertical guide rail and the moving rotation axis 34 vertical, the vertical movement of the guide sleeve is attached to the robot end effector 31 on the gripping means 36.
  • the belt can be replaced by a lead screw, and the transmission between the motor and the guide rail is connected by a lead screw. This situation is as follows:
  • the manipulator is provided with a fixed seat.
  • the fixed seat is provided with a fixed horizontal guide rail 19 and a fixed horizontal lead screw.
  • the fixed horizontal guide rail 19 is installed with a fixed horizontal guide bushing 37 and a fixed horizontal guide rail motor 20.
  • the fixed horizontal guide bushing 37 and the fixed horizontal guide rail motor 20 It is connected by screws and moves together.
  • the fixed horizontal guide rail 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 rail 21 and a moving horizontal lead screw.
  • the moving horizontal guide motor 25 and the moving horizontal lead screw are connected by a screw thread transmission.
  • the moving horizontal guide sleeve 38 and the moving horizontal guide motor 25 are connected by screws and move together.
  • a mobile vertical guide 24, a mobile vertical screw and a mobile vertical guide rotation motor 22 are installed on the mobile horizontal guide sleeve 38, and a mobile vertical guide sleeve 36, a mobile vertical guide motor 27 and The vertical guide rail rotates the rotating shaft 34, and the vertical guide motor 27 and the vertical guide sleeve 36 are screwed together and move together to move the vertical guide rail.
  • Da 27 is connected with the moving vertical screw by a screw thread transmission.
  • a moving vertical guide rotating belt 41 is installed between the moving vertical guide rotating motor 22 and the moving vertical guide rotating shaft 34, and a moving vertical guide sleeve 36 is installed.
  • a robot terminal grasping mechanism 31 is mounted on the robot.
  • the fixed horizontal guide rail 19, the mobile vertical guide rail 24, the mobile horizontal guide rail 21, the mobile vertical screw, the fixed horizontal screw and the mobile horizontal screw are made of a round rod, such as a rail with a threaded round rod
  • the fixed horizontal guide rail motor 20, the mobile vertical guide rail motor 27, and the mobile horizontal guide rail motor 25 are all externally connected with a threaded transmission member on their own shafts, and the thread of the transmission member matches the thread of the guide rail.
  • One of the round bars is provided with a thread matching the driving motor, and the threaded guide rail is connected with the threaded transmission member on the motor by thread transmission. In this way, the screw does not rotate, and the guide sleeve is driven by the rotation of the motor.
  • connection relationship of the screw drive in this embodiment is as follows:
  • the manipulator is provided with a fixed seat.
  • a fixed horizontal guide 19, a fixed horizontal lead screw and a fixed horizontal guide motor 20 are installed on the fixed seat.
  • a fixed horizontal guide sleeve 37 is installed on the fixed horizontal guide 19, and the rotating shaft and the fixed level of the fixed horizontal guide motor 20 are installed.
  • the lead screw is coaxial and fixedly connected.
  • the fixed horizontal guide sleeve 37 is screwed with the fixed horizontal lead screw.
  • the fixed horizontal guide rail 19 is placed in parallel with the fixed horizontal lead screw.
  • the fixed horizontal guide sleeve 37 is provided with a fixed horizontal screw hole and a fixed horizontal guide rail.
  • the fixed horizontal screw hole is provided with internal threads matching the external threads of the fixed horizontal screw.
  • the fixed horizontal guide hole has no threads.
  • the fixed horizontal guide sleeve 37 is equipped with a moving horizontal guide 21, a moving horizontal screw and a moving horizontal guide motor. 25.
  • a moving horizontal guide sleeve 38 is installed on the moving horizontal guide rail 21.
  • the rotating shaft of the moving horizontal guide motor 25 and the moving horizontal lead screw are coaxially arranged and fixedly connected.
  • the moving horizontal guide sleeve 38 is provided with a moving horizontal screw hole and a movement.
  • Horizontal guide rail holes, mobile horizontal screw holes are provided with internal threads that match the external threads of the mobile horizontal screw rods.
  • the flat guide sleeve 38 is provided with a mobile vertical guide 24, a mobile vertical guide rotary motor 22, a mobile vertical lead screw and a mobile vertical guide motor 27.
  • the mobile vertical lead screw is coaxially disposed with the mobile vertical guide motor 27 and Fixed connection.
  • a mobile vertical guide sleeve 36 and a mobile vertical guide rotating 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 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 rotates between the rotating vertical guide rotating motor 22 and the moving vertical guide rotating shaft 34.
  • a manipulator terminal grasping mechanism 31 is mounted on the belt 41 and the moving vertical guide sleeve 36.
  • Both the screw and the belt can achieve the transmission effect, so in one manipulator, one or two of the fixed horizontal guide 19, the mobile vertical guide 24, and the mobile horizontal guide 21 can be driven by a screw, and the rest are driven by a belt.
  • Mode that is, there are two transmission modes in one robot arm, and mixed transmission modes are also possible.
  • 19 indicates a fixed horizontal guide rail, sometimes there are two fixed horizontal guide rails 19, 20 indicates a fixed horizontal guide rail motor, 21 indicates a moving horizontal guide rail, and 22 indicates a moving vertical guide.
  • Straight rail rotary motor, mobile vertical rail rotary motor 22 is mainly used to switch between the two ways of attracting or clamping and extracting, 23 represents a multi-chamber negative pressure suction head, 24 represents a moving vertical guide, and 25 represents a horizontal movement.
  • Guide rail motor, 26 indicates a clamp-type pick-up clip, which is a gripping portion in the robot terminal grasping mechanism 31
  • 27 indicates a mobile vertical guide motor
  • 28 is a fixed horizontal guide belt
  • 30 indicates Manipulator controller
  • L1 indicates the maximum distance that the mobile horizontal guide 21 can move on the fixed horizontal guide 19
  • L2 indicates the maximum distance that the mobile vertical guide 24 can move on the horizontal guide 21
  • L3 indicates the robot The maximum distance that the terminal grasping mechanism 31 can move on the moving vertical guide 24.
  • This manipulator includes a manipulator controller 30, a fixed horizontal guide rail 19, a mobile horizontal guide rail 21 and a mobile vertical guide rail 24, and a robotic terminal grasping mechanism 31.
  • Each guide rail has a servo motor (other types of motors can also be used.
  • belts or screws can be used to measure distance, a total of three, in another embodiment there are four or more servo motors and belts or screws, where the screws are more accurate than the belt.
  • the moving distance of this manipulator 4 is larger than the size in the placement machine. The moving distance is 50 meters, 30 meters, 10 meters, or 5 meters.
  • the fixed horizontal guide 19 is fixed on the ground or the wall, which is generally on the top.
  • the bottom determine the starting position of the movement of the robot 4 and the horizontal movement direction of the robot 4, the horizontal movement includes the movement along the X-axis direction and the Y-axis direction, and the vertical direction is the Z-axis, establish a coordinate system, and then place the product In the coordinate input system in this coordinate system (three-dimensional coordinates), these coordinates must be within the range of the movement of the robot 4, and the coordinates outside the range of movement belong to the place where the robot 4 cannot reach.
  • the storage shelf 2 is as high as the roof.
  • the manipulator terminal grasping mechanism 31 is divided into a gripping part and a suction type part.
  • the gripping type is using a gripper of a robot to grip products
  • the suction type is using negative pressure to suck products. These two types are used according to different products. For mineral water or beer, use the pinch type, and for instant noodles or biscuits, use the suction type.
  • the controller When the controller receives the shopping information, the controller will give instructions to multiple servo motor drivers, and the multiple motors will immediately rotate.
  • the X-axis movement of the robot terminal grasping mechanism 31 is based on the horizontal movement.
  • the guide rail motor 25 pulls and moves the vertical guide rail 24 to move on the moving horizontal guide rail 21.
  • the Y-axis direction movement of the robot terminal gripping mechanism 31 is pulled by the fixed horizontal guide rail motor 20 to move the horizontal guide rail 21 to move on the fixed horizontal guide rail 19.
  • the Z-axis direction movement of the robot terminal grasping mechanism 31 is achieved by moving the vertical rail motor 27 to pull the robot terminal grasping mechanism 31 to move on the moving vertical rail 24.
  • the manipulator terminal grasping mechanism 31 can move in full coverage on the space where the goods are placed, reach the place where the goods are placed, and take the required goods and send them to the picking place.
  • the manipulator terminal gripping mechanism 31 includes a gripping type picking clip 26 and a multi-chamber negative pressure suction head 23.
  • the top of the moving vertical rail 24 of the manipulator has a moving vertical rail rotating motor 22, which is used to switch the gripping type of picking
  • the clip solenoid valve 51 is connected to the clip, and the clip solenoid valve 51 expands and contracts to open the clip. Or closed; there is a nozzle solenoid valve 44 in the multi-chamber negative pressure suction head 23, which realizes the suction and release of negative pressure to release the negative pressure.
  • the multi-chamber negative pressure suction head 23 includes a soft rubber 42, a multi-chamber body 43, a nozzle solenoid valve 44, a core 45, a side plate 46, a guide sleeve fixing plate 47, and a nozzle mounting plate 59.
  • the soft rubber 42 and The multi-chamber body 43 is integrally formed.
  • the core 45 is inserted into the multi-chamber body 43 to form a closed chamber with the product.
  • the soft rubber 42 serves as an auxiliary seal.
  • the multi-chamber body 43 is provided with multi-chamber body air holes. 48.
  • the core 45 is provided with an air groove 49 and a core air hole, and the air groove 49 is in communication with the core air hole.
  • the clip-type pick-up clip 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 rotation shaft 55, a second rotation shaft 56, a clip side plate 57, and a clip.
  • the mounting plate 58, the clip 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 is connected to
  • the pressure reduction splint 53 is rotationally connected through a rotating shaft.
  • the product splint 52 is mounted on the clip side plate 57 through the second rotation 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 pressure reduction splint 53. Pick up goods.
  • 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 that can be moved on the fixed horizontal guide rail 19 is greater than 0.1 meters and less than 500 meters.
  • the maximum distance that can be moved is greater than 0.1 meters and less than 500 meters, and it can be smaller in height, taking 100 meters, so the maximum distance that can be moved on the moving vertical guide 24 is greater than 0.1 meters and less than 100 meters.
  • the maximum distance L1 that the mobile horizontal guide rail 21 of the robot can move on the fixed horizontal guide rail 19 is 0.1 m ⁇ L1 ⁇ 500 m. In one embodiment, the maximum distance L2 that the moving vertical guide rail 24 of the robot can move on the moving horizontal guide rail 21 is 0.1 m ⁇ L2 ⁇ 500 m. In an embodiment, the maximum distance L3 that the robotic terminal grasping mechanism 31 can move on the moving vertical guide rail 24 is 0.1 m ⁇ L3 ⁇ 100 m.
  • a store has one or more manipulators 4 and each manipulator 4 has a manipulator controller 30, but the store also has a controller for data input and data reception, the master controller 7, which also needs to allocate and coordinate multiple controllers.
  • the work of two robots This main controller 7 is connected to the wired network in order to receive product information from the network.
  • the controller 6 also needs a communication cable to connect with other purchasing equipment in the store.
  • the customer can also use the operation department.
  • Other shopping devices 10 within 1 come for shopping. This shopping device 10 is connected to the main controller 7 of the store. Information on the purchase of goods through the shopping device will also be transmitted to the main controller 7 and the shopping will be completed.
  • the general controller 6 receives shopping information from these devices, that is, it can receive all shopping information in the store; at the same time, the general controller 7 must be connected with other robot controllers 30 in the store so that Can control the movement of these robots 4 and also connect with the computer host of the store, so that the administrator of this store can check the shopping information and sales situation in time; the main controller 6 communicates with the company's control center for management of the store , Replenishment management, accounting and so on to provide data, so this total controller 7 is provided with many interfaces, the interface is shown in Figure 8, the number of robots 4 in the figure is uncertain, it may be one or many , Not as shown in the figure.
  • the main controller 7 is connected with the computer of the store by a parallel interface, the main controller 7 is connected with the company's main control center by an Ethernet interface, and the rest are connected by a serial interface.
  • the main controller 7 includes a networking module (a WIFI module or a Bluetooth module can also be added), a processor module, a memory module, an Ethernet module, and a payment module.
  • the networking module and the Bluetooth module are used to receive and send information to multiple devices;
  • the Ethernet module is connected to the external network;
  • the processor module is mainly used to coordinate the resources in the store, arrange the appropriate robotic hand to place the goods in the appropriate place, calculate the price of the goods and complete the sale of the goods;
  • the memory module mainly stores the goods in the storage department Information such as the location and price of the product for the processor to call.
  • the networking module When a shopping device is operated by a customer, the networking module receives the information, and the general controller 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. When 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 7 fetches the product location information in the memory module, and the network module of the main controller 7 sends the product position information to the robot 4 that picks up the goods, and the robot 4 that picks up the goods to fetch the goods; After the product's robot hand took the goods one by one, the network module of the main controller 7 received this information and listed the robot 4 of the object as idle; the network module sent information to the shopping device.
  • the customer can open the door. The customer chooses to open the door in the shopping device 10, and the networking module receives the information, and the networking module sends the information solenoid valve to open the door and Removal of goods.
  • Each manipulator 1 has its own manipulator controller 30.
  • the manipulator controller 30 controls the actions of more than five motors and the actions of several solenoid valves, as shown in Figure 9.
  • the number of servo motor drivers and solenoid valves in the figure It is uncertain, it may be one or many, not the number shown in the figure, in which all the interfaces of the robot controller 30 are serial interfaces, and there is no Ethernet interface; the clip solenoid valve 51 is mainly It is used by the manipulator terminal grasping mechanism 31 to grasp and release.
  • the robot controller 30 includes a networking module, a processor module, and a memory module.
  • the processor module mainly optimizes the order of taking goods reasonably, calls up the storage position data of the product, and sends instructions to the motor servo driver; the memory module mainly stores the position of the product in the storage department.
  • the pick-up robot networking module receives the information; the processor module optimizes the pick-up order, calls the storage position of the memory module products, and makes the motion parameters of multiple moving parts, and the motion parameters of the moving parts. Including when and how much distance to start the movement; After that, the networking module sends these movement parameters to multiple moving parts, and the robot 4 picks up the goods. Since this robot does not have a shopping box, it can only take the goods one by one. 9.
  • the networking module sends a message to the general controller 7.
  • the general controller 7 has obtained all the goods and is in the place of picking, as shown in Figure 1.
  • the software operating system of this store can use Windows, Android, or Apple's Mac OS. Since this device and system are only used in the unmanned store system provided by this embodiment, this store can also use other Small operating system Linux, you can even develop an operating system yourself, because this system is only used in this unmanned store system, there is no file transfer exchange with the outside world, there is no file sent to another unmanned store system can not open Case. Individual unspecified cases.
  • the storage racks 2 are arranged row by row.
  • the robot hand 4 is placed above the store storage rack 2 and the mobile horizontal guide rail 21 of the manipulator is set above the storage rack 2.
  • Multiple storage racks can be taken For the goods on 2, the manipulator moves back and forth between the shelves, so an operation unit 1 can be set at both ends of the manipulator to fix the horizontal guide rail 19, and the goods can be placed for customers to scan the code. The effect functions on both sides are the same. It also doubles the picking place. If the robot 4 is not placed above the store shelf 2 in the store, the robot 4 can only take the goods on one shelf 2 and the work efficiency of the robot 4 is greatly reduced. Already.
  • the operation unit 1 can also make some display cabinets 8 to recommend new products, newly developed products, and promotions of discount promotions to customers.
  • how many products are taken at each location and how many of these products are updated in real time and reported to the entire store system control center at preset intervals for accounting, delivery and management .
  • This system can be mixed with other systems.
  • the manipulator 4 used in this store for the unmanned store system 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 to place items, or pick up things. There is a preset sequence of positions, and the positions are fixed, but the position of the robot's picking and placing of the store is not fixed, and it changes according to the customer's requirements.
  • the action of the industrial robot is repeated every time it is set, 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. Similarly, its action depends on the type of product purchased by the customer. As long as an order is different, its action is different. Each order is a motion program.
  • the generation of this manipulator motion program is that the manipulator controller first optimizes the order of taking goods and finds the order of picking the smallest path, and then this order of picking plus multiple moving parts instructions becomes a motion program.
  • the key is that the customer's order must be digitized, and it can be transmitted to the controller in time to form a program.
  • the goods in the warehouse must be digitized.
  • the type and location of the goods must be corresponding, and they must be entered into the controller. In this way, the digital input allows the robot to accurately obtain the goods according to the digital order.
  • the relative positions between the manipulator, the storage rack and the pick-up must be fixed and fixed. Therefore, the manipulator, the storage rack and the pick-up are often fixed by iron bars or screws, which is standardized. Multiple stores The data should be the same for easy management and operation.
  • This robot 4 takes the goods and takes them one by one to the pick-up place 9 or elsewhere.
  • the pickup of the multiple goods needs to be performed in a sequence or preset order or rule.
  • the robot controller 30 determines a method or a rule, so that the robot can automatically generate a pickup program.
  • This method rule can be sorted based on the characteristics of the product itself such as the weight, volume and length of the product or the number and position of the product in the system. After entering these rules into the system, when there is an order, the robot controller 30 will According to the order, the motion program for executing this order will be automatically generated, and the robot 4 will move according to this program, and take out the goods to the pick-up place or other places.
  • This rule can be set crosswise, for example, when the weight is greater than N kilograms, then the weight is used as the basis of the order. The heavier ones are taken to the picking place first 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). At this time, the volume is used as the basis for ordering, and the large-volume products are first taken to the picking place. For those durable consumer goods, you can take them to the picking place first, and then put those foods that are easily broken, such as food, into the picking place.
  • the weight When the weight is greater than or equal to N kilograms, the weight is used as the basis for ordering. The heavier weight is first taken to the pick-up place or other places;
  • the length will be used as the basis for ordering.
  • the length is used as the basis for ordering, and the one with the longer length is first taken to the picking place or other places;
  • the volume is used as the basis for ordering, and the larger one is first taken to the picking place or other places;
  • the order of the products in the system is taken as the order, and the smaller serial number is first taken to the picking place or other places.
  • 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 robot or robot control.
  • the device can automatically generate motion programs, which is an important step to achieve a real unmanned store system.
  • the robot controller 30 automatically generates a program according to the order according to the rules in the system, and moves from the current position of the robot 4 to the position of the first product, grabs the product and moves to the picking place, etc.
  • the robot puts the product into the picking place, then moves to the position of the second product, grabs the product and moves towards the picking place, and when it reaches the picking place 9, it puts the product Entering place 9 ...
  • the robot 4 moves to the standby position or stops there.
  • This embodiment also provides a manipulator 4 with a shopping box.
  • the method of generating the motion program of the manipulator is different. These robots all have a shopping box, so there is no need to take the goods one by one.
  • This method of automatic generation of robot motion programs is to set rules based on the characteristics of the product, such as weight, volume, length, position of the product in the store, numbering of the product in the system, and so on. Usually set as: when 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 N3 cm, these products need to be picked up one by one or other places or placed in the shopping box Pour into the pick-up point 1.
  • the weight of the product is less than N1 kg, the volume of the product is less than N2 cubic centimeters, and the length of the product is less than N3 cm
  • 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. If one shopping box cannot fit, the robotic controller 30 will be divided into two according to the volume and weight of the product, and a part of the heavy one will be loaded first according to the weight priority order. commodity.
  • the order is based on the position of the product in the store. Every time you get a product, go to the closest product to the product to minimize the movement of the robot. Here, weight is taken as the priority, followed by length, and then volume. Finally, when priority is not required, the product is sorted according to the position of the product. From the multiple pickup paths, the shortest path is selected as the robot motion program. .
  • the generation of this manipulator program is mainly based on the characteristics of the product itself, the position of the product in the store, and the number of the product in the system.
  • the product is picked up one by one or other places.
  • the robot controller 30 optimizes the path according to the position of the product in the store and puts the robot Find the one with the shortest movement path and use it as a program. If there are N items to take, then there is N! There are many ways to pick up the goods. At this time, which product is random and which product is random. Because the product is random, there are many combinations, there is N! To find a shortest robot motion path as a program.
  • the basis for generating the motion program by the robot controller 30 includes position, weight, volume or length.
  • This embodiment provides a method for automatically generating a robot motion program.
  • This method or rule is mainly set according to the characteristics of the product, such as the weight, volume, or length of the product. The purpose of setting this rule is to control the robot.
  • the device 30 can automatically generate a motion program according to the order.
  • Stores can set rules according to specific conditions.
  • This method rule is that the robot controller 30 can sort products based on the weight, volume, length, number of the products in the system, or the position of the products in the store to determine the order in which the robot 4 picks up the goods. In order, when there is an order, the robot controller 30 will automatically generate a movement program for executing the order according to the order, and the robot 4 will move according to this program and take out the goods to the pick-up place 9 or other places.
  • the motion program of the robot 4 is automatically generated by the robot controller 30 according to the customer's purchase order (order after payment), so each motion program of the robot 4 is executed only once.
  • the unmanned store system has the following characteristics: the program of the robot 4 is automatically generated according to an order for a customer to purchase a product; the program of the robot 4 is executed only once and is not repeatedly executed; the robot 4 The product is placed at multiple fixed positions, and the multiple position parameters must be input to the robot controller 30, that is, the pick-up location 9 is multiple fixed. First, the multiple position parameters must be input.
  • the manipulator controller 30 goes; the movement program of the manipulator 4 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 where the manipulator fixes the horizontal guide rail 19 is fixed to the storage rack 2 and the pick-up place 9 of the storage section.
  • the motor of the manipulator is a servo motor or a stepper motor, and the servo motors each have a motor servo driver.
  • the fixed horizontal guide rail motor 20 and the mobile horizontal guide rail motor 25 of the manipulator move non-simultaneously, that is, the mobile horizontal guide rail motor 25 stops when the fixed horizontal guide rail motor 20 moves, and the fixed horizontal guide rail motor 20 stops when the horizontal guide rail motor 25 moves.
  • the straight rail rotary motor 22, the mobile vertical rail motor 27, and the fixed horizontal rail motor 20 can move simultaneously, and the mobile vertical rail rotation motor 22, the mobile vertical rail motor 27, and the horizontal rail motor 25 can move simultaneously.
  • the unmanned store system provided with the above-mentioned robot 4 is generally divided into an operation section 1 and a storage section 3, and customers cannot enter the storage section 3, and can only move in the operation section 1, and operate in the operation section 1.
  • the placed products are affixed with our QR code so that customers can scan the codes.
  • the products in the operation section 1 are not sold.
  • the goods in the storage department 3 are arranged according to the numerical position in the system, so that when customers purchase these goods, only one robot 4 is used. This robot 4 can take these products out.
  • Paste a QR code As shown in Figure 1, the robot 4 first puts the goods into the shopping box, and then picks up the pick-up point 9. There is no need to exchange the robot in the middle. If the robot 4 does not have a shopping box, it will directly take the goods to the pick-up point one by one. 9.
  • the customer enters the store operation department 1 and wants to purchase the goods. Take the mobile phone and other equipment to scan the QR code of the goods to be purchased. After scanning the code of all the goods to be purchased, the payment is made. At this time, the robot will be instructed to take these goods. After the purchased goods have been confirmed at the pick-up place, the customer can open the door of the pick-up place through the mobile phone and take away the purchased goods. When the customer returns the 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 unmanned store system of this embodiment is a small store, one or two robots are sufficient, but medium-sized stores and large stores need multiple robots to share, and each robot owns After the goods in the range are received at the exchange point, other robots will get the corresponding pick-up place from the exchange point.
  • the robot that picks up the goods at the exchange point is the exchange robot.
  • the robot that picks up the goods from the shelf can be called picking. Robot. Every order should not use multiple robots 4 as much as possible to pick up the goods, which can improve the efficiency. Therefore, when choosing the picking place, try to choose the picking place that is close to the storage location of most items on the shopping list, which can reduce the number of exchanges. . As shown in Fig.
  • the picking robot 4 takes the goods here, and then the robot 4 of the switch takes it to another place.
  • 4 indicates the picking robot or exchange robot, the swap robot and the picking robot 4, It is basically the same, but the placement is different, you can exchange the goods, or you can take a shopping box to the exchange point, and let the picking robot to get the goods into the shopping box, that is, the exchange robot 4 can take Goods can also be taken in a shopping box.
  • a robot can be equipped with a shopping box, first take the goods to its own shopping box, and then take the goods to the exchange place and pour into the exchange robot's shopping box, or the robot does not have a shopping box and directly puts the goods into a Take the place to the exchange place, and then put it in the shopping box of the exchange robot.
  • this product guide slot 60 is generally used in an unmanned store system with two picking robots, as shown in FIG. 11, where 60 represents the product guide slot, and in FIG. 11, two products are shown.
  • Manipulator, Figure 11 shows the case of two unloading robots for an unmanned store system.
  • the commodity guide grooves 60 are provided in two groups.
  • the commodity guide grooves near one of the robots are assigned as guide grooves A1-A6, and the commodity guide grooves near the other robot are assigned as B1-B6.
  • Guide groove A1 and guide groove B6 are guide grooves at the pick-up location A
  • guide groove A2 and guide groove B5 are guide grooves at the pick-up location B
  • guide groove A3 and guide groove B4 are guide grooves at the pick-up location C
  • guide groove A4 and guide groove B3 are the guide grooves at the picking place D
  • guide groove A5 and guide groove B2 are the guide grooves at the picking place E
  • guide groove A6 and guide groove B1 are the guide grooves at the picking place F.
  • the same number of pick-up points 9 can also be set.
  • Each robot hand comes with a robot controller 30, and the robot controller 30 Controls the movement of the manipulator, and also has a master controller 7, which mainly plays the role of distributing and coordinating work.
  • the scale of the unmanned store system is not large, it is suitable to have two manipulators 4. The robot 4 first takes the goods into its own shopping box, and then takes it to the pick-up place 9 without having to exchange the robot in the middle. Or the robot does not have a shopping box, and directly takes the goods one by one to the picking place.
  • an unmanned store system is provided with a picking robot.
  • the unmanned store system includes a commodity guide slot 60, a robot 4 and two storage shelves 2, a commodity guide slot 60, and a robot 4.
  • the two storage shelves 2 should be fixedly connected to each other to ensure that the relative positions of the product guide slot 60, the robot 4 and the two storage shelves 2 are fixed, and the parameters of the robot 4 will not change, so that the robot 4 can be accurate Take the goods.
  • FIG. 12 As shown in FIG.
  • 61 is the first fixing rod between the guide grooves
  • 62 is the second fixing rod between the storage shelf 2 and the robot
  • 63 is the third fixing rod at the bottom of the storage shelf 2
  • 64 is the third fixing rod 63
  • the fourth fixing rod between the product guide groove 60, 66 is the fifth fixing rod between the robot 4 and the wall
  • 65 is the sixth fixing rod between the two storage shelves.
  • the unmanned store system provided in this embodiment further has a detection mechanism.
  • the detection mechanism detects whether the product is taken to the pick-up place 9.
  • the specific operation of the detection process of the detection mechanism in this embodiment It is as follows: When the robot 4 picks up the goods, it is not directly placed at the picking place 9, but it is first placed at a scanning point on the side of the picking place 9, and each time a product is placed, the detection agency scans the barcode on the product. After scanning the bar code of the product, inform the system that the product has been obtained, and push the product to the pick-up location 9.
  • the products purchased by customers are based on the products detected by this testing agency. The products are charged only when they are detected. If there is no charge in the order but not detected, the charge will be refunded and the customer will be notified.
  • the store does not have shopping equipment, but only a display cabinet.
  • the display cabinet contains the products, and the products are affixed with a QR code and other information.
  • the customer uses a mobile phone to scan the QR code on the product and scan the QR code on the product. Place an order and pay, and the store also informs customers where to pick up the goods via mobile phone.
  • the store is equipped with a voice recognition shopping device, and the customer selects the product by voice and pays the bill.
  • a store has an online shopping device, and customers shop online through online shopping, select products on the store webpage, and pay for them.
  • the store is provided with an input shopping device, and the customer selects the product by paying attention to the name of the product in the display cabinet of the store, and enters the input device.

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Abstract

一种无人商店系统,包括设置于仓储部(3)内的机械手(4)、取物处(9)、总控制器(7)及储货架(2),储货架包括斜坡槽(16),斜坡槽设置为放置商品,机械手设置为将储货架上的商品拿至取物处。机械手包括:固定水平导轨(19);固定水平导轨马达(20),设置于固定水平导轨上;固定水平导套(37),安装于固定水平导轨上,且固定水平导轨的位置、取物处的位置及储货架的位置相对不变;移动水平导轨(21),安装于固定水平导套上,并设置于储货架的上方;移动水平导套(38),安装于移动水平导轨上;移动水平导轨马达(25),设置于移动水平导轨上;机械手终端抓取机构(31),连接于移动水平导套;及与总控制器电路连接的机械手控制器(30)。还公开了一种无人商店系统的控制方法。该无人商店系统能够完成无人商店系统自动取货、信息输入及销售管理。

Description

无人商店系统及其控制方法
本申请要求申请日为2019年3月9日、申请号为201910177686.4的中国专利申请;申请日为2018年6月20日、申请号为201810633434.3;申请日为2019年3月9日、申请号为201910177685.X及申请日为2019年5月7日、申请号为201910376884.3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技术领域,例如涉及一种无人商店系统及其控制方法。
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;后来随着大卖场和超市出现,人们可以进入大卖场和超市选东西,出来再买单;再后来无人商店出现,顾客可以自己在无人商店选商品再自己买单;此外,有的商店,在商品上贴上感应标签,该感应标签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,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。
发明内容
本公开提供了一种无人商店系统及其控制方法,能够完成无人商店系统自动取货、信息输入及销售管理。
本申请提供了一种无人商店系统,包括:仓储部及设置于所述仓储部内的机械手、取物处、总控制器及储货架,所述储货架包括斜坡槽,所述斜坡槽设置为放置商品,所述机械手设置为将所述储货架上的商品拿至取物处;
其中,所述机械手包括: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,且所述固定水平导轨的位置、所述取物处的位置及所述储货架的位置相对不变;移动水平导轨,安装于所述固定水平导套上,并设置于所述储货架的上方;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;机械手终端抓取机构,连接于所述移动水平导套;及与所述总控制器电路连接的机械手控制器;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水平导套在所述移动水平导轨上移动,所述机械手控制器分别与所述固定水平导轨马达及所述移动水平导轨马达电路连接。
一实施例提供了一种无人商店系统的控制方法,其中,所述方法设置为上述的无人商店系统中实施,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为一实施例提供的无人商店系统简略图;
图2为一实施例提供的无人商店系统的操作部的展示柜示意图;
图3为一实施例提供的储货架的结构示意图;
图4为一实施例提供的机械手结构图;
图5为一实施例提供的多腔室负压吸头的分解图;
图6为一实施例提供的夹取式取物夹子的分解图;
图7为一实施例提供的机械手终端抓取机构的立体图;
图8为一实施例提供的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的接线示意图;
图10为一实施例提供的带有交换机械手的无人商店系统的示意图;
图11为一实施例提供的带有两个机械手的无人商店系统的示意图;
图12为一实施例提供的带有一个机械手的无人商店系统的示意图;
图13为一实施例提供的总控制器的组成结构示意图;
图14为一实施例提供的无线模块的组成结构示意图。
图中,1-操作部,2-储货架,3-仓储部,4-机械手,5-商店墙壁,6-商品导槽,7-总控制器,8-展示柜,9-取物处,10-购物设备,11-行的标识,12-列 的标识,13-二维码,14-标签,15-压块,16-斜坡槽,17-水平部分,18-挡板部分,19-固定水平导轨,20-固定水平导轨马达,21-移动水平导轨,22-移动竖直导轨旋转马达,23-多腔室负压吸头,24-移动竖直导轨,25-移动水平导轨马达,26-夹取式取物夹子,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,46-侧板,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-商品交换点,60-商品导槽,61-第一固定杆,62-第二固定杆,63-第三固定杆,64-第四固定杆,65-第五固定杆,66-第六固定杆。
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。
参照附图图1-图12,本实施例提供了一种无人商店系统,该无人商店系统包括仓储部3,所述仓储部3包括机械手4、取物处9、总控制器7、储货架2及购物设备10,其中所述储货架2包括斜坡槽16,所述斜坡槽16上放置有商品,所述商品上面放置有压块15,所述储货架2上的商品由机械手4拿至取物处9,顾客从取物处9把所购买的商品取走,所述取物处9设置有取物处电磁阀,该取物处电磁阀控制取物处开关,所述总控制器7与机械手4、购物设备10及取物处电磁阀电路连接,所述总控制器7储存有所有商品的位置参数、价格信息及商品数量信息,在一实施例中,如图13所示,所述总控制器7包括以太网模块、无线模块、联网模块、处理器模块及存储器模块,处理器模块与以太网模块、无线模块、联网模块及存储器模块电路连接。如图14所示,无线模块包括WIFI模块、4G模块和5G模块中的至少一种;所述机械手4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及机械手终端抓取机构31,所述移动水平导轨21放置在商店的储货架2的上方,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,机械手控制器30生成运动程式的依据包括商品的位置、重量、体积及长度,所述机械手运动程式只执行一次。
在一实施例中,所述固定水平导轨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,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,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及移动竖直导 轨马达27电路连接。
在一实施例中,所述机械手4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与移动水平导轨马达25可以同时运动。
在一实施例中,所述机械手4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。
在一实施例中,所述机械手4的运动程式只执行一次,不重复执行的。
在一实施例中,所述机械手4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。
在一实施例中,所述机械手固定水平导轨19的位置与储货架2的位置以及取物处9的位置都是固定不变。
在一实施例中,所述无人商店系统还包括操作部1,所述操作部1设有展示柜8,所述展示柜8摆放有展示商品,所述展示柜8摆放的商品顾客不能带走。
在一实施例中,所述取物处9设置有控制取物处9的开关的取物处电磁阀,取物处电磁阀与总控制器7电路连接。
在一实施例中,所述购物设备10包括输入装置和支付装置,所述输入装置设置为接收购物信息的输入,所述支付装置设置为接收和处理支付信息。所述购物设备10支付方式包括刷磁条卡支付、刷芯片卡支付、感应支付、扫码枪支付、刷脸支付、刷指纹支付、微信支付及支付宝支付八种支付方式里的一种或多种;或所述购物设备10支付方式包括刷磁条卡支付、刷芯片卡支付、感应支付、刷脸支付及刷指纹支付五种支付方式里的一种或多种。所述购物设备10购物信息的输入手段包括触摸屏输入、鼠标输入、语音输入及键盘按键输入四种手段里的一种或多种。
在一实施例中,所述机械手4使用的马达为伺服马达或步进电机,所述伺服马达都带伺服马达驱动器。
所述购物设备10的信息输入方式包括手机、平板、笔记本电脑等,通过上述信息输入方式登录商店网页选择商品并付款,在操作部1用扫码设备扫码选购商品并买单,在操作部1查看展示柜8内商品名称及编号并将商品名称及编号输入至输入设备中买单,在一个语音识别设备里对着设备用语音输入来选择商品 并付款,在操作部1内一个能打开本商店网页的设备里选购商品并买单。所述购物设备10所使用的方式为所述信息输入方式五种里的一种或多种。
该无人商店系统在空间上分为操作部1和仓储部3,操作部1主要是摆放所要售卖的商品,供顾客选择扫码用,仓储部3主要是存放所售卖的商品,仓储部3和操作部1是分开的,顾客只能在操作部1看商品,扫码,或者在设备上选择商品,但是顾客不能进入仓储部3。
顾客选购商品的方式有多种,先以手机扫码来选购商品来介绍。当客户在操作部1将购买商品的信息以一种方式输入到商店系统里,这个购物信息就传到了该商店的总控制器7,总控制器7通过设有伺服马达的机械手4去拿这些商品,并将商品放到取物处9,客户去取物处9拿商品。由于这个机械手4精度要求不高,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9为基本原点,当机械手4运动到这里时,机械手4的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。有的商店有两排储货架2,因为仓储部3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部1。如果把展示柜8做到外墙上,取物处9也镶嵌到商店墙壁5上时,这是可以说没有操作部1了。商店系统如图1,其中,1表示操作部,2表示储货架,3表示仓储部,4表示机械手,5表示商店墙壁,6表示商品导槽,7表示总控制器,8表示展柜,9表示取物处,10表示购物设备。
操作部1里展示的商品按照预设规则摆放,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,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,以便多个客户扫码或者查看记。这个操作部1也要根据这个无人商店系统所处在区域的特点来摆放商品,主要根据平时商品售卖的情况做出调整,平时卖的多就多摆放几个扫码点,平时卖的少就少摆放,甚至把这个商品放到角落里去。操作部1设置多个取物处9,可供多人同时购物,基本上在操作部1最下面的一层都是取物处9,每个顾客在以一种方式选择好商品并买单完,系统就通过顾客在那个付款过的购物设备10里通知顾客,你可以打开取物处9的门取商品了,顾客就可以把所购的商品取走了。之所以要在手机里设置取物处9的开关,可以防止顾客的商品被别的顾客拿走。操作部1里一部分商品可以放在手可以伸进去摸或者拿起来看的栅栏里,但是商品又不能拿出来。有的商品可以摆放一些真的物品,有的贵重商品可以摆放一些图片或模型,甚 至就摆放一个包装盒,这样就不会有人去拿走操作部1里展示的商品了,也能让顾客看到选择想选择的商品,如图2,11为行的标识(行数),12为列的标识(列数),13为二维码,14为标签。取物处9也有分别的,有些商品就比较大,如被子,椅子以及一些成包的小件商品,这些商品的取物处9就要大些,但如矿泉水,小食品或纸巾等就不需要那么大的取物处了。取物处9的开关是由系统供电的取物处电磁阀控制的,当取物处9的门关闭时,取物处电磁阀会挡住取物处9拉不出来,只有通过顾客的手机里点击打开这取物处9,取物处电磁阀抽回去,顾客才能把取物处9拉出来取走商品。
仓储部3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4拿这个商品的位置,当机械手4得到信息后,就来拿这个商品,机械手4只根据位置来拿商品,机械手4本身不会分辨出商品的种类,摆放在这里的就是这个商品;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,然后在电脑里输入,也可以直接把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,以将商品的种类输入,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,可以认为这个信息就是一个编码或编号,而不再是位置的坐标信息,不用再输入商品的坐标位置信息。对于顾客来讲,购物就容易多了。当一个商店只有一个机械手4时,设置为对数据输入和数据接收的控制器和机械手控制器可以做成一个,但是当一个商店有多部机械手4时,每部机械手4都有自己控制器,此外,无人商店系统还有一个数据输入和数据接收的总控制器7,这个总控制器7分配机协调多个机械手4的工作。
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。放置商品的槽可以做成斜坡式的斜坡槽16,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压块使纸巾能自动滑移,如图3,15表示的是压块,16表示斜坡槽,17表示设置于槽前面的水平部分,18表示设置于货物槽前面的挡板部分。仓储部3的商品准备的数量,要以预设时间内所销售的量为 一个基数,预设时间要根据实际情况而定,比如是三天或七天。这种商店是以日常消费用品为销售目标的,不卖那些很少用的商品。所以对于那些一个月卖不到一件的商品,就不再摆卖了,另外生鲜农产品也不销售,因为生鲜产品不好用机械手去拿,但是生鲜农产品包装好后也可以销售,这样可以使商店的效益最大化。另外这种商店也分大中小三个类型,一般说来一万人左右的地方可以开一个小店;每十万人左右的地方可以开个中店;每一百万人左右的地方可以开一个大店。这样商店可以做到每天花一个小时左右时间补充货物,或者做到预定天数内,只需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预设时间段内值班,处理异常和退货问题,比如在工作时间8:00-18:00内。机械手4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。
这个商店也可以把机械手所行走的地方与员工补货走的地方分开,分为机械手活动区域和员工补货通道,这样就可以在机械手不停止的情况下补货,不耽误商品销售,否则,要把机械手停止后再补货,等补完货后才能再销售商品,这样会耽误一些销售时间。
本实施例中提供了一种扫码购物方式,当顾客扫码后,手机上就打开一个链接或者界面,并出现选购本店商品的种类数量价格之类的信息,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,链接或者界面提示是用微信付款还是支付宝付款或是其它方式,选定后就从相应的支付方式中扣款,然后提示顾客你所买的商品在对应的取物处9取物,待商品都拿到取物处9后,系统就提示顾客你可以打开取物处9的门,顾客在手机里点击打开取物处9的门,就能拿走所买的商品了。顾客取走商品后,取物处9自动归回原先状态。每个订单只拿到一个取物处,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。
除了这个手机扫码购物外,也还有其它方法购物的,如以下几种方法:
通过手机、平板或笔记本电脑等移动设备购物,当顾客在操作部想买商品时,就在自己的移动设备里打开网页选择开单,移动设备就出现本店商品的分类目录的信息,请选择想买商品的名称或者其编号,每选完一个商品,就出现选购本店同类商品的厂家信息及价格之类的信息,可以在同类产品里选择一个或多个商品,待顾客选定后,接下来就会有两个选项,一个是继续选购商品, 另外一个是结束选购并买单,待顾客买单时,就会显示顾客所买商品清单让顾客确认,待顾客确认后,提示是用微信付款还是支付宝付款或是其它方式,选定后从对应的支付方式中扣款,待商品都拿到取物处9后,移动设备提示顾客可以打开哪个取物处的门以拿走商品,顾客在移动设备里点击打开取物处9的门,就能拿走所买的商品了。顾客取走商品后,取物处9自动归回原先状态。用户也可以在其它地方可以登录本商店网页,在网上选择商品后,系统就会生成一个订单编号,顾客可以在网上付款后来到该商店,然后在这个移动设备前输入订单号,系统就会把所购买的商品拿出来,顾客便可买到商品;也可以不付款就生成一个订单号,到商店在移动设备前输入订单号后再付款也能买到商品。
通过操作部内一个语音识别设备来购物,当顾客在操作部1看到有识别设备空闲时,就来到这个识别设备面前,说“开单”,设备就回应,请说出所买商品的名称,每说完一个商品名称,就出现选购本店商品的种类、数量及价格之类的信息(没有显示屏的,设备就语音输出商品的信息),顾客核对屏幕显示信息与所说商品的信息是不是一致,一致的话,就继续同语音识别设备说明购买的数量,如果有错就同语音识别设备说明错误,再重新说商品的名称,直至商品的购买信息正确,待顾客购买后,接下来就会有两个选项,一个是继续说你想要购买商品名称,另外一个是结束选择并买单,待顾客买单时,就提示是用微信付款还是支付宝付款或是其它方式,选定后就从对应的支付方式中扣款,待商品都拿到取物处9后,设备就提示顾客你可以打开取物处9的门,顾客在设备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9自动归回原先状态。商店也可以开通网上选购功能,用户可以在其它地方登录本商店网页,在网上选择商品后,系统就会生成一个订单编号,顾客可以在网上付款后来到本商店,然后在这个语音识别设备前说出订单号,系统就会把所购买的商品拿出来,顾客就买到了商品;网上选好商品,不付款也可以生成一个订单号,到商店说出订单号后再付款也是一样。该购物设备10包括:处理器模块,该处理器模块处理顾客用语音或者点击屏幕来显示商店网页以及其他模块的功能整合并与总控制器通讯;语音识别模块,主要是用处理识别顾客的语音来输入购物信息的;显示模块,该显示模块为设备上的显示屏,只要有一个点击动作或可识别的语音,显示屏就会显示本商店网页;输入模块,顾客通过触摸屏、按键、或鼠标选择商品或输入购物信息;支付模块,顾客选择完了通过支付模块的感应支付,感应支付的方式包括微信、支付宝或网银等几种方式支 付货款;联网模块,该联网模块可以发送信息,顾客买单后发送顾客购物信息以及该设备的编号以及顾客点击屏幕开门等信息到商店总控制器中,接收信息,当机械手把所购买的商品都拿到取物处后,总控制器就发送消息到该购物设备,该设备就在屏幕上显示可以打开取物处的门,顾客点击屏幕边可将门打开。
通过操作部1的输入设备来购物,当顾客在操作部1查看商品完毕后,将所选择商品的名称编号,选择开单,设备就显示出或者语音输出:请输入所买商品的名称或者其编号,这时就输入在操作部1内记下的商品的名称编号,每输完一个商品,就出现选购商品的种类、数量及价格之类的信息,顾客核对屏幕显示信息与所输入的信息是不是一致,是一致的,就选择购买,如果有错就修改输入信息直至正确,待顾客选定后,接下来就会有两个选项,一个是继续输入商品名称或编号,另外一个是结束输入并买单,待顾客买单时,提示是用微信付款还是支付宝付款或是其它方式,选定后就从对应的支付方式中扣款,待商品都拿到取物处后,输入设备就提示顾客你可以打开取物处的门,顾客在输入设备里点击打开取物处9的门,就能拿走所买的商品了。顾客取走商品后,取物处9自动归回原先状态。这个设备包括:处理器模块,主要用处理顾客输入信息以及其他模块的功能整合并与总控制器通讯;显示模块,比如,屏幕;输入模块,一种或多种的输入方法,比如:按键、触摸屏、手写笔或鼠标等;支付模块,一种或多种的付款方法,比如:刷磁条卡、刷芯片卡、感应支付、扫码、刷脸支付、刷指纹支付、微信支付及支付宝支付等等;以及联网模块,该联网模块与总控制器通讯。其中,显示模块、输入模块、支付模块及门的开闭都是由顾客触发的。这里的屏幕可以不是触摸屏的,也可以是触摸屏的。商店也可以开通网上选购功能,用户可以在其它地方登录本商店网页,在网上选择商品后,系统就会生成一个订单编号,顾客可以在网上付款后来到商店,然后在输入设备前输入订单号,系统就会把所购买的商品拿出来,顾客就买到了商品;网上选好商品,不付款也可以生成一个订单号,到商店在输入设备上输入订单号,再付款也可以。
通过操作部1内的网购设备来购物,顾客要购买商品,就在商店操作部1里通过这个网购设备里的人机界面打开该商店网页,通过这网购设备选择所要购买商品,待全部选完后,又可以通过这个网购设备买单或者其他方式买单,无人商店系统的控制器就会收到商品信息,并把商品信息传输给在仓储部内的机械手,机械手就去把在仓储部内按照系统指定位置放置的商品拿到系统指定的 取物处,等所买的商品都拿到取物处后,顾客就可以把所买的商品取走了。所述网购设备包括显示屏。网购设备的付款方式有一种或几种,如刷磁条卡槽或扫码枪等;网购设备的操作方式有一种或几种,如按键、触摸屏或鼠标等;网购设备设有与总控制器通讯的接口;网购设备还有其它的一些辅助功能。顾客可以通过按键来输入商品信息;有鼠标的可以通过鼠标和虚拟键盘来输入商品信息;如果屏幕是触摸屏的话,也可以通过点击屏幕来输入商品信息。
以上购物方式的购物途径不同,每种购物适合不同的人群,在其他实施例中也还有其它方法,这里就不一一列举。由此可见所述购物设备购物信息的输入方式包括以下三种中的一种或多种在操作部查看操作部内展示柜内商品名称及编号后输入商品名称及编号,在一个语音识别设备里对着设备用语音说明商品名称及编号,或在操作部内一个购物设备上打开商店网页并在网页里选商品名称及编号。所述购物设备支付方式包括刷磁条卡支付、刷芯片卡支付、感应支付、扫码枪支付、刷脸支付、刷指纹支付、微信支付及支付宝支付的一种或多种,所述购物设备支付方式包括刷磁条卡支付、刷芯片卡支付、感应支付、刷脸支付及刷指纹支付中的一种或多种,所述购物设备购物信息的输入手段包括触摸屏输入、鼠标输入、语音输入及键盘按键输入中的一种或多种。这里操作部有时可以省略,有时可以把这个购物设备放进外面墙壁里,或者选择几种方式里一种,不需要设置操作部,这时就没有操作部了,但是顾客还是不能进仓储部。
这样商店有很多优点: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,也就是说没有时间不能销售商品(有的补货时间暂时不能销售商品);3、可以减少管理成本;4、可以少装修一些店面,大大节省装修成本;5、可以只在操作部开冷气,节省成本;6、可以大大地节省空间,仓储部可以堆积更密集些,不用留出宽阔的走廊让顾客走来走去,另外货架也可以做的更高些,有人商店只能做到两米高,货架再高点的普通人就不好拿商品;7、可以节省顾客的购物时间,比如:有的很大的商场,想找一个东西不好找,有的找了半天都没找着,有的售货员都不知道所找商品在什么地方;8;可以保护未销售的商品,比如:在开放式卖场里有的商品被顾客拆开过,有的碰掉摔坏。9、有利于消防管理,比如:大卖场出口不容易找到,即使设置多个出口,出口也容易堵住,顾客只能从收银台那里出去,没有堵住的出口也要有人把守,这就会有人员工资了,若是大火封住出口了,后果就严重了;10、可 以设置多个取物处,这样购物时买单就不用排队等候了。这里尤其是前三项优点的描述,这个节省的成本很大,商店的成本主要是物流成本和人工成本,能把人工成本节省一大部分,能造就对其它形式商店巨大的优势。对于第一项优点,少雇佣一个人,就能减少很多与雇佣方面的成本及纠纷等,如缴纳社保,劳动合同,年假,加班费及生育津贴等其它方面的费用;还有第二项和第三项优点,这两点对员工的劳动保护要求很高的情况下,是个很好的规避措施,欧美商店在周六和周日是不营业,白天也营业几个小时,就是因为要对劳动者保护。对于有些人来说,一个星期24小时营业的商店会使便利,有些人半夜病了,想买药吃,就可以随时去买,不用去医院看急诊了。这个无人商店系统对药店有很好改善作用,药品一般都是小件,都还包装好,方方正正,药品的价值也较大。所以可以先从药店开始,把药店做到无人化。
所述机械手4,所述机械手4放置在商店储货架2的上方,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及机械手终端抓取机构31,其中固定水平导轨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,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旋转以调换机械手终端抓取机构31的抓取方式,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及移动竖直导轨马达27电路连接,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。
马达和导轨之间传动用皮带连接,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、固定水平导轨转轴32及固定水平导轨马达20,固定水平导轨转轴32上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和移动水平导轨转轴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,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。
固定水平导轨19、移动水平导轨21及移动竖直导轨24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,圆形的导轨设置至少两条。
皮带可以用丝杠代替,马达和导轨之间传动用丝杠连接,这种情况如下:
机械手设有固定座,固定座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及固定水平导轨马达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及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丝杆螺纹传动连接,移动水平导套38与移动水平导轨马达25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、移动竖直丝杠及移动竖直导轨旋转马达22,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和移动竖直导套36之间以螺钉连接并一起运动,移动竖直导轨马达27与移动竖直丝杠之间以丝杆螺纹传动连接,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。所述固定水平导轨19、移动竖直导轨24、移动水平导轨21、移动竖直丝杠、固定水平丝杠及移动水平丝杠是由圆棒制成,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。这种方式丝杠不转动,靠马达转动来驱动导套运动。
这个丝杆传动还有另外一种方式,就是马达的转轴与丝杠固定连接,丝杠与导轨平行放置,导套上设置有与丝杠外螺纹匹配的内螺纹,导套与丝杠以螺纹连接。这种方式丝杠转动,因为有另外的导轨限制,导套不能转动,本实施例中丝杠传动的连接关系如下:
机械手设有固定座,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轴且固定连接,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、移动水平丝杠及移动水平导轨马达25,移动水平导轨21上安装有移动水平导套38,移动水平导轨马达25的转轴与移动水平丝杠之间同轴设置且固定连接,移动水平导套38设有移动水平丝杠孔和移动水平导轨孔,移动水平丝杠孔设有与移动水平丝杠外螺纹匹配的内螺纹,移动水平导轨孔无螺纹,移动水平导套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。
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里选择一个或两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传动方式,混合的传动方式也是可以的。
接着还以皮带传动为例来说明这个机械手,如图4所示,19表示固定水平导轨,固定水平导轨19有时用两根,20表示固定水平导轨马达,21表示移动水平导轨,22表示移动竖直导轨旋转马达,移动竖直导轨旋转马达22主要是将吸附取物还是夹紧取物两种方式的转换,23表示多腔室负压吸头,24表示移动竖直导轨,25表示移动水平导轨马达,26表示夹取式取物夹子,该夹取式取物夹子 26为机械手终端抓取机构31里的夹取部位,27表示移动竖直导轨马达,28是固定水平导轨皮带,30表示机械手控制器,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。这个机械手包括机械手控制器30,固定水平导轨19,移动水平导轨21及移动竖直导轨24以及机械手终端抓取机构31,每个导轨里有一个伺服马达(也可以用其它类型的电机,这里主要讲伺服电机),皮带或者丝杠可用于测量距离,共有三个,在一其他实施例中有四个或者更多伺服马达和皮带或者丝杠,其中,丝杠比皮带要精确些。这个机械手4移动的距离要比贴片机里的尺寸大,移动的距离为50米、30米、10米或5米等,把固定水平导轨19固定在地上或墙壁上,一般会在最上边或最下边,确定好机械手4运动的起点位置,以及机械手4水平运动方向,水平运动包括沿X轴方向和Y轴方向的运动,另外竖直方向为Z轴,建立一个坐标系,再把商品在这个坐标系(三维坐标)里的坐标输入系统里去,这些坐标都要在机械手4运动的范围之内,不在运动范围之内的坐标属于机械手4够不着的地方。有时为了节省空间,储货架2高度直至屋顶。机械手终端抓取机构31分为夹取式部分和吸取式部分,夹取式就是用机械手的夹子去夹取商品,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,矿泉水或啤酒等要用夹取式,方便面或饼干等要用吸取式的。当控制器接到购物信息后,控制器就会对多个伺服马达驱动器发出指令,多个马达都会立即转动起来,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取物处。
机械手终端抓取机构31包括夹取式取物夹子26及多腔室负压吸头23,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,是用来切换夹取式取物和吸取式取物;夹取式取物夹子26里有一个夹子电磁阀51,是实现夹取和松开动作的,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,吸头电磁阀44伸缩时,商品和多腔室负压吸头23就形成了一个密闭的空间,随着吸头电磁阀44的拉伸,密闭空间变大,密闭空间内压强降低,商品就吸附在多腔室负压吸头23上了,这些电磁阀的功能也可以用气动的气缸来代替,来实现吸附和夹取的动作。
多腔室负压吸头23包括软胶42、多腔室体43、吸头电磁阀44、型芯45、侧板46、导轨套固定板47及吸头安装板59,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、型芯气孔及气槽49再到前面密闭的腔室,这时负压就消失了,如图5,这就是多腔室负压吸头23的工作原理。
如图6所示,夹取式取物夹子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,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。
在本实施例提供的无人商店里这个机械手的L1、L2及L3这三个参数可取,在固定水平导轨19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21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24上能移动的最大距离大于0.1米且小于100米。
在一实施例中,机械手的移动水平导轨21在固定水平导轨19上能移动的最大距离L1,0.1米<L1<500米。在一实施例中,机械手的移动竖直导轨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。在一实施例中,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< 100米。
一个商店有一部或多部机械手4,每部机械手4都有机械手控制器30,但是商店还有一个数据输入和数据接收的控制器,总控制器7,这个总控制器还要分配、协调多个机械手的工作。这个总控制器7与有线网络连接,以便接收来自网络的商品信息,控制器6还需要有通讯电缆与商店里的其它购买设备相连,除了可以用手机扫码购物外,顾客也可以通过操作部1内其它的购物设备10来购物,这种购物设备10和商店的总控制器7相连,通过购物设备购买商品的信息也会传送到总控制器7,也会完成购物的。顾客通过购物来购买商品,总控制器6接收来自这些设备的购物信息,即能接收一切在本商店的购物信息;同时这个总控制器7既要与商店里的其它机械手控制器30连接,以便能控制这些机械手4的动作,又要与该商店的电脑主机相连接,以便这个商店的管理员能及时地查看购物信息及销售情况;总控制器6与公司的控制中心通讯连接,为商店管理,补货管理及会计核算等等提供数据,所以这个总控制器7设有很多接口,接口如图8,图中的机械手4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7与该商店的电脑是以并行接口连接,总控制器7与该公司总控制中心以以太网接口连接,其余的是以串行接口连接。总控制器7包括联网模块(也可以加个WIFI模块或蓝牙模块),处理器模块,存储器模块,以太网模块及支付模块,其中联网模块和蓝牙模块是用来接收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到合适的取物处里去,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部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,联网模块就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7的处理器模块就调取存储器模块里商品位置信息,总控制器7的联网模块就把这个商品位置信息发给取物的机械手4,取物的机械手4就去取商品;取物的机械手就把商品都一个一个地拿到取物处后,总控制器7的联网模块接收到了这个信息,把取物的机械手4列为空闲;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10里选择打开门,联网模块就收到信息,联网模块就发送信息电磁阀,开门,顾客取走商品。
每个机械手1都有自己的机械手控制器30,该机械手控制器30要控制五个以上马达的动作以及几个电磁阀的动作,如图9,图中的伺服马达驱动器和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取机构31抓紧松开用的。在一实施例中,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,发送指令给马达伺服驱动器;存储器模块主要存储商品在仓储部内的位置。当总控制器发来购物信息,取物机械手联网模块接收信息;处理器模块就优化取货顺序,调取存储器模块商品存放位置并把多个运动部件的运动参数做出来,运动部件的运动参数包括什么时间开始运动及运动多少距离;之后联网模块把这些运动参数发给多个运动部件,机械手4就去拿商品,由于这个机械手没有购物箱,所以只能一个个把商品拿到取物处9,等把商品拿完了,联网模块发送信息给总控制器7,总控制器7获取商品都已经拿完,且已在取物处,如图1。这个商店的软件操作系统,可以用Windows,也可以用Android,也可以用苹果的Mac OS,由于这个设备、系统只在本实施例提供的无人商店系统内使用,所以这个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,因为这个系统只用于这个无人商店系统内,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系统打不开的情况。个别的未说明的情况。
在仓储部里储货架2是一排一排地摆放的,所述机械手4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,机械手在货架之间来回运动,所以在机械手固定水平导轨19的两端都可以设置一个操作部1,都可以摆放商品来供顾客扫码,两边效果功能都是一样,这样也就多出一倍的取物处了,如果所述机械手4没有放置在商店储货架2的上方,那么机械手4只能拿取一个储货架2上的商品,机械手4的工作效率就大大降低了。操作部1里还可以做一些展示柜8,向顾客推荐新到的商品、新开发的商品以及打折促销的宣传等等。系统里在每个位置拿走了多少商品,还有多少这类商品,都是实时更新的记录的,并以预设时间间隔报送整个商店系统控制中心,以备会计核算、送货及管理。这个系统可以和其他的系统混合使用。
这个商店用的用于无人商店系统的机械手4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, 或者取物的位置有预设顺序,且位置是固定的,而商店的机械手取物的位置和放置的位置都不是固定的,是随顾客的要求而变的。工业机械手的动作每次设置后是重复的,有重复性,一个动作模式可以做几天、几个月或者几年,而这个机械手则不同,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,找出最小路径的取物顺序,而后这个取物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,能够及时地传到控制器里去形成一个程式,同时,仓库里的商品摆放也要数字化,商品的种类和位置要对应好,也要输入到控制器里去,这样数字化的输入,机械手就能够根据数字化的订单就准确地拿到商品。机械手、储货架及取物处之间的相对位置一定要不变,要固定下来,所以往往把机械手、储货架及取物处用铁条或用螺丝锁起来固定,做到标准化,多个商店数据要相同,便于管理、操作。
这种机械手4拿取商品,并将商品一个个拿到取物处9,或者拿到其他地方,当有多个商品时,这个多个商品取货需要按照顺序或预设的排序的方法或规则。机械手控制器30确定好方法或规则,这样机械手就能自动生成取货程式了。这个方法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去后,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4就按照这个程式运动,把商品都拿出来放到取物处或其它地方。这个规则可以交叉设置,如,当重量大于N千克时,这时以重量为排序依据,重量大的先拿到取物处里去,以免把后面的商品压坏了;当重量小于N千克时(N值可以在系统里调整设置),这时就以体积为排序依据,先把体积大的商品拿到取物处里去。对于那些耐用消费品,可以先拿到取物处,然后,再将那些食品等容易破碎的商品拿到取物处里去。
通常情况可以设置为:
当重量大于或等于N千克时,以重量为排序依据,重量大的先拿到取物处或其他地方;
当重量小于N千克时,以长度为排序依据,长度长的先拿到取物处或其他地方;
其中当长度大于或等于L厘米时,以长度为排序依据,长度大的先拿到取物处或其他地方;
当长度小于L厘米时,以体积为排序依据,体积大的先拿到取物处或其他地方;
当体积相等时,以商品在系统里的编号为顺序,序号小的先拿到取物处或其他地方。
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或机器人控制器能够自动生成运动程式,是实现真正的无人商店系统的重要一步。
当机械手4接到订单时,机械手控制器30就根据订单按照系统里规则自动生成程式,就从机械手4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运动,等到了取物处,机械手就把商品放到取物处里去,接着就运动到第二个商品的位置,抓取商品并向取物处运动,等又到了取物处9,就把商品放进取物处9……如此重复,待拿完最后一个商品时,机械手4就运动到待机位置或就此停住待机。
本实施例还提供了一种自带有购物箱的机械手4,该机械手的运动程式生成的方式又不同,这些机械手都自带有一个购物箱,那么就不用一个个地拿商品了。这种机械手运动程式自动生成的方法,就是根据商品的特征来设置规则,这些特征有重量、体积、长度、商品在商店里位置、商品在系统里编号等等。通常设置为:当商品重量大于N1千克时或当商品体积大于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或其它地方或放到购物箱后再倒入取物处1,当商品重量小于N1千克并商品体积小于N2立方厘米并商品长度小于N3厘米时,这时就可以先把商品拿到购物箱内,然后再一起拿到取物处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根据商品在商店的位置进行优化,把机械手拿货所走的路径最短的那一个计算出来,作为机械手运动程式。这个机械手的运动程式是根据顾客购物的订单(付款后的订单)而自动生成的,所以该机械手每个运动程式只执行一次。机械手控制器30也对放入购物箱内商品进行评估,一个购物箱装不下,机械手控制器30就会根据商品的体积重量分成两次来装,并按照以重量优先顺序先装一部分重量大的商品。
对于多个一起放到一个购物箱内商品,也可以这样设置:通常情况可以设 置为(M和L的值根据商店情况具体设定):当重量大于或等于M千克时,以重量为排序依据,重量大的先拿到购物箱;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;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;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;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;当体积小于V立方厘米时,以商品在商店里的位置为排序依据,每拿到一个商品,再去拿离这个商品最近的商品,尽量缩短机械手运动的路程。这里是把重量作为优先级的,其次是长度,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。
从上面可以看出,这个机械手程式生成主要是依据商品的本身的特征以及商品在商店里位置及商品在系统里编号。当商品的特征超出范围,这个商品就是一个一个地拿到取物处或其它地方,当商品特征在预设范围内时,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,由于拿商品时随机,所以有很多种组合,有N!种,找出一种最短的机械手运动路径作为程式。
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、体积或长度。
本实施例提供了一种机械手运动程式自动生成的方法,这个方法或规则主要是根据商品的特性来设定的,如商品的重量、体积或长度等,设定这个规则的目的是为了机械手控制器30能够根据订单自动生成运动程式。商店可以根据具体情况设置规则,这个方法规则就是机械手控制器30可以以商品的重量、体积、长度、商品在系统里的编号或商品在商店里的位置作为依据来排序,确定机械手4拿货先后顺序,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4就按照这个程式运动,把商品都拿出来放到取物处9或其它地方。这个机械手4的运动程式是机械手控制器30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4每个运动程式只执行一次。
本实施例提供的无人商店系统有以下特征:所述机械手4的程式是根据顾客购买商品的订单而自动生成的;所述机械手4的程式是只执行一次,不重复执行;所述机械手4放置商品的位置是多个固定的位置,并且要先把这个多个位置参数 输入要机械手控制器30里去,也就是取物处9是多个固定,要先把这个多个位置参数输入要机械手控制器30里去;机械手4的运动程式是多对多的程式,即把多个位置上的每个物品拿起来,可以放到多个不同的位置的任何一个位置上去。所述机械手固定水平导轨19的位置是与仓储部的储货架2以及取物处9之间是固定的不变的。
在一实施例中,机械手的马达是伺服马达或步进电机,所述伺服马达都带马达伺服驱动器。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及固定水平导轨马达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及移动水平导轨马达25可以同时运动。
本实施例中,设置有上述机械手4的无人商店系统一般划分为操作部1和仓储部3,顾客不能进到仓储部3里去,只能在操作部1里活动,在操作部1所摆放的商品都贴上本店的二维码,以便顾客扫码,操作部1里的商品是不卖的。同时把仓储部3的商品按照系统里的数值位置摆放好,好让顾客购买这些商品时,只用一部机械手4,这部机械手4能够拿这些商品出去,仓储部3里的商品可以不贴二维码。如图1所示,机械手4先把商品放入购物箱内,然后再拿到取物处9,中间不用交换机械手,若机械手4没有购物箱,便直接把商品一个个地拿到取物处9。
顾客走进商店操作部1,想购买商品,就拿手机等设备扫描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得到确认后,顾客就可以通过手机打开取物处的门,便可拿走所买的商品。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。
在一实施例中,若本实施例的无人商店系统为小型商店,一部或两部机械手就够用了,但中型的商店和大型的商店就需要多部机械手共用,每部机械手把自己范围的商品拿到交换点后,再由其它机械手从交换点拿到对应的取物处,其中,在交换点拿取商品的机械手为交换机械手,从货架上拿商品的机械手可以叫做取物的机械手。每个单子要尽量不用多部机械手4交换来拿货,这样能提高效率,所以在取物处选择时,尽量选择取物处靠近该购物单上大多数商品的存放位置,这样可以减少交换次数。如图10,59表示商品交换点,取物的机械 手4把商品拿到这里,再由交换机的机械手4拿到其他地方去,4表示取物机械手或交换机械手,交换机械手与取物机械手4,本质上是一样的,只是放置的位置不一样,可以拿商品交换,也可以拿一个购物箱来到交换点,让取物机械手将商品拿到购物箱中,也就是交换机械手4可以拿的是商品,也可以拿的是一个购物箱。机械手上可以设置有一个购物箱,先把商品拿到自己的购物箱内,然后再将商品拿到交换地点后并倒入交换机械手的购物箱里去,或者机械手没有购物箱,直接把商品一个个地拿到交换地点,然后再放到交换机械手的购物箱里去。
在一实施例中,在不用交换机械手时,且只有一部取物机械手时,为了多设置一些取物处,通常会做一些导槽,叫做商品导槽60,主要是把商品顺利引导到取物处9里去,这个商品导槽60一般应用于有两部取物机械手的无人商店系统中,如图11,其中60表示商品导槽,另外,在图11中,示出了两部机械手,图11中示出了一个无人商店系统用两部取物机械手的情况,通过商品导槽60,就可以使商品滑到另一个机械手4处,从而使每个取物处9都能接收两个机械手4所拿的商品。导槽的分配情况为,其中,商品导槽60设置有两组,靠近其中一个机械手的商品导槽分配为导槽A1-A6,靠近另一个机械手的商品导槽分配为B1-B6,其中,导槽A1和导槽B6是取物处A的导槽,导槽A2和导槽B5是取物处B的导槽,导槽A3和导槽B4是取物处C的导槽,导槽A4和导槽B3是取物处D的导槽,导槽A5和导槽B2是取物处E的导槽,导槽A6和导槽B1是取物处F的导槽,同理,如果把展示柜8做到外墙上,取物处9也镶嵌到商店墙壁5上时,也可以设置同样多的取物处9,每个机械手都自带一个机械手控制器30,机械手控制器30控制着机械手的运动,同时还有一个总控制器7,这个总控制器7主要起分配工作及协调工作的作用,当无人商店系统规模不大时,适合设有两部机械手4。机械手4先把商品拿到自己的购物箱内,然后再拿到取物处9,中间不用交换机械手。或者机械手没有购物箱,直接把商品一个个地拿到取物处里去。
在一实施例中,如图12,无人商店系统中设置有一部取物机械手情况,该无人商店系统包括商品导槽60、机械手4及两个储货架2,商品导槽60、机械手4及两个储货架2之间要相互固定连接,以保证商品导槽60、机械手4及两个储货架2相对位置的固定,机械手4取物的参数就不会变,这样机械手4就能准确地取商品了。如图12,61是导槽之间的第一固定杆,62是储货架2和机械手之间的第二固定杆,63是储货架2底部的第三固定杆,64是第三固定杆63和商品导槽60之 间的第四固定杆,66是机械手4和墙壁之间的第五固定杆,65是两个储货架之间的第六固定杆。
在一实施例中,本实施例提供的无人商店系统还有检测机构,机械手4拿商品之后,检测机构检测商品是否被拿到取物处9,本实施例中检测机构的检测过程具体操作如下:当机械手4拿商品时,不是直接放到取物处9,而是先放到取物处9边上的一个扫码点,每放一个商品,检测机构就会扫码商品上的条码,扫到商品条码后告知系统,这个商品已经拿到了,并把该商品推进取物处9。顾客所买的商品,是以这个检测机构检测到的商品为准,检测到商品才扣款,订单里有但没检测到的不扣款,已扣款要退款并告知顾客。
在一实施例中,商店不设购物设备,只设展示柜,展示柜内放有商品,商品贴有二维码等信息,顾客用手机登扫码设备扫商品上的二维码,在手机下单并付款,商店也通过手机通知顾客在哪里取货。
在一实施例中,商店设语音识别购物设备,顾客通过语音来选择商品,并买单。
在一实施例中,商店设网购设备,顾客通过网购上网,在商店网页里来选择商品,并买单。
在一实施例中,商店设输入购物设备,顾客通过查看商店展示柜里商品名称,并在输入设备输入来选择商品,并买单。

Claims (11)

  1. 一种无人商店系统,包括:
    仓储部,包括机械手、取物处、总控制器和储货架,所述储货架包括斜坡槽,所述斜坡槽设置为放置商品,所述机械手设置为将所述储货架上的商品拿至所述取物处;
    其中,所述机械手包括:
    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,且所述固定水平导轨的位置、所述取物处的位置及所述储货架的位置相对不变;
    移动水平导轨,安装于所述固定水平导套上,并设置于所述储货架的上方;
    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;
    机械手终端抓取机构,连接于所述移动水平导套;及
    与所述总控制器电路连接的机械手控制器;
    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水平导套在所述移动水平导轨上移动,所述机械手控制器分别与所述固定水平导轨马达及所述移动水平导轨马达电路连接。
  2. 根据权利要求1所述的无人商店系统,其中,所述固定水平导轨马达和所述移动水平导轨马达设置为非同时运动以使所述固定水平导轨马达运动时,所述移动水平导轨马达停止,或所述移动水平导轨马达运动时,所述固定水平导轨马达停止。
  3. 根据权利要求1所述的无人商店系统,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为L1,0.1米<L1<500米,所述移动竖直导轨在所述移动水平导轨上能移动的最大距离为L2,0.1米<L2<500米,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为L3,0.1米<L3<100米。
  4. 根据权利要求1所述的无人商店系统,其中,所述固定水平导轨马达和所述移动水平导轨马达为伺服马达或步进电机,所述伺服马达包括伺服马达驱动器。
  5. 根据权利要求1所述的无人商店系统,还包括与总控制器电路连接的购 物设备,购物设备包括输入装置和支付装置,所述输入装置设置为接收购物信息的输入,所述支付装置设置为接收和处理支付信息。
  6. 根据权利要求1所述的无人商店系统,其中,所述总控制器包括以太网模块、无线模块、联网模块、处理器模块及存储器模块,所述处理器模块与所述以太网模块、所述无线模块、所述联网模块及所述存储器模块电路连接,所述无线模块包括WIFI模块、4G模块和5G模块中的至少一种,所述总控制器设置为储存商品的位置参数、价格信息及数量信息。
  7. 根据权利要求1所述的无人商店系统,还包括设置为控制取物处开关的取物处电磁阀,所述取物处电磁阀与所述总控制器电路连接。
  8. 根据权利要求1所述的无人商店系统,还包括操作部及设置于所述操作部内的展示柜,所述展示柜设置为摆放展示的商品。
  9. 一种无人商店系统的控制方法,所述方法设置为在权利要求1-8任一项所述的无人商店系统中实施,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。
  10. 根据权利要求9所述的无人商店系统的控制方法,其中,所述商品信息包括所述顾客订单中的商品的重量、体积及长度。
  11. 根据权利要求9所述的无人商店系统的控制方法,其中,所述购物设备购物信息的输入方式包括以下三种的至少一种:
    在操作部输入商品名称及编号;
    语音识别设备里语音输入商品名称及编号;及
    在网页上选商品名称及编号;
    所述购物设备的支付方式包括刷磁条卡支付、刷芯片卡支付、感应支付、刷脸支付及刷指纹支付中的至少一种;
    所述输入方式采用的输入装置包括触摸屏、鼠标、语音识别设备及键盘按键中的至少一种。
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