WO2020187057A1 - Bras de manipulateur de commutation - Google Patents

Bras de manipulateur de commutation Download PDF

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Publication number
WO2020187057A1
WO2020187057A1 PCT/CN2020/078104 CN2020078104W WO2020187057A1 WO 2020187057 A1 WO2020187057 A1 WO 2020187057A1 CN 2020078104 W CN2020078104 W CN 2020078104W WO 2020187057 A1 WO2020187057 A1 WO 2020187057A1
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WO
WIPO (PCT)
Prior art keywords
exchange
shopping box
rail
exchange shopping
solenoid valve
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2020/078104
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English (en)
Chinese (zh)
Inventor
熊长伦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Taihui Technology Co Ltd
Original Assignee
Shenzhen Taihui Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910205443.7A external-priority patent/CN109702719A/zh
Application filed by Shenzhen Taihui Technology Co Ltd filed Critical Shenzhen Taihui Technology Co Ltd
Publication of WO2020187057A1 publication Critical patent/WO2020187057A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/08—Program-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed

Definitions

  • the invention relates to the technical field of unmanned shop equipment, in particular to an exchange manipulator.
  • SMT equipment is to take a variety of different materials, mainly some small electronic components, some are very small, and the component 201 is only one millimeter. Take these small materials and place them on various positions on the motherboard. I have been to a high-temperature tin furnace and wait until the surface is covered with tin. After the temperature drops, these electronic components are firmly fixed on it. Of course, the position of each material and the position to be attached to the motherboard must be set in the computer in advance. And the order of posting is also set in advance. Each motherboard has hundreds or even thousands of electronic components, SMT equipment can accurately pick up these and put them where they should be. The size of this equipment has a very high accuracy, which can reach one thousandth of a millimeter. Naturally, this equipment is very expensive.
  • This device mainly relies on the servo motor to realize the conversion from a numerical parameter (only a numerical value is input in a computer and other equipment) to a distance (the manipulator moves such a distance), that is to say, when a numerical value to be moved is given, The servo motor will move as required until it reaches the destination.
  • This method is also a many-to-many method, that is, multiple materials are picked up at the feeding place and sent to different positions on the main board.
  • This servo system is an automatic control system that enables the output controlled quantity of the object's position, orientation, state, etc. to follow the arbitrary change of the input target (or given value).
  • Servo mainly relies on pulses for positioning. Basically, it can be understood that when the servo motor receives 1 pulse, it will rotate the angle corresponding to 1 pulse to achieve displacement. Because the servo motor itself has the function of sending pulses, every time the servo motor rotates At an angle, a corresponding number of pulses will be sent out, which echoes the pulses received by the servo motor, or is called a closed loop. In this way, the system will know how many pulses have been sent to the servo motor, and how many pulses have been received at the same time.
  • 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 of the motor feeds back the signal to the driver, and the driver matches the target according to the feedback value. Compare the values and adjust the angle of rotation of the rotor, so the accuracy of the servo motor is determined by the accuracy of the encoder (number of lines), which can be determined according to the needs of the store.
  • 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 After payment, the robot will take the product placed in the storage area according to the designated position of the system (the product in the storage area may not have a QR code) to the designated pick-up point of the system, and the customer can use the mobile phone tablet and other devices The door of the pick-up area is opened, and the purchased goods can be taken away.
  • the unmanned store that uses this manipulator is divided into an operation area and a storage area in space.
  • the operation area is mainly for storing the goods to be sold for customers to choose to scan the code.
  • the storage area is mainly for storing the sold goods, the storage area and The operation area is separated. Customers can only view the goods in the operation area, scan the code, and cannot enter the storage area. When the customer sees the product in the operation area and wants to buy it, he can use his mobile phone or other scanning device to scan the QR code of the store affixed to the product.
  • the information of the product that wants to buy is through the network (3G, 4G, 5G, Wifi, BT, etc.) are transmitted to the controller of the store, and the controller uses the servo motor manipulator to pick up the goods and put them at the pick-up place.
  • the customer can pick up the goods at the pick-up place.
  • the accumulated error may be a bit large after many runs, so it is necessary to specify a picking point as the basic origin. When the manipulator moves to this point, the manipulator system will automatically return the position information. Zero, everything is calculated from scratch, and the error is cleared.
  • Some stores have two operation areas, because the goods in the storage area are arranged in rows, and both ends of a row of shelves can be set as an operation area.
  • the outline of the store is shown in Figure 1. Note 1 indicates the pick-up location, 2 indicates the shelf, 3 indicates a pick-up robot with its own shopping box, 4 indicates the exchange manipulator, and 5 indicates the exchange shopping box hanging rod assembly. It can be seen that the unmanned store system consists of these parts, the operation area (the goods in the operation area must be affixed with the QR code and price of the store), and the storage area (the goods in the storage area are placed strictly according to the entered position), Manipulator, fetching place, controller, etc.
  • the merchandise displayed in the operation area also has a certain degree of attention.
  • the daily necessities that consume more should be placed in a conspicuous place, and the less common merchandise can be placed in the corner and placed clearly according to types, such as paper products.
  • the beverages are also classified into a large category, put together separately, and the food category is also separately placed in another place.
  • Individually expensive ones can be placed in a few more identical ones, so that multiple customers can scan the code, etc.
  • 11 represents the line identification (row number)
  • 12 represents the column identification (column number)
  • 13 represents the QR code
  • 14 represents the product label.
  • There are multiple pick-up locations in the operation area which can be used by multiple people to shop at the same time.
  • the bottom layer below the operation area is the pick-up location.
  • the system will notify via the mobile phone Where the customer picks up the goods, when the customer arrives at the pick-up place, he can turn on the pick-up place in the switch setting of the mobile phone, and then the purchased goods can be gone.
  • the reason why you want to set the switch of the pick-up place in your mobile phone is because you are afraid that the customer's goods will be taken away by other customers.
  • the switch at the pick-up location is controlled by a solenoid valve powered by the system. When the door at the pick-up location is closed, the solenoid valve will block the pick-up location and cannot be pulled out.
  • the merchandise in the storage area should be placed strictly in accordance with the position entered in the system. You can set each merchandise position in the system first, and then place the merchandise. Each merchandise has one or more storage locations.
  • the system entry location is The robot hand takes the position of the product. Every time it gets information, the robot hand takes the product. The robot hand only takes the product according to the location. The robot itself does not distinguish the type of the product.
  • the product placed here is the product; you can also put the product first. Place the product, and then input the position of the product accurately into the system. When inputting the product location, you can first calculate and measure the value according to the coordinate system, and then enter it in the computer, or you can directly move the robot to the product.
  • the storage of the products should be in order, distinguishing the products that are placed first and the products that are placed later, especially when replenishing goods, it must be done to separate the first-in and later-in products.
  • the slot for placing the goods in the storage area can be made into a sloped slot, allowing the goods to automatically slide and supplement to the position of the manipulator. Mineral water and the like can automatically slide, but light products such as paper towels cannot automatically slide.
  • the store can spend an hour or so every day to replenish the goods, or it can take an hour or so to replenish the goods in a few days. If the customer has any questions, they can come to the store to find the staff according to the replenishment time stated in the notice. For issues such as returns, large stores can also arrange for a person to be on duty during a certain period of time (such as 8:00-18:00 during working hours) to deal with exceptions and return issues. Manipulators should also be overhauled regularly, such as adding lubricating oil, etc., especially pay attention to regularly replacing those components that are easy to wear.
  • the key equipment in this unmanned store is the picking manipulator 3 with its own shopping box, a three-dimensional manipulator, as shown in Figure 4.
  • the fixed horizontal rail 19 is sometimes two or one, and L1 represents the moving horizontal rail 21 of the manipulator.
  • L2 represents the maximum distance that the moving vertical rail 24 of the manipulator can move on the moving horizontal rail 21, and
  • L3 represents the manipulator terminal grasping mechanism 31 on the moving vertical rail 24 The maximum distance that can be moved.
  • This manipulator is mainly composed of three large pieces: fixed horizontal rail 19, movable horizontal rail 21, and movable vertical rail 24, as well as suction cups or clips, shopping boxes, etc., which are picked up by the robot terminal grasping mechanism 31, and each rail has one Servo motors (other types of motors can also be used, here we mainly talk about servo motors), belts or screws (for measuring distance), there are 3 (some 4 or more) servo motors and belts or screws ( The lead screw is more accurate than the belt.)
  • the shopping box guide sleeve 62 and the manipulator moving vertical guide 24 are connected and move together. Of course, they can also be set to move separately, so the mechanism will be more complicated.
  • the manipulator is placed above the store shelf 2, and the mobile horizontal guide 21 of the manipulator is set above the storage shelf 2. It can pick up the goods on multiple storage shelves 2, including a fixed horizontal guide 19, a fixed horizontal guide motor 20, and a mobile Vertical rail rotation motor 22, moving horizontal rail motor 25, moving vertical rail motor 27, moving horizontal rail 21, moving vertical rail 24, manipulator controller 30, manipulator terminal grasping mechanism 31, shopping box assembly 5, shopping box
  • the assembly 5 includes a shopping box 60, a shopping box solenoid valve 61, a shopping box guide sleeve 62, a shopping box rotation motor 63, a shopping box connecting rod 64, and a shopping box hanging rod 65.
  • a fixed horizontal guide sleeve 37 is installed on the fixed horizontal guide rail 19 ,
  • the fixed horizontal guide sleeve 37 is installed with a movable horizontal guide 21,
  • the movable horizontal guide 21 is installed with a movable horizontal guide sleeve 38
  • a shopping box guide sleeve 62
  • the movable horizontal guide sleeve 38 is installed with a movable vertical guide 24, a movable vertical guide
  • a mobile vertical guide sleeve 36 is installed on 24, a robot terminal grasping mechanism 31 is installed on the mobile vertical guide sleeve 36, a shopping box rotating motor 63 is installed on the shopping box guide sleeve 62, and a shopping box hanging on the shopping box rotating motor 63 is installed.
  • a shopping box solenoid valve 61 is installed on the shopping box hanging rod 65, and a shopping box 60 is installed on the shopping box solenoid valve 61.
  • the shopping box guide sleeve 62 and the movable horizontal guide sleeve 38 are connected by a shopping box connecting rod 64.
  • the fixed horizontal rail motor 20 drives the mobile horizontal rail 21 to move on the fixed horizontal rail 19
  • the mobile horizontal rail motor 25 drives the mobile vertical rail 24 and the shopping box 60 to move on the mobile horizontal rail 21
  • the mobile vertical rail motor 27 drives
  • the terminal gripping mechanism 31 of the manipulator moves on the moving vertical guide rail 24,
  • the moving vertical guide rotation motor 22 drives the moving vertical guide 24 to rotate to change the gripping mode of the terminal gripping mechanism 31 of the manipulator, the manipulator controller 30 and the fixed horizontal guide rail
  • the motor 20, the moving vertical rail rotation motor 22, the moving horizontal rail motor 25, the moving vertical rail motor 27, the shopping box rotating motor 63, and the shopping box solenoid valve 61 are electrically connected.
  • the manipulator controller 30 automatically generates a manipulator according to customer orders Motion program, the manipulator motion program is executed only once.
  • a fixed horizontal guide sleeve 37, a fixed horizontal guide motor 20, a fixed horizontal guide shaft 32 are installed on the fixed horizontal guide 19, a fixed horizontal guide belt 28 is sleeved between the fixed horizontal guide motor 20, and a fixed horizontal guide shaft 32, and the fixed horizontal guide belt is fixed. 28 and the fixed horizontal guide sleeve 37 are connected by screws.
  • the fixed horizontal guide sleeve 37 is provided with a movable horizontal guide 21, a movable horizontal guide motor 25, a movable horizontal guide shaft 33, a movable horizontal guide motor 25, and a movable horizontal guide shaft 33.
  • the movable horizontal guide belt 39 is connected with the movable horizontal guide sleeve 38 by screws.
  • the movable horizontal guide 21 is equipped with a movable horizontal guide sleeve 38 and a shopping box guide sleeve 62.
  • the movable horizontal guide sleeve 38 is installed with a movable
  • a moving vertical rail belt 40 is installed between the vertical rail 24, the moving vertical rail motor 27, the moving vertical rail rotating motor 22, the moving vertical rail motor 27, and the moving vertical rail shaft 35, and the moving vertical rail rotating motor
  • a movable vertical guide rotating belt 41 is installed between 22 and the movable vertical guide rotating shaft 34, the movable vertical guide belt 40 is connected with the movable vertical guide sleeve 36 by screws, and the movable vertical guide 24 is installed with a movable vertical guide sleeve. 36.
  • the shopping box guide sleeve 62 is installed with a shopping box rotating motor 63, shopping box connecting rod 64.
  • the shopping box connecting rod 64 is connected with the mobile horizontal guide sleeve 38 and the shopping box guide sleeve 62 by screws.
  • the shopping box rotating motor 63 is equipped with a shopping box hanging rod 65, and the shopping box hanging rod 65 is equipped with a shopping box solenoid valve. 61.
  • a shopping box 60 is installed on the shopping box solenoid valve 61.
  • the picking manipulator 3 with its own shopping box is equipped with a moving vertical rail rotating motor 22, which mainly makes the terminal grasping mechanism 31 of the manipulator rotate when picking up the goods and putting the goods into the shopping box 60, or directly into the picking place 1, or used to switch the gripping mode of the robot terminal gripping mechanism 31.
  • the shopping box solenoid valve 61 is mainly used to turn the shopping box 60 and pour the goods in the shopping box 60 into the picking place 1.
  • the shopping box rotation motor 63 mainly adjusts the direction of the shopping box to make it convenient to pour the goods into and take. ⁇ 1.
  • the fixed horizontal guide rail 19 is fixed on the ground or on the wall, usually at the top or bottom, to determine the starting position of the manipulator movement, as well as the X-axis and Y-axis directions of the manipulator's horizontal movement.
  • the vertical direction is The Z axis is now established. Create a coordinate system, and then input the coordinates of each product in this coordinate system (3D coordinates) into the system. These coordinates must be within the range of the robot's movement and cannot be reached by the robot. Sometimes in order to save space, the shelf height reaches the roof.
  • the terminal gripping mechanism 31 of the manipulator is divided into a clamping type and a suction type. The clamping type is to use the grips of the manipulator to grip the goods.
  • the suction type is to suck the goods by negative pressure. These two types should be used according to different goods. Water, beer, etc. should be clamped, and instant noodles, biscuits, etc. should be sucked.
  • the manipulator controller 30 will issue instructions to the servo drives of each motor, and each motor will immediately rotate.
  • the X-axis movement of the gripping mechanism 31 of the manipulator terminal is determined by The motor pulls the moving vertical rail to move on the moving horizontal rail 24.
  • the Y-axis movement of the robot terminal grasping mechanism 31 is achieved by the motor pulling the moving horizontal rail to move on the fixed horizontal rail 19.
  • the robot terminal grabs The movement of the mechanism 31 in the Z-axis direction is achieved by the motor pulling the robot terminal grasping mechanism 31 to move on the moving vertical guide rail 24. By moving in these three directions, the robot terminal grasping mechanism 31 can place the goods. Move with full coverage in space, you can reach the placement position of the goods, take the required goods and send them to the shopping box, and then to the pick-up place; the moving vertical guide rail 24 of the manipulator moves vertically.
  • the guide rail rotation motor 22 is used to switch between the gripping type and the suction type; there is a gripping solenoid valve 51 in the gripping type clip assembly 26, which realizes the gripping and loosening actions, the clip solenoid valve 51 and When the clamp is connected, the clamp solenoid valve 51 will expand or close, and the clamp will be opened or closed; there is a suction nozzle solenoid valve 44 in the multi-chamber negative pressure suction head assembly 23, which is used to generate negative pressure suction and release the negative pressure loosening action. When the suction nozzle solenoid valve 44 expands and contracts, the product and the multi-chamber negative pressure suction nozzle assembly 23 form a closed space.
  • the suction nozzle solenoid valve 44 As the suction nozzle solenoid valve 44 stretches, the closed space becomes larger and the pressure in the closed space decreases. Adsorbed on the multi-chamber negative pressure suction head assembly 23, the functions of these solenoid valves can also be replaced by pneumatic cylinders to realize the suction and clamping actions.
  • a connection or interface is opened on their mobile phone, and information such as the type, quantity and price of the goods to be purchased in the shop appears.
  • the next step is to continue to buy or pay, and wait for the customer to buy it.
  • you need the goods you will pay the bill, and you will be prompted whether to pay by WeChat or Alipay or other methods.
  • the payment will be deducted from it, and then the customer will be prompted to the number of pick-up locations for the goods you bought.
  • the system prompts the customer that you can open the door of the pick-up place, and the customer clicks on the phone to open the door of the pick-up place to take away the goods they bought.
  • the pick-up point automatically returns to its original state. Each order is only brought to one pick-up point. If a customer purchases too much or of different sizes, they can be divided into several orders for processing.
  • the picking manipulator 3 with its own shopping box receives the information from the main controller, that is, the order, first analyze the order of picking, so that you can save some wasted distance and use the most economical distance to complete
  • the task of fetching because the fetching manipulator 3 with its own shopping box has a shopping box 60, after you get a product, you put it in the shopping box 60, you can go directly to take the next product, instead of taking the one you have already got After putting the goods in pick-up place 1, come back and take another product.
  • analyze the picking sequence that is, the picking manipulator 3 with its own shopping box, and the controller 30, find the one with the smallest distance to be taken by the picking manipulator 3 with its own shopping box.
  • the program is generated as the retrieval manipulator 3 with its own shopping box as the retrieval execution program this time.
  • the generation of this manipulator motion program is that the manipulator controller 30 first optimizes the order of taking products to find the order of the smallest path, and then this sequence plus the instructions of each moving component becomes a motion program. It can be seen that the execution program of the fetching manipulator 3 with the shopping box in the store is automatically generated by the customer's shopping order and is executed only once.
  • the storage shelves 2 are arranged in rows.
  • the manipulator is placed above the store storage shelves 2.
  • the moving horizontal guide rail 21 of the manipulator is set above the storage shelves 2, and multiple storage shelves 2 can be taken.
  • the manipulator moves back and forth between the shelves, so both ends of the fixed horizontal rail 19 of the picking manipulator 3 with a shopping box can be provided with an operating area, and picking point 1 can be set for customers to use.
  • the effects of both sides are the same, so there will be twice as many fetching points.
  • how many commodities are taken at each location and how many such commodities are kept are updated in real time. This system can be mixed with other systems. If the moving horizontal guide rail 21 of the manipulator is arranged under the storage shelf 2, the manipulator can only pick up the goods of two storage shelves 2, and cannot pick up goods from more than three storage shelves 2.
  • the manipulator used in this shop is different from the manipulator used in industry.
  • the manipulator used in industry generally has a fixed position for taking objects, and the positions of placing objects are in a certain order, or the positions of taking objects are placed in a certain order.
  • the location is fixed, but the store's robot fetching position and placing position are not fixed, but change according to the customer's requirements, and the placement of items is in a certain order.
  • the action of the industrial manipulator is repeated after each setting, and has repetitiveness.
  • One action mode can be done for several days, months or years, but this manipulator is different. Each action may be different from the last time, or the same , Its action is determined by the type of goods purchased by the customer. As long as an order is different, its action will be different.
  • Each order is a motion program, and each order only performs one operation. It can also be said that the robot operates every time the order is paid. once.
  • the generation of this manipulator motion program is that the robot controller first optimizes the order of taking the goods to find the order of the smallest path, and then this sequence plus the instructions of each moving part becomes a motion program.
  • customer orders must be digitized, which can be transferred to the robot controller 30 in a timely manner to form a program.
  • the merchandise placement in the warehouse must also be digitized, and the type and location of the merchandise must be matched and input to the robot control. In this way, with digital input, the robot can accurately get the goods according to the digital order.
  • the fixed horizontal guide rail 19 of the picking manipulator 3 with its own shopping box, the storage shelf 2, the goods on the shelf, the picking point 1 and the second guide rail 66 of the exchange manipulator 4 should be fixed to each other.
  • the relative position of is fixed, and the picking parameters of the picking manipulator 3 with the shopping box will not change, so that each manipulator can accurately perform the task.
  • the relative positions between the pick-up manipulators 3, storage shelves 2, pick-up place 1, etc. with their own shopping boxes are locked and fixed with iron bars to achieve standardization.
  • the data in multiple stores should be the same for easy management and operating.
  • Such a store has many advantages: 1. It can save manpower and hire fewer employees. 2; Can sell goods seven days a week, and sell goods 24 hours a day. 3; Management costs can be reduced, because employees are lazy, etc., which greatly reduces management costs in this area. 4; You can decorate some stores less, which greatly saves the cost of decoration. 5; You can turn on the air conditioner only in the operating area, saving costs. 6; Can greatly save space, the storage area can be more densely stacked. 7; Can save customers shopping time. 8; You can set up a lot of pick-up locations, so you don't have to wait in line to pay for shopping, and this bottleneck disappears. In addition, unmanned stores can easily be standardized and managed.
  • the technical problem to be solved by the present invention is to provide an exchange manipulator, which solves the problem of automatic pick-up and cooperation of multiple manipulators in an unmanned store and improvement of efficiency.
  • an exchange manipulator including a first rail motor, a first rail, a first rail guide sleeve, an exchange manipulator controller, an exchange shopping box hanging rod assembly, wherein the first A first rail guide sleeve is installed on a guide rail, the first rail guide sleeve is installed with an exchange shopping box hanging rod assembly, and the exchange shopping box hanging rod assembly is provided with an exchange shopping box or a grabbing and separating exchange
  • the first rail motor is arranged on both ends of the first rail or on the first rail guide sleeve, and the first rail motor is arranged to drive the first rail guide sleeve to drive the exchange shopping box hanging rod assembly
  • the first rail motor is connected to the exchange manipulator controller circuit.
  • it further includes a second guide rail, a second guide rail guide sleeve, and a second guide rail motor.
  • the first guide rail is installed on the second guide rail guide sleeve
  • the second guide rail guide sleeve is installed on the second guide rail.
  • the second rail is installed on a wall or other fixed place
  • the second rail motor is installed on the second rail guide sleeve or at both ends of the second rail
  • the second rail motor is connected to the switching robot controller circuit
  • the second rail motor is configured to drive the second rail guide sleeve to drive the first rail to move on the second rail.
  • the exchange shopping box hanging rod assembly includes an exchange shopping box hanging rod and an exchange shopping box rotary solenoid valve.
  • the exchange shopping box rotary solenoid valve is compatible with the exchange shopping box or the grabbing separate exchange shopping box.
  • the grasping structure includes an adsorption mechanism capable of adsorbing an exchange shopping box or a card slot and post structure capable of grasping an exchange shopping box or a clip assembly capable of grasping a separate exchange shopping box, the exchange shopping
  • the upper end of the box hanging rod is installed on the first rail guide sleeve, and the lower end is connected with the switching shopping box rotary solenoid valve, the switching shopping box rotary solenoid valve is connected to the switching robot controller circuit, and the switching shopping box rotary solenoid valve is set to Turn the exchange shopping box over to dump the goods.
  • the exchange shopping box hanging rod assembly further includes an exchange shopping box rotating motor, the exchange shopping box rotating motor is arranged on the first guide rail guide sleeve or arranged on the exchange shopping box hanging rod, the exchange shopping box rotary solenoid valve Or arranged at the lower end of the exchange shopping box rotating solenoid valve, the exchange shopping box rotating motor is connected to the exchange manipulator controller circuit, and the exchange shopping box rotating motor is arranged to drive the exchange shopping box hanging rod assembly to rotate in a horizontal direction.
  • the exchange shopping box hanging rod assembly further includes an exchange shopping box lifting motor and an exchange shopping box lifting guide sleeve.
  • the exchange shopping box lifting motor is arranged at both ends of the exchange shopping box hanging rod or the exchange shopping box lifting guide.
  • the switching shopping box lifting motor is connected to the switching manipulator controller circuit, and the switching shopping box lifting motor is set to drive the switching shopping box lifting guide sleeve to drive the switching shopping box rotary solenoid valve to move on the switching shopping box hanging rod,
  • the exchange shopping box hanging rod is installed on the first rail guide sleeve
  • the exchange shopping box lifting guide sleeve is installed on the exchange shopping box hanging rod
  • the exchange shopping box rotary solenoid valve is installed on the exchange shopping box lifting guide sleeve .
  • the exchange shopping box hanging rod assembly further includes an exchange shopping box lifting motor and an exchange shopping box lifting guide sleeve.
  • the exchange shopping box lifting motor is arranged at both ends of the exchange shopping box hanging rod or the exchange shopping box lifting guide.
  • the switching shopping box lifting motor is connected to the switching manipulator controller circuit, and the switching shopping box lifting motor is set to drive the switching shopping box lifting guide sleeve to drive the switching shopping box rotary solenoid valve to move on the switching shopping box hanging rod,
  • the exchange shopping box lifting guide sleeve is installed on the first rail guide sleeve
  • the exchange shopping box hanging rod is installed on the exchange shopping box lifting guide sleeve
  • the exchange shopping box rotary solenoid valve is installed on the exchange shopping box hanging rod .
  • the switching manipulator controller includes a networking module, a processor module, and a memory module.
  • the processor module is electrically connected to the networking module and the memory module.
  • the networking module is connected to the second rail motor and the first rail motor. , Exchange shopping box rotating motor, grab solenoid valve, suction nozzle solenoid valve, exchange shopping box rotating solenoid valve, exchange shopping box lifting motor electrical connection.
  • the suction mechanism includes a multi-chamber negative pressure suction head assembly
  • the multi-chamber negative pressure suction head assembly includes a soft rubber, a multi-chamber body, a suction head solenoid valve, a core, a side plate, and a guide rail cover
  • the fixing plate wherein the soft glue and the multi-chamber body are adhesively connected, and the core is inserted into the multi-chamber body to form a closed chamber with the separate exchange shopping box, and the multi-chamber body is provided with A multi-chamber body air hole, the core is provided with an air groove and a core air hole, and the air groove and the core air hole are connected.
  • the slot and column structure includes a grab solenoid valve and a grab slot
  • the grab solenoid valve is arranged on the rotary solenoid valve of the exchange shopping box
  • the grab solenoid valve is provided with a card slot
  • the The separate exchange shopping box is provided with a clamping column matching the card slot
  • the grabbing solenoid valve is arranged to place the clamping column in the card slot and clamping it tightly
  • the grabbing solenoid valve is connected to the exchange manipulator controller circuit.
  • the clip-on clip assembly includes a clip solenoid valve, a clip solenoid valve clamping plate, a commodity clamping plate, a pressure relief clamping plate, a first shaft, a second shaft, a clip side plate, a clip mounting plate, and the clip mounting plate is connected to
  • the exchange shopping box rotary solenoid valve is screwed, the clip solenoid valve is screwed to the clip mounting plate, the clip mounting plate is connected to the merchandise splint by a first shaft shaft, and the merchandise splint is connected with the pressure relief splint by a shaft.
  • the merchandise splint is installed on the side plate of the clip through the second rotating shaft.
  • the extension or contraction of the solenoid valve will drive the solenoid valve splint, merchandise splint, and pressure relief splint to move to clamp or release the merchandise.
  • the motor used by the exchange manipulator is a servo motor or a stepping motor, and the servo motors are all equipped with a motor servo driver.
  • the motion program of the exchange manipulator is automatically generated by the manipulator controller according to the customer's order.
  • the motion program of the exchange manipulator is executed only once, and is not executed repeatedly.
  • the position between the first guide rail or the second guide rail of the exchange manipulator and the storage shelf and the picking point of the storage area are fixed.
  • the beneficial effect of adopting the above technical scheme is that by developing an exchange manipulator for use in an unmanned store, one exchange manipulator is used in cooperation with multiple retrieval robots, which can greatly improve the efficiency of multiple retrieval robots.
  • Figure 1 is a schematic diagram of the cooperation between the fetching manipulator and the exchange manipulator
  • Figure 2 is a schematic diagram of the display cabinet in the display area
  • Figure 3 is a partial cross-sectional view of the shelf
  • Figure 4 is a structural diagram of the fetching manipulator
  • Figure 5 is a perspective view of the terminal grasping mechanism of the fetching manipulator
  • Figure 6 is an exploded view of the clip assembly
  • Figure 7 is an exploded view of the multi-chamber negative pressure suction head assembly
  • Figure 8 is a perspective view of an exchange manipulator (with two horizontal guide rails) with an exchange shopping box without a lifting structure;
  • Figure 9 is a perspective view of an exchange manipulator (only one horizontal guide rail) with an exchange shopping box without a lifting structure;
  • Figure 10 is a schematic diagram of the main controller wiring
  • Figure 11 is a schematic diagram of the wiring of the fetching robot controller
  • Figure 12 is a schematic diagram of the wiring of the exchange manipulator controller
  • Figure 13 is a perspective view of an exchange manipulator (with two horizontal guide rails) with an exchange shopping box and a lifting structure;
  • Figure 14 is a perspective view of an exchange manipulator (only one horizontal guide rail) with a suction mechanism without an exchange shopping box with a lifting structure;
  • Figure 15 is a schematic diagram of the motor and screw thread transmission
  • Figure 16 is a schematic diagram of the guide sleeve and the screw thread transmission
  • Figure 17 is a perspective view of an exchange manipulator (only one horizontal guide rail) with a grasping mechanism, no exchange shopping box, no lifting structure;
  • Figure 18 is a perspective view of an exchange manipulator (with two horizontal guide rails) with a clamping mechanism, no exchange shopping box, and a lifting structure.
  • an exchange manipulator includes a first rail motor 69, a first rail 67, a first rail guide sleeve 76, an exchange manipulator controller 81, and an exchange shopping box hanging rod assembly 5, wherein the first rail 67 is A first rail guide sleeve 76 is installed, the first rail guide sleeve 76 is installed with an exchange shopping box hanging rod assembly 5, the exchange shopping box hanging rod assembly 5 is provided with an exchange shopping box 80 or is provided with a grabbing and separating In the grabbing structure of the interchangeable shopping box 29, the first rail motor 69 is arranged on both ends of the first rail 67 or the first rail guide sleeve 76, and the first rail motor 69 is configured to drive the first rail guide sleeve 76 drives the exchange shopping box hanging rod assembly 5 to move on the first guide rail 67, and the first guide rail motor 69 is electrically connected to the exchange manipulator controller 81.
  • the shopping box hanging rod assembly 5 can only perform linear motion
  • the shopping box hanging rod assembly 5 further includes a second rail 66, a second rail guide sleeve 74, and a second rail motor 68.
  • the first rail 67 is installed on the second rail guide sleeve 74
  • the second rail guide sleeve 74 is installed on the first rail.
  • the second rail motor 68 is installed on the second rail guide sleeve 74 or installed at both ends of the second rail 66
  • the second guide rail motor 68 is electrically connected to the exchange manipulator controller 81, and the second guide rail motor 68 is configured to drive the second guide rail guide sleeve 74 to drive the first guide rail 67 to move on the second guide rail 66.
  • the exchange shopping box hanging rod assembly 5 includes an exchange shopping box hanging rod 78, an exchange shopping box rotary solenoid valve 79, and the exchange shopping box rotary solenoid valve 79 is connected to the exchange shopping box 80 or the exchange shopping box.
  • the grasping structure is connected, and the grasping structure includes an adsorption mechanism capable of adsorbing the exchange shopping box or a card slot and post structure 59 capable of grasping the exchange shopping box or a clamping clip assembly 26 capable of grasping a separate exchange shopping box 29
  • the upper end of the exchange shopping box hanging rod 78 is installed on the first rail guide sleeve 76, and the lower end is connected with the exchange shopping box rotary solenoid valve 79, and the exchange shopping box rotary solenoid valve 79 is electrically connected with the exchange manipulator controller 81 ,
  • the exchange shopping box rotary solenoid valve 79 is set to turn the exchange shopping box 80 to dump goods.
  • the exchange shopping box hanging rod assembly 5 further includes an exchange shopping box rotating motor 77, the exchange shopping box rotating motor 77 is arranged on the first rail guide 76 or arranged on the exchange shopping box hanging rod 78, Between the box rotation solenoid valves 79, the exchange shopping box rotation motor 77 is electrically connected to the exchange manipulator controller 81, and the exchange shopping box rotation motor 77 is set to drive the exchange shopping box hanging rod assembly 5 to rotate in the horizontal direction, as shown in the figure 8.
  • the exchange shopping box hanging rod assembly 5 further includes an exchange shopping box lifting motor 75 and an exchange shopping box lifting guide sleeve 82.
  • the exchange shopping box lifting motor 75 is arranged at both ends of the exchange shopping box hanging rod 78 or On the shopping box lifting guide sleeve 82, the exchange shopping box lifting motor 75 is electrically connected to the exchange manipulator controller 81, and the exchange shopping box lifting motor 75 is configured to drive the exchange shopping box lifting guide sleeve 82 to drive the exchange shopping box rotary solenoid valve 79 moves on the hanging rod 78 of the exchange shopping box. This is divided into two situations;
  • the exchange shopping box hanging rod 78 is installed on the first guide rail guide sleeve 76
  • the exchange shopping box lifting guide sleeve 82 is installed on the exchange shopping box hanging rod 78
  • the exchange shopping box rotary solenoid valve 79 is installed on the exchange shopping box lifting On the guide sleeve 82, the hanging rod 78 of the exchange shopping box does not move up and down, while the lifting guide sleeve 82 of the exchange shopping box moves up and down, as shown in Figure 13 and Figure 14;
  • the exchange shopping box lifting guide sleeve 82 is installed on the first rail guide sleeve 76
  • the exchange shopping box hanging rod 78 is installed on the exchange shopping box lifting guide sleeve 82
  • the exchange shopping box rotary solenoid valve 79 is installed on the exchange On the shopping box hanging rod 78, the exchange shopping box hanging rod 78 moves up and down, while the exchange shopping box lifting guide sleeve 82 does not move up and down, as shown in FIG. 18.
  • the suction mechanism includes a multi-chamber negative pressure suction head assembly 23, which includes a soft glue 42, a multi-chamber body 43, a suction head solenoid valve 44, a core 45,
  • the side plate 46 and the rail sleeve fixing plate 47 in which the soft glue 42 and the multi-chamber body 43 are adhesively connected, and the core 45 is inserted into the multi-chamber body 43 to form a closed chamber with the separate exchange shopping box 29.
  • the soft glue 42 serves as an auxiliary sealing function.
  • the multi-chamber body 43 is provided with a multi-chamber body air hole 48
  • the core 45 is provided with an air groove 49 and a core air hole 50, and the air groove 49 and the core air hole 50 are connected.
  • the suction nozzle solenoid valve 44 When the core 45 is inserted into the multi-chamber body 43 and the separate exchange shopping box 29 to form a closed chamber, when the suction nozzle solenoid valve 44 is contracted, the core air hole 50 and the multi-chamber body air hole 48 are staggered, and the air cannot Enter, negative pressure is formed, the more the core 45 is drawn out, the greater the negative pressure, and the tighter the separation exchange shopping box 29 is.
  • the suction head solenoid valve 44 is extended, the negative pressure becomes smaller, the separation of the exchange shopping box 29 is loosened, the core air hole 50 contacts the multi-chamber body air hole 48, and the air flows from the multi-chamber body air hole 48 to the core air hole 50 to the air groove 49 and then to the front closed chamber, then the negative pressure disappears.
  • the separate exchange shopping box 29 does not need to be connected with the exchange manipulator at this time, and when the separate exchange shopping box 29 is needed, it is sucked by the suction mechanism.
  • This is the working principle of the multi-chamber negative pressure suction head assembly 23.
  • the exchange manipulator wants to absorb the separate exchange shopping box 29, it must move to the vicinity of the separate exchange shopping box 29, and then the multi-chamber negative pressure suction head assembly 23 in the adsorption mechanism moves to the separate exchange shopping box 29.
  • the slot-clamping column structure includes a grab solenoid valve 83 and a card slot 84.
  • the grab solenoid valve 83 is provided on the exchange shopping box rotary solenoid valve 79, and the grab solenoid valve 83 is provided with a card.
  • Slot 84, the separate exchange shopping box 29 is provided with a card post 85 that matches the card slot 84, the grab solenoid valve 83 is configured to place the card post 85 in the card slot 84 and clamp it tightly, the grab The solenoid valve 83 is electrically connected to the exchange robot controller 81.
  • the cross sections of the clamping slot 84 and the clamping post 85 are both non-circular.
  • the separated exchange shopping box 29 cannot rotate relative to the grasping solenoid valve 83.
  • the inner side of the slot 84 is provided with a slot chamfer 88 that facilitates the insertion of the pin.
  • the exchange manipulator wants to grab the separate exchange shopping box 29, it must move to the vicinity of the separate exchange shopping box 29, and then grab the solenoid valve 83 to open the two card slots 84 and align the center axis of the card slot 84 with The card posts 85 are aligned, and then the card slot 84 is contracted, so that the grabbing structure grabs the separate exchange shopping box 29, moves to the pick-up place to be moved, and then rotates the solenoid valve 79 in the exchange shopping box. Under the action, the separated exchange shopping box 29 pours the goods into the pick-up place, as shown in Fig. 17.
  • the clip-on clip assembly 26 includes a clip solenoid valve 51, a clip solenoid valve clamping plate 54, a commodity clamping plate 52, a pressure relief clamping plate 53, a first rotating shaft 55, a second rotating shaft 56, a clip side plate 57, and a clip mounting plate 58, the clip mounting plate 58 is screwed to the rotary solenoid valve 79 of the exchange shopping box, the clip solenoid valve 51 is screwed to the clip mounting plate 58, the clip mounting plate 58 and the merchandise splint 52 are connected by the first shaft 55, and the merchandise splint 52 is connected to the reducer
  • the clamp plate 53 is connected by a rotating shaft.
  • the product clamp plate 52 is mounted on the clip side plate 57 through the second rotating shaft 56.
  • the extension or contraction of the clamp solenoid valve 51 will drive the clamp solenoid valve clamp plate 54, the product clamp plate 52, and the pressure reducing clamp plate 53 to move. You can pick up the goods.
  • the decompression splint 53 is provided to increase the contact area between the clip and the separate exchange shopping box 29 and reduce the pressure.
  • the clip assembly 26 can be used to clamp the opening of the separate exchange shopping box 29, or take away the separate exchange shopping box 29, as shown in FIG. 18.
  • the exchange manipulator controller 81 includes a networking module, a processor module, and a memory module.
  • the processor module is electrically connected to the networking module and the memory module.
  • the networking module is connected to the second rail motor 68 and the first rail.
  • the motor 69, the exchange shopping box rotating motor 77, the grasping solenoid valve 83, the suction nozzle solenoid valve 44, the exchange shopping box rotating solenoid valve 79, and the exchange shopping box lifting motor 75 are electrically connected.
  • the position between the first rail 67 or the second rail 66 of the exchange manipulator and the storage shelf 2 in the storage area 2 is fixed.
  • a separate exchange shopping box 29 is provided with two clamping posts 85 on two opposite sides of the outer side.
  • the cross section of the clamping posts 85 is non-circular, and the end faces of the clamping posts 85 are provided with rounded corners or chamfers, such as Figure 17.
  • a card slot 84 can be provided on the separate exchange shopping box 29, a card post 85 can be provided on the grab solenoid valve 83, and the opposite is the same.
  • the exchange manipulator 4 usually uses belts as the transmission medium, and the belt drive is used to introduce the exchange manipulator 4:
  • the second rail 66 is equipped with a second rail guide sleeve 74, a second rail motor 68, and a second rail shaft 70.
  • the second rail motor 68 and the second rail shaft 70 are connected together by a second rail belt 71.
  • the second rail The belt 71 and the second rail guide sleeve 74 are fixedly connected with screws.
  • the second rail guide sleeve 74 is equipped with a first rail shaft 72, a first rail 67, a first rail motor 69, a first rail shaft 72, and a first rail motor.
  • the exchange robot controller 81 may be installed on the second rail 66 or the first rail 67 or the wall.
  • the exchange shopping box hanging rod assembly 5 also includes an exchange shopping box lifting motor 75, an exchange shopping box lifting belt 86, an exchange shopping box lifting shaft 87, and an exchange shopping box lifting guide sleeve 82.
  • the exchange shopping box lifting motor 75 is arranged at At both ends of the exchange shopping box hanging rod 78, the exchange shopping box lifting motor 75 is electrically connected to the exchange manipulator controller 81, and the exchange shopping box lifting motor 75 is set to drive the exchange shopping box lifting guide sleeve 82 to drive the exchange shopping box
  • the rotary solenoid valve 79 moves on the exchange shopping box hanging rod 78, the exchange shopping box lifting belt 86 is set on the exchange shopping box lifting motor 75, the exchange shopping box lifting shaft 87, the exchange shopping box lifting belt 86 and the exchange shopping box lifting guide sleeve 82 connections.
  • This exchange robot 4 does not take the goods directly, but takes the goods from the take-for-manipulator 3, and then takes it to the exchange shopping box 80 of the exchange robot 4 and then takes it to the pick-up point 1, so that it can be
  • the store uses multiple retrieval robots 3 to work, and through multiple retrieval robots 3 and one exchange robot 4, the sales capacity of the store is greatly improved.
  • the pick-up robot takes a long time to pick up the goods, and multiple robots are needed to pick up the goods.
  • Each pick-up robot is responsible for one area, but multiple pick-up locations 1 are relatively large. This requires the exchange manipulator 4 to pick up the goods from the pick-up manipulator, and then take it to the pick-up place 1, thereby improving the efficiency of picking up goods.
  • Figure 14 is now only changed the way of the grasping mechanism; changing the exchange shopping box 80 in Figure 9 to the card slot and column structure 59 in the grasping mechanism becomes Figure 17, at this time only the change Change the way of the grasping mechanism; change the exchange shopping box 80 in Figure 13 to the grasping method in the grasping mechanism, change it to a clip-on clip assembly 26, and change the exchange shopping box hanging rod 78 to a vertical lift. ⁇ Figure 18.
  • the difference between Figure 18 and Figure 13 In addition to the difference between the separate exchange shopping box 29 and the exchange shopping box 80, the exchange shopping box hanging rod 78 in Figure 18 can move up and down while the exchange shopping box lifting guide 82 does not move, in Figure 13 The exchange shopping box lifting guide 82 can move up and down while the exchange shopping box hanging rod 78 does not move.
  • each picking robot takes its own range of goods into the shopping box 60 , Pour into the exchange shopping box 80 of the exchange robot 4 of other robots (this is called the exchange robot 4, and the one that takes the goods from the shelf can be called the picking robot 3), and pour the goods into the exchange shopping box 80 of the exchange robot 4 After that, it moves to the designated pick-up place 1 and pours the goods into pick-up place 1 (at this time, the shopping box 60 of other pick-up robots 3 can also be accepted for pour in), as shown in Figure 1.
  • the exchange robot 4 is holding a shopping box, which is larger than the shopping box 60 of the picking robot 3, so that it can catch the goods in the shopping box 60 of the picking robot 3.
  • the pick-up robot 3 When the pick-up robot 3 has finished picking up the goods, it will pour the goods in the shopping box 60 into the exchange shopping box 80 of the exchange robot 4, and the pick-up robot 3 will then execute other orders, in the exchange shopping of the exchange robot 4.
  • the goods in the box 80 are taken by the exchange robot 4 to the side of the pick-up place 1, and then poured into the pick-up place 1.
  • This exchange manipulator 4 is shown in Figure 9.
  • This exchange manipulator 4 mainly walks down the distance that the picking manipulator 3 cannot walk, picking up the goods in the shopping box 60 of the picking manipulator 3, and sending them to the picking point 1.
  • the exchange shopping box rotating motor 77 is used to adjust the direction of the exchange shopping box 80.
  • the second rail motor 68 of the exchange manipulator 4 drives the second rail belt 71 to rotate
  • the second rail belt 71 drives the second rail guide sleeve 74 to move
  • the first rail 67 is installed on the second rail guide sleeve 74, so
  • the first rail 67 is driven by the second rail motor 68 to move on the second rail 66
  • the first rail motor 69 on the second rail guide sleeve 74 drives the first rail belt 73 to drive, thereby driving the first rail guide sleeve 76
  • the exchange shopping box assembly 5 is installed on the first rail guide sleeve 76
  • the first rail motor 69 drives the exchange shopping box assembly 5 to move on the first guide rail 67
  • the exchange shopping box 80 can pour the goods into the pick-up point 1. Since the shelves are placed in rows, the exchange robot 4 can be set
  • the master controller for data input and data reception and the manipulator controller 30 can be made into one, generally not one, but when a store has multiple manipulators, each manipulator has its own The manipulator controller 30, but the store also has a data input and data receiving controller, the overall controller, which also distributes and coordinates the work of each manipulator.
  • This master controller must be connected to the wired network in order to receive product information from the network, and it must also have a communication cable and other purchase equipment in the store (in addition to shopping with mobile phones, customers can also use other shopping equipment in the operating area)
  • this device is connected to the main controller in the store, and the information about the purchase of goods through this device will also be transmitted to the main controller, and shopping will be completed.
  • This device is called a shopping device, and customers use it to purchase goods) Connected to receive shopping information from these devices. In short, it can receive all the shopping information in this store.
  • this master controller needs to be connected to the controllers of other manipulators in the store to control the actions of these manipulators.
  • the store’s computer is connected so that the store’s administrator can check information and sales in a timely manner; it must communicate with the company’s control center headquarters to provide data for store management, replenishment management, accounting, etc., so this master control
  • the number of the picking manipulator 3 in the figure is uncertain. It may be one or many. It is not just a few drawn in the figure.
  • the total control The computer is connected to the store’s computer by a parallel interface, the main controller 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 has these modules, Networking module (you can also add a WIFI module, Bluetooth module), processor module, memory module, Ethernet module, payment module.
  • the networking module and the Bluetooth module are used to receive and send information to each device;
  • the Ethernet module is for external connections
  • the processor module is mainly used to coordinate the resources in the store, arrange the appropriate manipulator to take the goods to the appropriate pick-up place, calculate the price of the goods, and complete the sales of the goods;
  • the memory module mainly stores the position of the goods in the storage area, the goods Information such as price for the processor to call.
  • the main controller networking module When a shopping device is operated by a customer, the main controller networking module receives the information, and the main controller knows it and lists the device as in use; when the customer submits the purchase order after the product is selected, the networking module receives the request For the information of the purchase order, the processor module of the master controller will then call the memory module to calculate the total unit price of the product and the preferential price, etc., and the networking module will send the calculated information to the shopping device; after the customer pays, the networking module will receive it When the information is reached, the processor module of the master controller retrieves the product location information in the memory module, and the master controller networking module sends the product location information to the picking manipulator 3; the picking manipulator 3 takes all the products to its own After the shopping box 60 is inside, the main controller networking module sends information to the exchange manipulator 4 to the exchange location; the networking module receives the information, the exchange manipulator 4 has arrived at the exchange location, and the networking module sends information to the picking manipulator 3 to the exchange location and dump the goods Into the exchange shopping
  • the main controller networking module receives this information, and lists the exchange manipulator 4 as idle, and the networking module sends a message to the shopping device.
  • the customer can open the door; the customer chooses to open in the shopping device
  • the networking module receives the information, the networking module sends the information solenoid valve, opens the door, and the customer takes the product.
  • Each fetching manipulator has its own controller, which needs to control the actions of more than 5 motors and the actions of several solenoid valves, as shown in Figure 11.
  • the number of motor servo drives and solenoid valves in the figure is uncertain , It may be one, or there may be many, not just a few in the picture, all the interfaces of the manipulator controller 30 are serial interfaces, and there is no Ethernet interface, and the solenoid valve is mainly
  • the manipulator terminal grasping mechanism 31 is used for loosening.
  • this manipulator controller 30 has these modules, networking module, processor module, memory module, the processor module is mainly to rationally optimize the order of fetching, call up the storage location data of the product, and send instructions to the motor servo drive and memory
  • the module mainly stores the location of commodities in the storage area.
  • the networking module of the picking manipulator 3 receives the information; the processor module optimizes the picking order, calls the storage location of the memory module, and determines the movement parameters of each moving part (when will the movement start? , How much movement); After that, the networking module sends these motion parameters to each moving part, and the picking manipulator 3 picks up the goods.
  • this manipulator Since this manipulator has a shopping box 60, it can take the goods one by one to the picking manipulator 3 for shopping Box 60, when the goods are finished, the networking module sends a message, telling the main controller that the goods have been taken into the shopping box 60 of the picking robot 3, and the main controller informs the exchange manipulator 4 to go to the exchange location, and the networking module receives the information ,
  • the exchange manipulator 4 arrives at the exchange location, the fetching manipulator 3 will go to the exchange location and pour the goods in the shopping box 60 of the fetching manipulator 3 with its own shopping box into the exchange shopping box 80, as shown in FIG.
  • Each exchange manipulator 4 has its own controller. It is necessary to control the actions of more than one motor and the actions of several solenoid valves, as shown in Figure 12.
  • the number of motor servo drives and solenoid valves in the figure is uncertain. It may be one or many. It is not just a few in the picture. All the interfaces of the exchange manipulator controller 81 are serial interfaces, and there is no Ethernet interface, and the solenoid valve is mainly It is used to exchange the terminal rotation of the manipulator. Specifically, this exchange manipulator controller 81 has these modules, networking module, processor module, memory module, the processor module is mainly to call out the storage location data such as the fetching place, and send instructions to the motor servo driver.
  • the memory module mainly The location of the storage and retrieval area in the storage area.
  • the exchange manipulator networking module When the exchange manipulator networking module receives the information from the main controller, the fetching manipulator 3 has already picked up the goods; the processor module calls the designated exchange location position in the memory module and makes the motion parameters of each moving part (When the movement starts, how much movement); After that, the networking module sends these movement parameters to each moving part, and the exchange manipulator 4 moves to the exchange location, and waits for the networking module to receive the information and fetch the goods.
  • the manipulator 3 puts the goods in its shopping box 60 After pouring the exchange shopping box 80, the exchange manipulator 4 will go to the pick-up point 1, and pour the goods in the exchange shopping box 80 into the pick-up point 1.
  • the networking module sends a message to tell the main controller that the goods have been poured At pick-up point 1, the main controller will notify the customer to pick up the goods.
  • the software operating system of this store can use Windows, Android, or Apple’s MacOS. Since this device and system are only used in the store’s system, this store can also use other small operating systems Linux, you can even develop an operating system to use, because this system is only used in this unmanned store, there is no file transfer and exchange with the outside world, there is no situation that a file cannot be opened when sent to another home. For individual unspecified situations, please refer to the situation in the placement machine.
  • the exchange manipulator is provided with a fixed seat, on which a second guide rail 66 and an exchange fixed horizontal screw are installed, a second guide rail guide sleeve 74 is installed on the second guide rail 66, and a second guide rail motor is installed on the second guide rail guide sleeve 74 68.
  • the first guide rail 67, the exchange movable horizontal screw, the second guide motor 68 and the exchange fixed horizontal screw are connected by threaded transmission, the exchange fixed horizontal screw cannot rotate, and the second guide motor 68 will carry the second
  • the rail guide sleeve 74 moves on the second rail 66, and at the same time, a first rail guide sleeve 76 and a first rail motor 69 are installed on the first rail 67.
  • the first rail guide sleeve 76 and the first rail motor 69 are fixedly connected by screws,
  • the first rail motor 69 is connected with the exchange moving horizontal screw by a threaded drive.
  • the exchange moving horizontal screw is also non-rotating.
  • the first rail guide sleeve 76 When the first rail motor 69 rotates, the first rail guide sleeve 76 will move on the first rail 67. , The first rail guide sleeve 76 moves with the exchange shopping box hanging rod assembly 5, as shown in Figure 16, the thread on the universal motor 8 matches the thread of the universal screw 6, and the universal motor 8 is fixed on the universal guide sleeve 5 with screws.
  • the universal screw 6 and the universal guide 7 are placed in parallel. Since the motor screw guide does not specifically refer to a certain one, the name is universal motor 8 and so on. The feature of this embodiment is that the lead screw does not rotate.
  • the exchange shopping box hanging rod assembly 5 also includes an exchange shopping box lifting motor 75, an exchange shopping box lifting screw, and an exchange shopping box lifting guide sleeve 82.
  • the flywheel of the exchange shopping box lifting motor 75 is provided with threads for transmission.
  • the exchange shopping box lifting motor 75 is arranged on the exchange shopping box lifting guide sleeve 82, the exchange shopping box lifting screw and the exchange shopping box lifting motor 75 are connected by a threaded drive, and the exchange shopping box lifting motor 75 rotates relative to the exchange shopping box.
  • the box lifting screw moves, thereby driving the exchange shopping box lifting guide sleeve 82 to move relative to the exchange shopping box lifting screw, the exchange shopping box lifting screw is placed parallel to the exchange shopping box hanging rod 78, and the exchange shopping box lifting motor 75 is provided In order to drive the exchange shopping box lifting guide sleeve 82, the exchange shopping box rotary solenoid valve 79 is moved on the exchange shopping box hanging rod 78. At this time, the lifting screw of the exchange shopping box does not rotate.
  • the exchange manipulator is provided with a fixed seat.
  • the fixed seat is equipped with a second guide rail 66, an exchange fixed horizontal screw, and a second guide motor 68.
  • the exchange fixed horizontal screw and the second guide motor 68 are coaxially placed and connected by screws, that is, the same
  • the central axis is placed, and the rotation of the second rail motor 68 drives the exchange and fixed horizontal screw to rotate.
  • the second rail guide sleeve 74 is provided with a screw thread hole, and the exchange and fixed horizontal screw passes through the screw on the second rail guide sleeve 74 Threaded hole, the second rail guide bush 74 moves on the second guide rail 66 when the fixed horizontal screw rotates, the second guide rail 66 is installed with the second guide guide sleeve 74, and the second guide sleeve 74 is installed with the first guide rail 67.
  • Exchange the moving horizontal screw and the first rail motor 69 exchange the moving horizontal screw
  • the first rail motor 69 is fixedly connected with the central axis
  • the first rail motor 69 rotates with the exchange moving horizontal screw
  • the first A first rail guide bush 76 is installed on the guide rail 67.
  • the first guide guide bush 76 is provided with a screw thread hole.
  • the horizontal screw is exchanged and moved through the screw thread hole of the first guide bush 76, and the first guide motor 69 is When the horizontal lead screw rotates with the exchange movement, the first guide bush 76 moves on the first guide 67, and the first guide bush 76 moves with the exchange shopping box hanging rod assembly 5, as shown in Figure 15, the universal guide bush
  • the internal thread on 6 matches the external thread of the universal screw 7.
  • the universal screw 7 and the universal motor shaft 9 are placed on the same central axis, and the universal screw 7 is placed parallel to the universal guide 8. It refers to a certain one, so the name is General Motor 8 and so on.
  • the feature of this embodiment is that the lead screw rotates along with the universal motor shaft 9.
  • the exchange shopping box hanging rod assembly 5 also includes an exchange shopping box lifting motor 75, an exchange shopping box lifting screw, and an exchange shopping box lifting guide sleeve 82.
  • the exchange shopping box lifting motor 75 is set on the exchange shopping box hanging rod 78 On one of the two ends, the exchange shopping box lifting motor 75 is coaxially placed with the exchange shopping box lifting screw.
  • the exchange shopping box lifting guide sleeve 82 is provided with screw thread holes, and the exchange shopping box lifting motor 75 drives the exchange shopping box lifting screw. The rod rotates, the exchange shopping box lifting screw and the exchange shopping box lifting guide sleeve 82 are screwed together, the exchange shopping box lifting guide sleeve 82 cannot rotate, so the exchange shopping box lifting guide sleeve 82 will move on the exchange shopping box lifting screw.
  • the exchange shopping box lifting screw is placed parallel to the exchange shopping box hanging rod 78, and the exchange shopping box lifting motor 75 is set to drive the exchange shopping box lifting guide sleeve 82 to drive the exchange shopping box rotary solenoid valve 79 on the exchange shopping box hanging rod 78 mobile. At this time, the lifting screw of the exchange shopping box rotates.
  • the transmission effect of the screw is the same as that of the belt. Therefore, one or two of the second guide rail 66 and the first guide rail 67 can be selected to use the lead screw transmission mode in a mechanical hand, that is, there are two transmission modes in a mechanical hand, and it is also possible to mix them.
  • the exchange shopping box 80 has a different way of pouring goods.
  • the exchange shopping box rotary solenoid valve 79 is not necessary.
  • a mechanism is provided so that the bottom cover of the exchange shopping box 80 can be removed horizontally, so that the shopping box 80 can be exchanged. You can also pour the goods into the picking point 1.
  • the exchange shopping box 80 has a different way of pouring goods.
  • the exchange shopping box rotary solenoid valve 79 is not necessary.
  • a mechanism is provided so that the bottom cover of the exchange shopping box 80 can be flipped along one side, so that the shopping box 80 can be exchanged. You can also pour the goods into the picking point 1.
  • all the solenoid valves in the embodiment can be replaced by air cylinders, or by linear motors.
  • the rotary solenoid valve 79 of the exchange shopping box can be replaced by an air cylinder or a linear motion motor.
  • the exchange shopping box rotation motor 77 is cancelled, the exchange shopping box hanging rod 78 cannot rotate, and the exchange shopping box 80 cannot adjust the direction.
  • the cross-section of the guide rail may be non-circular, such as square and other forms.
  • the second rail 66, the second rail guide sleeve 74, the second rail motor 68, etc. are cancelled.
  • this exchange manipulator has only the first rail 67 and one rail, and the shopping box hanging rod assembly is exchanged. 5 is installed on the first rail guide sleeve 76.
  • a clip assembly 26 is provided on the hanging rod 78 of the exchange shopping box, and the exchange shopping box 80 is not provided, but a separate exchange shopping box 29 is placed on the ground or other places.
  • Separate exchange shopping box 29 can be placed somewhere first, wait for the goods in the separate exchange shopping box 29 to be poured into the exchange manipulator 4 and then use the clip-on clip assembly 26 to pick it up, and the clip-on clip assembly 26 is directly Just clamp the side wall of one side of the separate exchange shopping box 29, no other settings are needed, and there is no need to arrive in advance to wait.
  • the exchange manipulator 4 structure of this kind of exchangeless shopping box 80 is shown in Figure 17 and Figure 18. This separate exchange shopping A clip assembly 26 should be designed between the box 29 and the exchange robot 4 to prevent the separate exchange shopping box 29 from rotating.
  • the exchange shopping box 80 is not provided on the exchange shopping box hanging rod 78, but an adsorption mechanism is additionally provided.
  • This adsorption mechanism is a multi-chamber negative pressure suction head.
  • the separate exchange shopping box 29 is adsorbed on the adsorption mechanism.
  • the separate exchange shopping box 29 only needs to have a flat surface and no other settings are required.
  • the separate exchange shopping box 29 is placed on the ground or other places, so that the separated exchange shopping box 29 can be placed somewhere, wait for the goods to be poured into the separate exchange shopping box 29, and then the exchange manipulator 4 then use the multi-chamber negative pressure suction head assembly 23 in the adsorption mechanism to suck the separate exchange shopping box 29 and It is sent to the pick-up place 1, and there is no need to arrive in advance and wait.
  • the structure of the exchange manipulator 4 with the adsorption mechanism of the non-exchange shopping box 80 is shown in FIG.
  • a card slot and column structure 59 is provided on the exchange shopping box hanging rod 78, the exchange shopping box 80 is not provided, and the exchange shopping box rotary solenoid valve 79 is provided with a grab solenoid valve 83.
  • the valve 83 is provided with a card slot 84, the separate exchange shopping box 29 is provided with a card post 85, but a separate exchange shopping box 29 is placed on the ground or other places, so that the separate exchange shopping box 29 can be placed first
  • the exchange manipulator 4 uses the card slot and column structure 59 to grab it. There is no need to arrive in advance and wait.
  • This kind of exchange manipulator without the exchange shopping box 80 4 The structure is shown in Fig. 17 and Fig. 18. In this way, a slot and column structure 59 should be designed between the separate exchange shopping box 29 and the exchange manipulator 4 to prevent the separate exchange shopping box 29 from rotating.
  • the maximum distance L5 that the first guide rail 67 of the exchange manipulator can move on the second guide rail 66 is 0.1m ⁇ L5 ⁇ 500m;
  • the maximum distance L4 that the first guide rail guide sleeve 76 of the exchange manipulator can move on the first guide rail 67 is 0.1 m ⁇ L4 ⁇ 500 m.
  • the maximum distance L5 that the first guide rail 67 of the exchange manipulator can move on the second guide rail 66 is 0.1m ⁇ L5 ⁇ 200m;
  • the maximum distance L4 that the first guide rail guide sleeve 76 of the exchange manipulator can move on the first guide rail 67 is 0.1 m ⁇ L4 ⁇ 200 m.
  • the maximum distance L5 that the first guide rail 67 of the exchange manipulator can move on the second guide rail 66 is 10 meters ⁇ L5 ⁇ 15 meters;
  • the maximum distance L4 that the first guide rail guide sleeve 76 of the exchange manipulator can move on the first guide rail 67 is 10 meters ⁇ L4 ⁇ 15 meters.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un bras de manipulateur de commutation, lequel bras comprend un premier moteur de rail de guidage (69), un premier rail de guidage (67), un premier manchon de guidage de rail (74), un dispositif de commande de bras de manipulateur de commutation (81), et un ensemble de tige de suspension de bac d'achat d'article à commutation (5) ; le premier rail de guidage (67) comporte le premier manchon de guidage de rail (74) ; le premier manchon de guidage de rail (74) comporte l'ensemble de tige de suspension de bac d'achat d'article à commutation (5) ; l'ensemble de tige de suspension de bac d'achat d'article à commutation (5) comporte un bac d'achat d'article à commutation (80) ou comporte une structure de saisie apte à saisir un bac d'achat d'article à commutation du type à séparation (29) ; le premier moteur de rail de guidage (69) est disposé sur les deux extrémités du premier rail de guidage (67) ou du premier manchon de guidage de rail (76) ; le premier moteur de rail (69) est configuré de façon à entraîner le premier manchon de guidage de rail (76) afin d'entraîner l'ensemble de tige de suspension de bac d'achat d'article à commutation (5) à se déplacer sur le premier rail de guidage (67) ; le premier moteur de rail de guidage (69) est électriquement connecté au dispositif de commande de bras de manipulateur de commutation (81). Le bras de manipulateur de commutation est utilisé dans un magasin sans personnel en collaboration avec une pluralité de bras de manipulateur de récupération d'articles, de telle sorte que l'efficacité de la pluralité de bras de manipulateur de récupération d'articles est considérablement améliorée.
PCT/CN2020/078104 2019-03-18 2020-03-06 Bras de manipulateur de commutation Ceased WO2020187057A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201910205443.7 2019-03-18
CN201910205443.7A CN109702719A (zh) 2018-06-20 2019-03-18 一种交换机械手
CN202010080271.8 2020-02-05
CN202010080271.8A CN112109068A (zh) 2020-02-05 2020-02-05 一种交换机械手

Publications (1)

Publication Number Publication Date
WO2020187057A1 true WO2020187057A1 (fr) 2020-09-24

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Application Number Title Priority Date Filing Date
PCT/CN2020/078104 Ceased WO2020187057A1 (fr) 2019-03-18 2020-03-06 Bras de manipulateur de commutation

Country Status (2)

Country Link
CN (1) CN112109068A (fr)
WO (1) WO2020187057A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0395001A (ja) * 1989-09-08 1991-04-19 Toppan Moore Co Ltd データ処理装置用自動倉庫
CN201485070U (zh) * 2009-04-28 2010-05-26 章雄辉 小区货物自动分送系统
CN204658448U (zh) * 2015-06-02 2015-09-23 宁波象保合作区天吉自动化设备有限公司 无线取物机械手
EP2984007A1 (fr) * 2013-04-09 2016-02-17 Knapp AG Système de stockage et de préparation de commandes servant à l'identification et à la préparation de commandes entièrement automatisées d'articles
CN107020459A (zh) * 2017-05-27 2017-08-08 扬州恒佳自动化设备有限公司 一种激光切割机分拣机器人及其分拣零件方法
CN109214484A (zh) * 2018-09-20 2019-01-15 深圳蓝胖子机器人有限公司 无人便利店控制方法、装置和计算机可读存储介质
CN109377297A (zh) * 2017-11-30 2019-02-22 金超 一种无人售货便利店系统及其操作方法
CN109702719A (zh) * 2018-06-20 2019-05-03 深圳市太惠科技有限公司 一种交换机械手

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0395001A (ja) * 1989-09-08 1991-04-19 Toppan Moore Co Ltd データ処理装置用自動倉庫
CN201485070U (zh) * 2009-04-28 2010-05-26 章雄辉 小区货物自动分送系统
EP2984007A1 (fr) * 2013-04-09 2016-02-17 Knapp AG Système de stockage et de préparation de commandes servant à l'identification et à la préparation de commandes entièrement automatisées d'articles
CN204658448U (zh) * 2015-06-02 2015-09-23 宁波象保合作区天吉自动化设备有限公司 无线取物机械手
CN107020459A (zh) * 2017-05-27 2017-08-08 扬州恒佳自动化设备有限公司 一种激光切割机分拣机器人及其分拣零件方法
CN109377297A (zh) * 2017-11-30 2019-02-22 金超 一种无人售货便利店系统及其操作方法
CN109702719A (zh) * 2018-06-20 2019-05-03 深圳市太惠科技有限公司 一种交换机械手
CN109214484A (zh) * 2018-09-20 2019-01-15 深圳蓝胖子机器人有限公司 无人便利店控制方法、装置和计算机可读存储介质

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