Train selling robot

Abstract

The utility model discloses a train selling robot, which belongs to the technical field of intelligent robots and comprises a frame body, driving motors are mounted at four corners of the bottom of the frame body, and wheels are mounted at the outer ends of the driving motors; the outer side of the shelf body is wrapped with an outer shell, a goods shelf plate fixed to the shelf body is arranged in the outer shell, an automatic goods taking module installed on the shelf body is arranged on one side of the goods shelf plate, and a goods taking opening formed in the outer surface of the outer shell is formed in the upper portion of the goods shelf plate. A payment display module located on the outer shell is installed on one side of the goods taking opening. A sensing module is installed in front of the outer shell, a motor control panel and a main control panel are installed on the inner side of the outer shell, and a storage battery module is installed at the bottom of the inner side of the outer shell. The train selling robot has multiple functions of automatic tracking, gesture interaction and the like, and can provide efficient and convenient services for users.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot technology, and in particular to a train vending robot. Background Technology

[0002] With the development of new retail technologies, various sales formats have emerged, and with the advancement of artificial intelligence technology, intelligent robots are gradually being applied to the retail delivery field. Currently, the vast majority of goods sold on trains still rely on traditional manual cart sales, requiring at least one train attendant to push the cart back and forth to supply goods. This involves significant physical exertion for the salesperson, thus necessitating the design of an intelligent robot capable of replacing manual sales on trains. Summary of the Invention

[0003] The purpose of this invention is to provide a train vending robot with multiple functions such as automatic tracking, obstacle avoidance, gesture interaction, product delivery and payment, which can provide users with efficient and convenient services.

[0004] To achieve the above objectives, this utility model provides a train vending robot, including a frame. Drive motors are installed at the four bottom corners of the frame, and wheels are installed at the outer ends of each drive motor. The frame is covered by an outer shell, inside which a shelf panel is fixed to the frame. An automatic retrieval module is installed on one side of the shelf panel and mounted on the frame. A retrieval opening is located on the outer surface of the outer shell above the shelf panel, and a payment display module is installed on one side of the retrieval opening. A sensing module is installed at the front of the outer shell, and a motor control board and a main control board are installed inside the outer shell. A battery module is installed at the bottom inside the outer shell.

[0005] Preferably, one side of the outer casing has an opening corresponding to the shelf panel and is fitted with a transparent tempered glass door.

[0006] Preferably, the sensing module includes a camera assembly mounted on the top of the housing, an ultrasonic sensor assembly mounted below the camera assembly, and an infrared sensor assembly located at the bottom of the housing mounted below the ultrasonic sensor assembly.

[0007] Preferably, the payment display module includes a touch screen and an NFC payment sensor.

[0008] Preferably, a braking module is installed on one side of each drive motor.

[0009] Preferably, the automatic picking module includes a horizontal picking component and a vertical moving component. The horizontal picking component includes a moving plate with a horizontal slide rail. A first slider is mounted on the horizontal slide rail. A slider support frame is mounted above the first slider. A clamping cylinder is mounted on the slider support frame, and a gripper is mounted on the output end of the clamping cylinder. A first rotary motor is mounted on one side of the moving plate. The first rotary motor is connected to a first lead screw that passes through the slider support frame via a coupling. The other end of the first lead screw is fixed to a positioning block. The positioning block is fixed to a first fixed side plate located inside the moving plate. A second fixed side plate is provided inside the first rotary motor and fixed to the moving plate.

[0010] Preferably, a pressure sensor is provided on the inner side of the pneumatic gripper.

[0011] Preferably, the vertical moving assembly includes a first vertical slide rail and a second vertical slide rail vertically mounted on the frame. A second slider fixed to the first fixed side plate is mounted on the first vertical slide rail, and a third slider fixed to the second fixed side plate is mounted on the second vertical slide rail. A second rotary motor mounted on the frame is provided at the bottom of one side of the moving plate. The second rotary motor is connected to a second lead screw via a coupling. The second lead screw vertically passes through the moving plate and is connected to the moving plate via a lead screw nut. The top of the second lead screw is fixed to the top of the outer casing.

[0012] Preferably, a third rotary motor is installed on the frame at the bottom of the other side of the movable plate, and the third rotary motor is arranged opposite to the second rotary motor; the third rotary motor is connected to a third lead screw through a coupling, the third lead screw vertically passes through the movable plate and is connected to the movable plate through a lead screw nut, and the top of the third lead screw is fixed to the top of the outer shell.

[0013] Preferably, a push handle is installed at the rear of the outer casing.

[0014] Therefore, this utility model adopts the above-mentioned train vending robot, which has multiple functions such as automatic tracking, obstacle avoidance, gesture interaction, product delivery and payment, and can provide users with efficient and convenient services.

[0015] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an embodiment of a train vending robot according to this utility model;

[0017] Figure 2This is a schematic diagram of the internal structure of an embodiment of a train vending robot according to this utility model;

[0018] Figure 3 This is a schematic diagram of the automatic pickup module structure of an embodiment of a train vending robot according to this utility model.

[0019] Figure Labels

[0020] 1. Frame; 2. Outer shell; 3. Drive motor; 4. Wheels; 5. Braking module; 6. Automatic picking module; 61. Moving plate; 62. Horizontal slide rail; 63. First slider; 64. Slider support frame; 65. Clamping cylinder; 66. Pneumatic gripper; 67. First rotary motor; 68. Coupling; 69. First lead screw; 610. Positioning block; 611. First fixed side plate; 612. Second fixed side plate; 613. First vertical slide rail; 614. ... 615. Second vertical slide rail; 616. Third slide rail; 617. Second rotary motor; 618. Second lead screw; 619. Lead screw nut; 620. Third rotary motor; 621. Third lead screw; 7. Shelf panel; 8. Picking port; 9. Payment display module; 10. Camera assembly; 11. Ultrasonic sensor assembly; 12. Infrared sensor assembly; 13. Battery module; 14. Motor control board; 15. Main control board; 16. Push handle. Detailed Implementation

[0021] The technical solution of this utility model will be further described below with reference to the accompanying drawings and embodiments.

[0022] Unless otherwise defined, the technical or scientific terms used in this utility model shall have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains. The terms "first," "second," and similar terms used in this utility model do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] Example 1

[0024] like Figure 1As shown, this utility model provides a train vending robot, including a frame 1 that provides support for the entire robot. Drive motors 3 are installed at the four corners of the bottom of the frame 1, and wheels 4 are installed at the outer ends of each drive motor 3. The drive motors 3 can drive the wheels 4 to move back and forth, thereby controlling the position of the vehicle. Figure 2 As shown, a braking module 4 is installed on one side of each drive motor 3 to assist the vending robot in emergency braking under special circumstances.

[0025] like Figure 1 As shown, the outer shell 2 covers the outer side of the frame 1. Inside the outer shell 2, there are shelf panels 7 fixed to the frame 1, used to place goods for sale in different areas. One side of the outer shell 2 has an opening corresponding to the shelf panel 7 and is equipped with a transparent tempered glass door, which not only makes it convenient for staff to check the inventory of the vending robot and replenish it in time, but also allows passengers to have a more intuitive understanding of the goods.

[0026] An automatic retrieval module 6, mounted on the frame 1, is installed on one side of the shelf panel 7 for automatically retrieving goods. A retrieval slot 8, mounted on the outer surface of the housing 2, is located above the shelf panel 7 for storing goods retrieved by the automatic retrieval module 6. A payment display module 9, located on the housing 2, is installed on one side of the retrieval slot 8. The payment display module 9 includes a touchscreen display and an NFC payment sensor. The touchscreen display can show product information and facilitate human-machine interaction. Passengers can purchase selected goods using a QR code generated on the touchscreen display or make quick payments using the NFC payment sensor.

[0027] A sensing module is installed on the front of the outer casing 2, such as... Figure 1 As shown, the sensing module includes a camera assembly 10 mounted on the top of the housing 2, an ultrasonic sensor assembly 11 mounted below the camera assembly 10, and an infrared sensor assembly 12 mounted below the ultrasonic sensor assembly 11 at the bottom of the housing 2. The camera assembly 10 is used to recognize user gesture information and environmental information, the ultrasonic sensor assembly 11 is used to detect obstacles in front of the vending robot, and the infrared sensor assembly 12 has multiple infrared sensing probes distributed on the front and bottom of the vending robot to detect black path markings on the ground, thereby enabling the vending robot to have a line-following function.

[0028] like Figure 2 As shown, a motor control board 14 and a main control board 15 are installed inside the outer casing 2. The motor control board 14 can control the operating status of each motor, and the main control board 15 can control the sensing module and the payment display module 9. A battery module 13 is installed at the bottom inside the outer casing 2 to power the vending robot for normal operation. A push handle 16 is installed at the rear of the outer casing 2 to facilitate the movement of the vending robot.

[0029] like Figure 3 As shown, the automatic picking module 6 includes a horizontal picking component and a vertical moving component, which can ensure that the vending robot picks up goods located in different areas. The horizontal picking component includes a moving plate 61, a horizontal slide rail 62 is provided on the moving plate 61, a first slider 63 is provided on the horizontal slide rail 62, a slider support frame 64 is installed above the first slider 63, a clamping cylinder 65 is installed on the slider support frame 64, and a gripper 66 is installed at the output end of the clamping cylinder 65 for gripping goods. A pressure sensor is provided on the inner side of the gripper 66, which can automatically identify whether the goods are stably gripped.

[0030] A first rotary motor 67 is mounted on one side of the movable plate 61. The first rotary motor 67 is connected to a first lead screw 69 that passes through the slider support frame 64 via a coupling 68. The other end of the first lead screw 69 is fixed to a positioning block 610, which is fixed to a first fixed side plate 611 located inside the movable plate 61. A second fixed side plate 612, fixed to the movable plate 61, is provided inside the first rotary motor 67. By rotating the first rotary motor 67, the first lead screw 69 can be driven to rotate in the forward or reverse direction, thereby causing the slider support frame 64 to move left and right on the first lead screw 69, achieving the purpose of adjusting the horizontal position of the pneumatic gripper 66.

[0031] The vertical moving assembly includes a first vertical slide rail 613 and a second vertical slide rail 614 vertically mounted on the frame 1. A second slider 615 fixed to a first fixed side plate 611 is mounted on the first vertical slide rail 613, and a third slider 616 fixed to a second fixed side plate 612 is mounted on the second vertical slide rail 614, ensuring that the moving plate 61 can move smoothly up and down along the first vertical slide rail 613 and the second vertical slide rail 614.

[0032] A second rotary motor 617, mounted on the frame 1, is installed at the bottom of one side of the movable plate 61. The second rotary motor 617 is connected to a second lead screw 618 via a coupling 68. The second lead screw 618 vertically penetrates the movable plate 61 and is connected to the movable plate 61 via a lead screw nut 619. The top of the second lead screw 618 is fixed to the top of the outer shell 2. A third rotary motor 620, mounted on the frame 1, is installed at the bottom of the other side of the movable plate 61. The third rotary motor 620 is positioned opposite to the second rotary motor 617. The third rotary motor 620 is connected to a third lead screw 621 via a coupling 68. The third lead screw 621 vertically penetrates the movable plate 1 and is connected to the movable plate 61 via a lead screw nut 619. The top of the third lead screw 621 is fixed to the top of the outer shell 2. The rotation of the second rotary motor 617 and the third rotary motor 620 can drive the second lead screw 618 and the third lead screw 621 to rotate accordingly, thereby providing power for the up and down movement of the moving plate 61, and adjusting the vertical position of the pneumatic gripper 66 to ensure that the pneumatic gripper 66 can grip the goods at various points on the shelf plate 7.

[0033] When in use, the vending robot operates with a highly automated and seamless process from startup to task completion. First, after powering on, the robot enters automatic tracking mode, using the infrared sensor component 12 at its bottom to detect black path markers on the ground in real time. Combined with the camera component 10, it assists in identifying complex scenarios such as intersections or turns, and dynamically adjusts the wheel speed of the wheels 4 using a PID algorithm to maintain stable forward movement. If there are obstacles in the path, such as pedestrians or other moving objects, the vending robot will detect them using the front-mounted ultrasonic sensor component 11 and camera component 10, pausing operation if necessary. Simultaneously, it will use SLAM technology to replan the path to avoid the obstacles before continuing along the black line.

[0034] When the vending robot reaches the user's location, it automatically stops and switches to user interaction mode. In this mode, the user can operate the robot using gestures. The camera component 10 captures the user's gestures in real time and recognizes them using a deep learning algorithm. For example, raising a palm pauses the robot, waving an arm resumes its operation, and pointing a finger in a direction guides the robot to turn. If the user makes a gesture to select an item, the robot automatically switches to vending mode. In vending mode, by operating the touchscreen display to select the corresponding item, the vending robot displays the shopping cart contents on the screen, including the item name, quantity, and total price.

[0035] After order confirmation, the vending robot proceeds to the payment process, where users can complete the transaction via QR code payment or NFC payment. Once payment is complete, the vending robot activates its internal automatic retrieval module 6, locating the product storage area according to the order instructions. The gripper 66 moves horizontally along corresponding rails and adjusts its vertical height to grasp the product. The gripper 66 has a built-in pressure sensor that dynamically adjusts the gripping force based on the product's weight and material, ensuring no damage during the grasping process. Subsequently, the gripper 66 transports the product to the retrieval port 8 for the user to collect, and the touchscreen display will show "Retrieval complete, thank you for using."

[0036] After completing its task, the vending robot will return to its initial position and switch to standby mode. If its battery is low, the vending robot will automatically return to the charging station to recharge, and then enter standby mode to prepare for the next task.

[0037] Therefore, this utility model adopts the above-mentioned train vending robot, which has multiple functions such as automatic tracking, obstacle avoidance, gesture interaction, product delivery and payment, and can provide users with efficient and convenient services.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solution of this utility model, and these modifications or equivalent substitutions cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of this utility model.

Claims

1. A train vending robot, characterized by: The utility model provides a kind of automatic vending machine, including frame body, the bottom four corners of the frame body is equipped with driving motor, the outer end of the driving motor is equipped with wheel;The outside of the frame body is covered with shell body, the inside of the shell body is provided with shelf plate fixed on the frame body, the side of the shelf plate is provided with automatic taking goods module mounted on the frame body, the top of the shelf plate is provided with taking goods mouth mounted on the outer surface of the shell body, the side of the taking goods mouth is mounted on the payment display module located on the shell body;The front of the shell body is equipped with induction module, the inside of the shell body is equipped with motor control panel and main control board, the bottom of the inside of the shell body is equipped with battery module; The induction module includes a camera assembly mounted on the top of the shell body, a ultrasonic sensor assembly is mounted below the camera assembly, an infrared sensor assembly is mounted below the ultrasonic sensor assembly at the bottom of the shell body. The automatic taking goods module includes a horizontal taking goods assembly and a vertical moving assembly, the horizontal taking goods assembly includes a moving plate, the moving plate is provided with a horizontal slide rail, the horizontal slide rail is provided with a first sliding block, the first sliding block is provided with a sliding block support frame, the sliding block support frame is provided with a clamping air cylinder, the output end of the clamping air cylinder is provided with a gas claw. The inside of the gas claw is provided with a pressure sensor. The vertical moving assembly includes a first vertical slide rail and a second vertical slide rail vertically mounted on the frame body, the first vertical slide rail is provided with a second sliding block fixed on the first fixed side plate, the second vertical slide rail is provided with a third sliding block fixed on the second fixed side plate, the bottom of the side of the moving plate is provided with a second rotary motor mounted on the frame body, the second rotary motor is connected with a second lead screw through a coupling, the second lead screw vertically penetrates the moving plate and is connected with the moving plate through a lead screw nut, the top of the second lead screw is fixed on the top of the shell body. The bottom of the other side of the moving plate is provided with a third rotary motor mounted on the frame body, the third rotary motor is arranged opposite to the second rotary motor;The third rotary motor is connected with a third lead screw through a coupling, the third lead screw vertically penetrates the moving plate and is connected with the moving plate through a lead screw nut, the top of the third lead screw is fixed on the top of the shell body.

2. The train vending robot of claim 1, wherein: The side of the shell body is provided with an opening corresponding to the shelf plate and is provided with a transparent tempered glass door.

3. The train vending robot of claim 1, wherein: The payment display module includes a touch display screen and an NFC payment sensor.

4. The train vending robot of claim 1, wherein: The side of the driving motor is provided with a brake module.

5. The train vending robot of claim 1, wherein: The rear of the shell body is provided with a push handle.

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