Supermarket shelf replenishment robot with adjustable clamping height

Abstract

The utility model discloses a supermarket shelf replenishment robot with the adjustable clamping height, and particularly relates to the technical field of transportation robots, the supermarket shelf replenishment robot comprises a bottom plate, a lifting assembly, a clamping assembly, a moving assembly and a camera, the lifting assembly comprises a fixing support, a rotating base, a steering engine, a supporting rack, a first stepping motor, a linear guide rail and a supporting rod; the clamping assembly comprises a sliding block piece, a copper column claw support, a clamping head and a second stepping motor. The moving assembly comprises a wheat wheel, a wheat wheel fixing piece and a third stepping motor. Compared with the prior art, the device is provided with the steering engine to drive the rotating base and the stepping motor to be in linkage with the belt transmission system, so that the clamping assembly can accurately and vertically ascend and descend; a copper column claw bracket structure is arranged, so that the length of the clamping head can extend to the deep part of the goods shelf; based on the design of the Maiwan omni-directional moving assembly and the modular bottom plate, the whole machine is compact and small in size and adapts to the complex environment of a supermarket; high-precision camera recognition, an obstacle avoidance algorithm and a path planning technology are fused, and full-process automation is achieved.

Description

Technical Field

[0001] This utility model relates to the field of transportation robot technology, and more specifically, to a supermarket shelf replenishment robot with adjustable clamping height. Background Technology

[0002] In the daily operation of supermarkets, shelf replenishment is a frequent and labor-intensive task. Traditional replenishment methods rely on manual operation, which is inefficient and prone to errors. While some replenishment robots can identify shelf shortages using cameras, they lack autonomous replenishment capabilities and still require human intervention. The few robots with gripping capabilities are complex and bulky, making them difficult to adapt to the narrow aisles of supermarkets. Furthermore, their gripping devices have limited adjustment range, failing to cover shelf layers of varying heights or reach products deep within the shelves. For example, existing robots struggle to achieve precise height adjustment for multi-level shelves, making it difficult to replenish products on higher or lower shelves. For deeper shelves (such as those displaying multiple rows of similar products), existing gripping devices are too short, only able to replenish the outermost items, failing to meet actual needs.

[0003] Therefore, there is an urgent need for a replenishment robot that is highly adjustable, has a wide gripping range, and is compact in structure, in order to improve replenishment efficiency and reduce labor costs; Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a supermarket shelf replenishment robot with adjustable clamping height to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a supermarket shelf replenishment robot with adjustable clamping height, comprising a base plate, a lifting assembly, a clamping assembly, a moving assembly, and a camera; the lifting assembly includes a fixed bracket, a rotating base, a servo motor, a support frame, a first stepper motor, a linear guide rail, and a support rod; the clamping assembly includes a slider, a copper claw bracket, a clamping head, and a second stepper motor; the moving assembly includes a wheel, a wheel fixing component, and a third stepper motor.

[0006] The fixed bracket is fixedly connected to the base plate by screws. The fixed bracket is provided with the rotating base at the top and the fixed bracket is provided with the servo motor at the bottom. The rotating base is bolted to the top and the support frame is fixedly connected to both sides of its top surface. The bottom end of the linear guide rail is inserted into the guide rail base. The first stepper motor is fixedly connected to the other side of the top surface of the support frame through a connector. The support rod is fixed to the center of the top surface of the support frame through a bottom connector. The top of the support rod is provided with a top connector. The top of the linear guide rail is inserted into the through-hole on the top connector.

[0007] The slider plate is provided with a slider, which is slidably connected to the linear guide rail. A copper column claw bracket is fixedly connected to one side of the slider plate through a copper column. The clamping head is fixedly connected to the bottom of the copper column claw bracket through a copper column. The second stepper motor is provided at the bottom of the clamping head. The camera is provided at the top of the copper column claw bracket, and its monitoring range is one side of the clamping head.

[0008] The wheat wheel fixing component is fixedly connected to the four corners of the bottom surface of the base plate by screws. The wheat wheel is provided on the outside of the wheat wheel fixing component, and the third stepper motor is provided on the other side.

[0009] Preferably, a lower pulley is fixedly connected to the rotating shaft on one side of the first stepper motor. The lower pulley is located in the middle of the bottom connector directly below the support rod. An upper pulley is provided on the top connector. A belt is sleeved on the lower pulley and the upper pulley. A connecting piece is bolted to the slider, which has two vertical openings. The belt is wrapped around the openings to fix the connecting piece, so that the slider can move up and down with the belt.

[0010] Preferably, the rotating base is rotatably connected to the fixed bracket, and the connecting shaft at the top of the servo motor at the bottom of the fixed bracket is fixedly connected to the bottom end of the rotating base, which can drive the rotating base to rotate 360°.

[0011] Preferably, a computer bracket is provided on the top surface of the base plate, and the computer bracket is bolted to the top surface of the base plate.

[0012] Preferably, a basket is provided on the top surface of the base plate, and the basket is fixedly connected to the top surface of the base plate by bolts.

[0013] Preferably, the top of the base plate has several fixing holes, which can be used to fix and install accessories such as controllers, power blocks, and communicators with bolts, and connect various electronic components through lines.

[0014] The technical effects and advantages of this utility model are as follows:

[0015] Compared with existing technologies, this device features a servo motor-driven rotating base and a stepper motor-linked belt transmission system, enabling precise vertical lifting and lowering of the gripping components, solving the problem of traditional robots' difficulty in replenishing goods on high / low shelves. It also incorporates a copper column claw support structure, allowing the gripping head to extend laterally into the depths of the shelf, overcoming the limitation of existing technologies that can only operate on the outermost items. Based on the omnidirectional moving components and modular base plate design, the entire machine is compact and adaptable to the complex environment of supermarkets. Furthermore, by integrating high-precision camera recognition, obstacle avoidance algorithms, and path planning technology, it achieves full automation of the "out-of-stock detection - precise positioning - autonomous gripping - automatic return" process, significantly improving replenishment efficiency. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention from a first-person perspective.

[0017] Figure 2 This is a three-dimensional structural diagram of the present invention from a second perspective.

[0018] Figure 3 This is a three-dimensional structural diagram of the present invention from a third-person perspective.

[0019] Figure 4 for Figure 3 Enlarged view of the structure at point A in the middle.

[0020] Figure 5 for Figure 3 Enlarged view of the structure at point B in the middle.

[0021] Figure 6 for Figure 3 Enlarged view of the structure at point C.

[0022] Figure 7 This is a schematic diagram of the structure of the bearing component of this utility model.

[0023] The attached figures are labeled as follows:

[0024] 1. Base plate; 2. Lifting assembly; 3. Clamping assembly; 4. Moving assembly; 5. Camera; 11. Computer stand; 12. Basket; 15. Fixing holes;

[0025] 201. Fixed bracket; 202. Rotating base; 203. Servo motor; 204. Support frame; 205. First stepper motor; 206. Linear guide rail; 207. Support rod; 208. Bottom connector; 209. Top connector; 210. Lower pulley; 211. Upper pulley; 219. Guide rail base;

[0026] 301. Slider plate; 302. Copper column claw support; 303. Clamping head; 304. Second stepper motor; 305. Slider; 306. Connecting plate;

[0027] 401 Wheat wheel; 402 Wheat wheel fixing component; 403 Third stepper motor. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example

[0029] As attached Figure 1-7 The illustrated supermarket shelf replenishment robot with adjustable clamping height includes a base plate 1, a lifting assembly 2, a clamping assembly 3, a moving assembly 4, and a camera 5. The lifting assembly 2 includes a fixed bracket 201, a rotating base 202, a servo motor 203, a support frame 204, a first stepper motor 205, a linear guide rail 206, and a support rod 207. The clamping assembly 3 includes a slider 301, a copper claw bracket 302, a clamping head 303, and a second stepper motor 304. The moving assembly 4 includes a wheel 401, a wheel fixing component 402, and a third stepper motor 403.

[0030] The fixed bracket 201 is fixedly connected to the base plate 1 by screws. The fixed bracket 201 has a rotating base 202 on top and a servo motor 203 at the bottom. The rotating base 202 has a support frame 204 fixedly bolted to the top. The top surfaces of the rotating base 202 are fixedly connected to guide rail bases 219. The bottom end of the linear guide rail 206 is inserted into the guide rail base 219. The first stepper motor 205 is fixedly connected to the other side of the top surface of the support frame 204 by a connector. The support rod 207 is fixed to the center of the top surface of the support frame 204 by a bottom connector 208. The top of the support rod 207 has a top connector 209. The top of the linear guide rail 206 is inserted into the opening on the top connector 209.

[0031] A slider 305 is provided on the slider plate 301. The slider 305 is slidably connected to the linear guide rail 206. A copper column claw bracket 302 is fixedly connected to one side of the slider plate 301 through a copper column. A clamping head 303 is fixedly connected to the bottom of the copper column claw bracket 302 through a copper column. A second stepper motor 304 is provided at the bottom of the clamping head 303. A camera 5 is provided at the top of the copper column claw bracket 302, and its monitoring range is one side of the clamping head 303.

[0032] The wheel fixing component 402 is fixedly connected to the four corners of the bottom surface of the base plate 1 by screws. The wheel 401 is provided on the outside of the wheel fixing component 402, and the third stepper motor 403 is provided on the other side.

[0033] Among them: the servo motor 203 controls the rotating base 202 to rotate on the fixed bracket 201, and the angle can be adjusted during gripping. The support rod 207 serves as the core support of the lifting component 2. Its bottom is fixed to the base plate 1 through the bottom connector 208. The assembly structure is easy to disassemble and replace. The two ends of the linear guide rail 206 are respectively inserted into the through holes on the guide rail base 219 and the top connector 209 on the top of the support rod 207. The through holes on the linear guide rail 206 are equidistantly opened and connected to the through holes on the same side of the guide rail base 219, which can be quickly installed and fixed with screws. The slider 301 follows the slider 305 and slides with the linear guide rail 206, which can be adjusted in height. The gripping head 303 can perform gripping and placing actions under the drive of the second stepper motor 304. The camera 5 is installed above the copper column claw bracket 302 and can capture images of one side of the gripping head 303 and upload them to the controller for analysis and processing. The copper column claw bracket 302 increases the lateral distance of the gripping head 303, so that it can reach deep into the shelf to grip items. Example

[0034] Based on Embodiment 1, the solution in Embodiment 1 will be further described in detail below, with reference to the specific working method described in detail:

[0035] like Figure 4-6 As shown, in a preferred embodiment, a lower pulley 210 is fixedly connected to the rotating shaft on one side of the first stepper motor 205. The lower pulley 210 is located in the middle of the bottom connector 208 directly below the support rod 207. An upper pulley 211 is provided on the top connector 209. A belt is sleeved on the lower pulley 210 and the upper pulley 211. A connecting piece 306 is bolted to the slider piece 301. Two vertical openings are provided on the connecting piece 306. The belt is wrapped around the openings to fix the connecting piece 306, so that the slider piece 301 can move up and down with the belt. Furthermore, the first stepper motor 205 drives the rotating shaft to rotate the lower pulley 210. With the cooperation of the upper pulley 211, the belt moves outside the support rod 207. Since the belt is wrapped around the openings on the connecting piece 306, it can synchronously drive the connecting piece 306 to move during movement, thereby driving the entire support assembly 3 to move up and down for height adjustment.

[0036] like Figure 2 and Figure 4 As shown, in a preferred embodiment, the rotating base 202 is rotatably connected to the fixed bracket 201. The connecting shaft at the top of the servo motor 203 at the bottom of the fixed bracket 201 is fixedly connected to the bottom of the rotating base 202, which can drive the rotating base 202 to rotate 360°. Furthermore, the servo motor 203 controls the rotating base 202 to rotate 360° without dead angles on the fixed bracket 201, ensuring flexibility during gripping.

[0037] like Figure 1 and Figure 3As shown, in a preferred embodiment, a computer bracket 11 is provided on the top surface of the base plate 1. The computer bracket 11 is bolted to the top surface of the base plate 1. Furthermore, a tablet computer can be placed on the computer bracket 11. After being connected by a wire, it can display the operating data of the device or debug and set the clamping work.

[0038] like Figure 1 and Figure 3 As shown, in a preferred embodiment, a basket 12 is provided on the top surface of the base plate 1. The basket 12 is fixedly connected to the top surface of the base plate 1 by bolts. Furthermore, the basket 12 is used to place items.

[0039] like Figure 1-3 As shown, in a preferred embodiment, the top of the base plate 1 has several fixing holes 15, which can be used to fix and install accessories such as controllers, power blocks, and communicators with bolts, and connect various electronic components through lines. Furthermore, the fixing holes 15 facilitate the installation of various devices on the top of the base plate 1 to realize the operation of the device.

[0040] The working process of this utility model is as follows:

[0041] First, assemble the device. Mount the tablet computer on the computer stand 11. Secure the power supply, control block, and communicator to the base plate 1 with screws. Connect the electronic components with wiring to ensure they function properly. Set parameters such as the item to be grabbed and its placement on the tablet computer. The control block coordinates the operation of the components. The wheel 401 rotates under the drive of the third stepper motor 403, allowing the device to move flexibly. Simultaneously, the camera 5 captures images of the path ahead and transmits the data to the control block for processing, enabling the device to identify and automatically avoid obstacles during movement. When the device reaches the designated position, the first stepper motor 205 drives the lower pulley 210 to rotate, causing the belt to move. This, through the connecting piece 306, moves the slider 301 up and down. At the same time, the servo motor 203 drives the rotating base 202 to rotate on the fixed bracket 201, moving the gripper head 303 to the vicinity of the item to complete the gripping operation. After moving above the basket 12, drop the item and move it to the replenishment position.

[0042] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0043] Secondly: The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0044] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A supermarket shelf replenishment robot with adjustable clamping height, characterized in that: The system includes a base plate (1), a lifting assembly (2), a clamping assembly (3), a moving assembly (4), and a camera (5). The lifting assembly (2) includes a fixed bracket (201), a rotating base (202), a servo motor (203), a support frame (204), a first stepper motor (205), a linear guide rail (206), and a support rod (207). The clamping assembly (3) includes a slider (301), a copper claw bracket (302), a clamping head (303), and a second stepper motor (304). The moving assembly (4) includes a wheel (401), a wheel fixing piece (402), and a third stepper motor (403). The fixed bracket (201) is fixedly connected to the base plate (1) by screws. The fixed bracket (201) is provided with the rotating base (202) at the top and the fixed bracket (201) is provided with the servo motor (203) at the bottom. The rotating base (202) is bolted to the top of the support frame (204). The top surface of the rotating base (202) is fixedly connected to the guide rail base (219) on both sides. The bottom end of the linear guide rail (206) is inserted into the guide rail base (219). The first stepper motor (205) is fixedly connected to the other side of the top surface of the support frame (204) by a connector. The support rod (207) is fixed to the center of the top surface of the support frame (204) by a bottom connector (208). The top of the support rod (207) is provided with a top connector (209). The top of the linear guide rail (206) is inserted into the opening on the top connector (209). A slider (305) is provided on the slider plate (301), the slider (305) is slidably connected to the linear guide rail (206), a copper column claw bracket (302) is fixedly connected to one side of the slider plate (301) by a copper column, a clamping head (303) is fixedly connected to the bottom of the copper column claw bracket (302) by a copper column, and a second stepper motor (304) is provided at the bottom of the clamping head (303); a camera (5) is provided at the top of the copper column claw bracket (302), and its monitoring range is one side of the clamping head (303); The wheel fixing component (402) is fixedly connected to the four corners of the bottom surface of the base plate (1) by screws. The wheel (401) is provided on the outside of the wheel fixing component (402), and the third stepper motor (403) is provided on the other side.

2. The supermarket shelf replenishment robot with adjustable clamping height according to claim 1, characterized in that: A lower pulley (210) is fixedly connected to the rotating shaft on one side of the first stepper motor (205). The lower pulley (210) is located in the middle of the bottom connector (208) directly below the support rod (207). An upper pulley (211) is provided on the top connector (209). A belt is sleeved on the lower pulley (210) and the upper pulley (211). A connecting piece (306) is bolted to the slider piece (301). Two openings are opened vertically on it. The belt is wrapped around the openings to fix the connecting piece (306), so that the slider piece (301) can move up and down with the belt.

3. The supermarket shelf replenishment robot with adjustable clamping height according to claim 1, characterized in that: The rotating base (202) is rotatably connected to the fixed bracket (201). The connecting shaft at the top of the servo motor (203) at the bottom of the fixed bracket (201) is fixedly connected to the bottom end of the rotating base (202), which can drive the rotating base (202) to rotate 360°.

4. The supermarket shelf replenishment robot with adjustable clamping height according to claim 1, characterized in that: A computer bracket (11) is provided on the top surface of the base plate (1), and the computer bracket (11) is bolted to the top surface of the base plate (1).

5. The supermarket shelf replenishment robot with adjustable clamping height according to claim 1, characterized in that: A basket (12) is provided on the top surface of the base plate (1), and the basket (12) is fixedly connected to the top surface of the base plate (1) by bolts.

6. The supermarket shelf replenishment robot with adjustable clamping height according to claim 1, characterized in that: The base plate (1) has several fixing holes (15) on its top, which can be used to fix and install the controller, power block, and communication accessories with bolts, and connect the various electronic components through lines.

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