随着数字化技术和共享经济的不断发展，无人零售柜越来越普及。现在市场上的零售柜存在商品数量少，故而需求零售柜的容量更大，但零售柜的使用场景多变不一，然而，容量较大的零售柜对安装场景的适应力一般较差，难以更好地完成安装部署。With the continuous development of digital technology and the sharing economy, unmanned retail cabinets are becoming more and more popular. The retail cabinets on the market now have a small number of products, so the retail cabinets are required to have a larger capacity. However, the use scenarios of retail cabinets are varied. However, retail cabinets with larger capacities generally have poor adaptability to installation scenarios and are difficult to install. Better complete installation and deployment.

发明内容Contents of the invention

本发明实施例的目的在于，解决现有无人零售柜对不同安装场景的适应力不佳的技术问题。The purpose of the embodiments of the present invention is to solve the technical problem of poor adaptability of existing unmanned retail cabinets to different installation scenarios.

为了解决上述技术问题，本发明实施例提供一种无人零售柜，采用了如下所述的技术方案：In order to solve the above technical problems, embodiments of the present invention provide an unmanned retail cabinet, which adopts the following technical solutions:

所述无人零售柜包括：The unmanned retail cabinets include:

主柜，所述主柜包括第一柜本体和第一货架，所述第一柜本体内形成有前后排布、并相通的第一安装腔和主输送腔；所述第一柜本体的前侧凹设有凹腔，所述第一安装腔位于所述凹腔的外围；所述第一货架设置于所述第一安装腔内，并在所述凹腔和所述主输送腔之间形成有第一自动仓门；The main cabinet includes a first cabinet body and a first shelf. The first cabinet body is formed with a first installation cavity and a main conveying cavity arranged front and rear and connected; the front of the first cabinet body is The side recess is provided with a cavity, and the first installation cavity is located at the periphery of the cavity; the first shelf is arranged in the first installation cavity and between the cavity and the main conveying cavity A first automatic warehouse door is formed;

机器人，所述机器人能移动至所述凹腔内；所述机器人设置有具有取货口的出货仓；于面向所述主输送腔的一侧，所述出货仓设置有与所述第一自动仓门相对应的第二自动仓门；A robot, the robot can move into the cavity; the robot is provided with an outgoing warehouse with a pickup port; on the side facing the main conveying cavity, the outgoing warehouse is provided with the third A second automatic warehouse door corresponding to the first automatic warehouse door;

至少一个副柜，所有的所述副柜拆卸式安装于所述主柜的一侧或相对两侧；所述副柜包括第二柜本体和第二货架，所述第二柜本体内形成有前后排布、并相通的第二安装腔和副输送腔，所述第二货架设置于所述第二安装腔内；所述副输送腔能与所述主输送腔对应相通；At least one auxiliary cabinet, all of which are detachably installed on one side or opposite sides of the main cabinet; the auxiliary cabinet includes a second cabinet body and a second shelf, and a second cabinet is formed in the second cabinet body. There are second installation chambers and auxiliary conveying chambers arranged front and rear and connected, and the second shelf is arranged in the second installation chamber; the auxiliary conveying chamber can be communicated with the main conveying chamber;

传输组件，所述传输组件包括传输机构和取货装置，其中，在所述第一自动仓门和所述第二自动仓门打开时，所述取货装置在所述传输机构的带动下能在所述主输送腔内移动到所述第一货架的目标位置，或者能在所述主输送腔、所述副输送腔内移动到所述第二货架的目标位置，并在所述目标位置取出目标物品后移动，以从所述主输送腔依次穿过所述第一自动仓门和所述第二自动仓门伸至所述出货仓内，并能在所述出货仓放下目标物品。Transmission assembly, the transmission assembly includes a transmission mechanism and a pickup device, wherein when the first automatic bin door and the second automatic bin door are opened, the pickup device can be driven by the transmission mechanism. Move to the target position of the first shelf in the main conveying chamber, or move to the target position of the second shelf in the main conveying chamber and the auxiliary conveying chamber, and at the target position After taking out the target item, move it from the main conveying chamber through the first automatic door and the second automatic door to the outgoing warehouse, and place the target in the outgoing warehouse. thing.

进一步地，在一些实施例的优选方案中，所述主柜还包括侧柜板，在所述主柜独立使用时，所述侧柜板拆卸式安装于所述第一柜本体的相对两侧，以封闭所述第一安装腔和所述主输送腔；Further, in a preferred solution of some embodiments, the main cabinet further includes side cabinet panels. When the main cabinet is used independently, the side cabinet panels are detachably installed on opposite sides of the first cabinet body. , to close the first installation cavity and the main delivery cavity;

或者，在所述副柜设置于所述主柜的同一侧时，所述侧柜板拆卸式安装于所述主柜的一侧，及最远离所述主柜的所述副柜背离所述主柜的一侧；Alternatively, when the auxiliary cabinet is disposed on the same side of the main cabinet, the side cabinet panel is detachably installed on one side of the main cabinet, and the auxiliary cabinet furthest away from the main cabinet is away from the main cabinet. One side of the main cabinet;

或者，在所述副柜设置于所述主柜的相对两侧时，所述侧柜板拆卸式安装于最远离所述主柜的两个所述副柜背离所述主柜的一侧上。Alternatively, when the auxiliary cabinets are disposed on opposite sides of the main cabinet, the side cabinet panels are detachably installed on the side of the two auxiliary cabinets furthest away from the main cabinet and away from the main cabinet. .

进一步地，在一些实施例的优选方案中，所述传输机构包括第一主滑轨、第二主滑轨、第一副滑轨、第二副滑轨和立轨，所述第一主滑轨和所述第二主滑轨上下横向架设于所述主输送腔内，并相互对应、平行；Further, in the preferred solution of some embodiments, the transmission mechanism includes a first main slide rail, a second main slide rail, a first auxiliary slide rail, a second auxiliary slide rail and a vertical rail. The first main slide rail The rail and the second main slide rail are installed vertically and horizontally in the main conveying cavity, and correspond to each other and are parallel;

所述第一副滑轨和所述第二副滑轨上下横向架设于所述副输送腔内，并相互对应、平行，且所述第一副滑轨能与所述第一主滑轨对接，所述第二副滑轨能与所述第二主滑轨对接；The first auxiliary slide rail and the second auxiliary slide rail are installed vertically and horizontally in the auxiliary conveying cavity, corresponding to each other and parallel, and the first auxiliary slide rail can be docked with the first main slide rail , the second auxiliary slide rail can be docked with the second main slide rail;

所述立轨在所述主输送腔内一端活动设置于所述第一主滑轨上，另一端活动设置于所述第二主滑轨上，以能沿所述主输送腔滑行，且所述立轨的上下两端能分别与所述第一副滑轨和所述第二副滑轨滑动连接，以能进入所述副输送腔内滑行；One end of the vertical rail in the main conveying cavity is movably mounted on the first main slide rail, and the other end is movably mounted on the second main sliding rail so as to slide along the main conveying cavity. The upper and lower ends of the vertical rail can be slidably connected to the first auxiliary slide rail and the second auxiliary slide rail respectively, so as to be able to slide into the auxiliary conveying cavity;

所述立轨竖向滑动连接有所述取货装置。The vertical rail is vertically slidably connected to the pickup device.

进一步地，在一些实施例的优选方案中，所述无人零售柜还包括连接结构，所述第一副滑轨通过所述连接结构与所述第一主滑轨和相邻的所述第一副滑轨拆卸式连接；Further, in the preferred solution of some embodiments, the unmanned retail cabinet further includes a connection structure, and the first auxiliary slide rail is connected to the first main slide rail and the adjacent third slide rail through the connection structure. A pair of slide rail detachable connections;

所述第二副滑轨通过所述连接结构与所述第二主滑轨和相邻的所述第二副滑轨拆卸式连接。The second auxiliary slide rail is detachably connected to the second main slide rail and the adjacent second auxiliary slide rail through the connection structure.

进一步地，在一些实施例的优选方案中，所述连接结构包括相互插接的连接插杆和插接孔，在所述第二柜本体与所述第一柜本体相连时，所述第一副滑轨一侧和所述第一主滑轨一侧中的一个设置有所述连接插杆，另一个设置有所述插接孔；所述第二副滑轨一侧和所述第二主滑轨一侧中的一个设置有所述连接插杆，另一个设置有所述插接孔；Further, in the preferred solution of some embodiments, the connection structure includes connecting rods and plug holes that are plugged into each other. When the second cabinet body is connected to the first cabinet body, the first cabinet body is connected to the first cabinet body. One of the side of the auxiliary slide rail and the side of the first main slide rail is provided with the connecting rod, and the other side is provided with the plug hole; the side of the second auxiliary slide rail and the second side are provided with the connecting rod. One side of the main slide rail is provided with the connecting plug rod, and the other side is provided with the plug hole;

在相邻两个所述第二柜本体相连时，两个所述第一副滑轨邻接一侧中的一个设置有所述连接插杆，另一个设置有所述插接孔；两个所述第二副滑轨邻接一侧中的一个设置有所述连接插杆，另一个设置有所述插接孔。When two adjacent second cabinet bodies are connected, one of the adjacent sides of the two first auxiliary slide rails is provided with the connecting plug rod, and the other is provided with the plug hole; One of the adjacent sides of the second auxiliary slide rail is provided with the connecting plug rod, and the other side is provided with the plug hole.

进一步地，在一些实施例的优选方案中，所述副柜设置有两个，两个所述副柜拆卸式安装于所述主柜的相对两侧上；所述取货装置能在所述主输出腔和两个所述副输送腔形成的输送通道内滑动。Further, in the preferred solution of some embodiments, there are two auxiliary cabinets, and the two auxiliary cabinets are detachably installed on opposite sides of the main cabinet; the pickup device can be installed on the main cabinet. The main output chamber and the two auxiliary conveying chambers slide within the conveying channel formed.

进一步地，在一些实施例的优选方案中，所述取货装置包括安装座、滑动组件和吸泵组件，所述安装座安装于所述传输机构的立轨上；于所述主输送腔至所述第一安装腔的方向上，所述滑动组件滑动设置于所述安装座上，以使设置于其上的所述吸泵组件能依次穿过所述第一自动仓门、所述第二自动仓门进入所述出货仓，或者反向从所述出货仓进入所述主输送腔，或者从所述第一货架或所述第二货架取目标物品。Further, in the preferred solution of some embodiments, the pickup device includes a mounting base, a sliding assembly and a suction pump assembly, the mounting base is installed on the vertical rail of the transmission mechanism; In the direction of the first installation cavity, the sliding component is slidably disposed on the mounting base, so that the suction pump component disposed thereon can pass through the first automatic door, the third Two automatic warehouse doors enter the outgoing warehouse, or enter the main conveying chamber from the outgoing warehouse in reverse, or take target items from the first shelf or the second shelf.

进一步地，在一些实施例的优选方案中，所述滑动组件包括第一级滑台、第二级滑台和第三级滑台，于所述主输送腔至所述第一安装腔的方向上，所述第一级滑台的底部滑动安装于所述安装座的顶部上，所述第二级滑台的底部滑动安装于所述第一级滑台的顶部上，所述第三级滑台的底部滑动安装于所述第二级滑台的顶部上，所述吸泵组件安装于所述第三级滑台靠近所述凹腔的一端；且所述第一级滑台、所述第二级滑台和所述第三级滑台之间能相互联动，以实现所述吸泵组件的多级推动或拉回。Further, in the preferred solution of some embodiments, the sliding assembly includes a first-level sliding table, a second-level sliding table and a third-level sliding table, in the direction from the main conveying cavity to the first installation cavity. on, the bottom of the first-level slide is slidably mounted on the top of the mounting base, the bottom of the second-level slide is slidably mounted on the top of the first-level slide, and the third-level The bottom of the sliding table is slidably installed on the top of the second-level sliding table, and the suction pump assembly is installed on one end of the third-level sliding table close to the cavity; and the first-level sliding table, the The second-stage sliding table and the third-stage sliding table can be linked to each other to realize multi-stage pushing or pulling back of the suction pump assembly.

进一步地，在一些实施例的优选方案中，所述安装座包括固定座和滑座，所述固定座的顶部凸设有第一安装部；于所述主输送腔至所述第一安装腔的方向上，所述固定座安装于所述传输机构的立轨上，所述滑座滑动安装于所述固定座的顶部；Further, in the preferred solution of some embodiments, the mounting base includes a fixed base and a sliding base, and a first mounting portion is protruding from the top of the fixed base; from the main conveying chamber to the first mounting chamber In the direction, the fixed seat is installed on the vertical rail of the transmission mechanism, and the sliding seat is slidably installed on the top of the fixed seat;

所述第一级滑台包括第一滑台本体、第一链轮和第一传送链条，所述第二级滑台包括第二滑台本体、第二链轮和第二传送链条，所述第一滑台本体的顶部凸设有第二安装部，所述第一滑台本体的底部凹设有第一避让腔，所述第二滑台本体的底部凹设有第二避让腔，所述第三级滑台的底部凹设有第三避让腔；The first-level slide table includes a first slide table body, a first sprocket wheel and a first transmission chain, and the second-level slide table includes a second slide table body, a second sprocket wheel and a second transmission chain. The top of the first slide body is convexly provided with a second mounting portion, the bottom of the first slide body is recessed with a first escape cavity, and the bottom of the second slide body is recessed with a second escape cavity. The bottom of the third-level slide is recessed with a third escape cavity;

所述第一滑台本体固定安装于所述滑座的顶部上，所述第一链轮转动设置于第一滑台本体靠近所述吸泵组件的一端，所述第一传送链条跨过所述第一链轮，且所述第一传送链条一部分在所述第一避让腔内、固定设置于所述安装座的所述第一安装部上，所述第一传送链条一部分在所述第二避让腔内、沿所述第二避让腔的延伸方向设置于所述第二滑台本体的底部；The first slide body is fixedly installed on the top of the slide seat, the first sprocket is rotatably disposed at one end of the first slide body close to the suction pump assembly, and the first transmission chain spans the The first sprocket, and a part of the first transmission chain is fixedly arranged on the first mounting part of the mounting base in the first escape cavity, and a part of the first transmission chain is in the first escape cavity. The second escape cavity is provided at the bottom of the second slide body along the extension direction of the second escape cavity;

所述第二滑台本体滑动安装于所述第一滑台本体的顶部，所述第二链轮转动设置于所述第二滑台本体靠近所述吸泵组件的一端；所述第二传送链条跨过所述第二链轮，且所述第二传送链条一部分在所述第二避让腔内、固定设置于所述第一滑台本体的所述第二安装部，所述第二传送链条一部分在所述第三避让腔内、沿所述第三避让腔的延伸方向设置于所述第三级滑台的底部；所述第三级滑台滑动安装于所述第二滑台本体的顶部。The second slide body is slidably mounted on the top of the first slide body, and the second sprocket is rotatably mounted on an end of the second slide body close to the suction pump assembly; the second transmission The chain spans the second sprocket, and a part of the second transmission chain is fixedly installed on the second mounting portion of the first slide body in the second escape cavity. A part of the chain is disposed in the third escape cavity and at the bottom of the third-level slide table along the extension direction of the third escape cavity; the third-level slide table is slidably installed on the second slide table body. the top of.

进一步地，在一些实施例的优选方案中，所述吸泵组件包括L型基座、立板、弹性件和吸部，所述立板设置于所述L型基座上，并与所述L型基座在所述滑动组件的长度方向上存在间隙；所述弹性件位于所述间隙内，且一端连接于所述立板上；Further, in the preferred solution of some embodiments, the suction pump assembly includes an L-shaped base, a vertical plate, an elastic member and a suction part, the vertical plate is disposed on the L-shaped base and is connected with the There is a gap in the L-shaped base in the length direction of the sliding component; the elastic member is located in the gap, and one end is connected to the vertical plate;

所述吸部的一端外露于所述L型基座，另一端伸至所述间隙与所述弹性件的一端相连，以在所述弹性件的弹力辅助下缓冲取放目标物品。One end of the suction part is exposed on the L-shaped base, and the other end extends into the gap and is connected to one end of the elastic member to buffer and pick up the target object with the assistance of the elastic force of the elastic member.

与现有技术相比，本发明实施例提供的无人零售柜主要有以下有益效果：Compared with the existing technology, the unmanned retail cabinet provided by the embodiment of the present invention mainly has the following beneficial effects:

该无人零售柜通过设置至少一个副柜，在主柜上设置取货口，并使传输组件的传输机构带动取货装置能在主柜的主输送腔内移动，从第一货架上取出目标物品，并将取下的目标物品依次经第一自动仓门和第二自动仓门送至出货仓供用户拿取，以实现主柜的单独使用，或与副柜拼接使用；或者在主柜与副柜拼接使用时，该无人零售柜还可使传输组件的带动取货装置能在副柜的副输送腔及主柜的主输送腔内移动，从第二货架上取出目标物品，并将取下的目标物品依次经副输送腔、主输送腔、第一自动仓门和第二自动仓门送至出货仓供用户拿取。由此，该无人零售柜即可根据不同安装场景的需要，单独使用主柜，或将主柜与不同数量的副柜进行不同的组合拼接，并顺畅、合理地完成用户对不同目标位置中目标商品的购买需求。The unmanned retail cabinet is provided with at least one auxiliary cabinet, a pickup port is provided on the main cabinet, and the transmission mechanism of the transmission assembly drives the pickup device to move in the main conveying cavity of the main cabinet to take out the target items from the first shelf. , and send the removed target items to the outgoing warehouse through the first automatic door and the second automatic door for the user to take, so as to realize the independent use of the main cabinet, or splicing with the auxiliary cabinet; or in the main cabinet When used in conjunction with the auxiliary cabinet, the unmanned retail cabinet can also enable the pickup device driven by the transmission component to move in the auxiliary conveying cavity of the auxiliary cabinet and the main conveying cavity of the main cabinet, and take out the target items from the second shelf, and The removed target items are sent to the delivery warehouse through the auxiliary conveying chamber, the main conveying chamber, the first automatic door and the second automatic door in order for the user to pick up. As a result, the unmanned retail cabinet can use the main cabinet alone according to the needs of different installation scenarios, or combine the main cabinet with different numbers of sub-cabinets in different combinations, and smoothly and reasonably complete the user's installation in different target locations. Purchase demand for the target product.

总体上，该无人零售柜的安装场景适应力强，利于实现扩大无人零售柜的容量及增加售卖商品的种类。In general, the unmanned retail cabinet has strong adaptability to the installation scenario, which is conducive to expanding the capacity of the unmanned retail cabinet and increasing the types of goods sold.

附图说明Description of the drawings

为了更清楚地说明本发明中的方案，下面将对实施例描述中所需要使用的附图作一个简单介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。其中：In order to explain the solution of the present invention more clearly, a brief introduction will be given below to the drawings needed to be used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For ordinary people in the art For technical personnel, other drawings can also be obtained based on these drawings without exerting creative work. in:

图1是本发明一个实施例中无人零售柜的一种立体结构示意图；其中，在该图中，主柜的两侧分别拼装一个副柜；Figure 1 is a schematic three-dimensional structural diagram of an unmanned retail cabinet in an embodiment of the present invention; in this figure, an auxiliary cabinet is assembled on both sides of the main cabinet;

图2是图1中无人零售柜的立体分解示意图；Figure 2 is a three-dimensional exploded schematic view of the unmanned retail cabinet in Figure 1;

图3是图1中无人零售柜去掉背板后一视角上的立体结构示意图；Figure 3 is a schematic three-dimensional structural diagram of the unmanned retail cabinet in Figure 1 with the back panel removed from a perspective;

图4是图1中无人零售柜去掉背板后另一视角上的立体分解示意图；其中，在该图中，主柜中的第一主滑轨和副柜中的第一副滑轨有分解开；Figure 4 is a three-dimensional exploded schematic diagram of the unmanned retail cabinet in Figure 1 with the back panel removed from another perspective; in this figure, the first main slide rail in the main cabinet and the first auxiliary slide rail in the auxiliary cabinet have break it apart;

图5是本发明一个实施例中无人零售柜的另一种立体结构示意图；其中，在该图中，主柜单独使用，没有副柜；Figure 5 is another three-dimensional structural schematic diagram of an unmanned retail cabinet in an embodiment of the present invention; wherein, in this figure, the main cabinet is used alone and there is no auxiliary cabinet;

图6是图5中无人零售柜去掉背板后的立体结构示意图；Figure 6 is a schematic three-dimensional structural diagram of the unmanned retail cabinet in Figure 5 with the back panel removed;

图7是图6中无人零售柜的传输组件的立体安装结构示意图；其中，在该图中，传输机构包括第一主滑轨、第二主滑轨和立轨；Figure 7 is a schematic diagram of the three-dimensional installation structure of the transmission assembly of the unmanned retail cabinet in Figure 6; wherein, in this figure, the transmission mechanism includes a first main slide rail, a second main slide rail and a vertical rail;

图8是本发明一个实施例中无人零售柜的传输组件的取货装置的立体结构示意图；Figure 8 is a schematic three-dimensional structural diagram of the pickup device of the transmission assembly of the unmanned retail cabinet in one embodiment of the present invention;

图9是图8中取货装置处于伸展状态下的立体结构示意图；Figure 9 is a schematic three-dimensional structural diagram of the pickup device in Figure 8 in an extended state;

图10是图8中取货装置的安装座的立体结构示意图；Figure 10 is a schematic three-dimensional structural diagram of the mounting base of the pickup device in Figure 8;

图11是图8中取货装置的第一级滑台的立体结构示意图。FIG. 11 is a schematic three-dimensional structural diagram of the first-level slide of the pickup device in FIG. 8 .

附图中的标号如下：The numbers in the attached drawings are as follows:

100、无人零售柜；200、目标物品；100. Unmanned retail counter; 200. Target items;

1、主柜；11、第一柜本体；112、主输送腔；113、凹腔；12、第一货架；121、第一自动仓门；13、侧柜板；1. Main cabinet; 11. First cabinet body; 112. Main conveying cavity; 113. Recessed cavity; 12. First shelf; 121. First automatic door; 13. Side cabinet panels;

2、机器人；3、副柜；31、第二柜本体；32、第二货架；34、副输送腔；2. Robot; 3. Sub-cabinet; 31. Second cabinet body; 32. Second shelf; 34. Sub-conveying chamber;

4、传输组件；41、传输机构；411、第一主滑轨；412、第二主滑轨；413、第一副滑轨；414、第二副滑轨；415、立轨；4. Transmission component; 41. Transmission mechanism; 411. First main slide rail; 412. Second main slide rail; 413. First auxiliary slide rail; 414. Second auxiliary slide rail; 415. Vertical rail;

42、取货装置；421、安装座；4211、固定座；42111、第一安装部；4212、滑座；4213、驱动组件；42131、电机；42132、传送带结构；4214、丝杆；4215、第一导向杆；422、滑动组件；4221、第一级滑台；42211、第一滑台本体；42212、第一链轮；42213、第一传送链条；42214、第二安装部；42216、第二导向杆；42. Pick-up device; 421. Mounting seat; 4211. Fixed seat; 42111. First mounting part; 4212. Slide seat; 4213. Driving component; 42131. Motor; 42132. Conveyor belt structure; 4214. Lead screw; 4215. Section A guide rod; 422, sliding assembly; 4221, first-level slide table; 42211, first slide table body; 42212, first sprocket; 42213, first transmission chain; 42214, second installation part; 42216, second guide rod;

4222、第二级滑台；42221、第二滑台本体；42222、第二链轮；42223、第二传送链条；42224、第二避让腔；42225、第三导向杆；4223、第三级滑台；42231、第三避让腔；4222. The second slide table; 42221. The second slide table body; 42222. The second sprocket; 42223. The second transmission chain; 42224. The second avoidance cavity; 42225. The third guide rod; 4223. The third slide Taiwan; 42231, third avoidance cavity;

423、吸泵组件；4231、L型基座；4232、立板；4233、弹性件；4234、吸部；43、连接结构；431、连接插杆；432、插接孔。423. Suction pump assembly; 4231. L-shaped base; 4232. Vertical plate; 4233. Elastic member; 4234. Suction part; 43. Connection structure; 431. Connection insertion rod; 432. Insertion hole.

具体实施方式Detailed ways

除非另有定义，本文所使用的所有技术和科学术语与属于本发明技术领域的技术人员通常理解的含义相同；本文在说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明，例如，术语“长度”、“宽度”、“上”、“下”、“左”、“右”、“前”、“后”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置为基于附图所示的方位或位置，仅是便于描述，不能理解为对本技术方案的限制。Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the technical field of the present invention; the terms used in the specification are only for the purpose of describing specific embodiments and are not intended to To limit the invention, for example, the terms "length", "width", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top" ", "bottom", "inside", "outside", etc. indicate the orientation or position based on the orientation or position shown in the drawings. They are only for convenience of description and cannot be understood as a limitation of the present technical solution.

本发明的说明书和权利要求书及上述附图说明中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含；本发明的说明书和权利要求书或上述附图中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。“多个”的含义是两个或两个以上，除非另有明确具体的限定。The terms "including" and "having" and any variations thereof in the description and claims of the present invention and the description of the above drawings are intended to cover non-exclusive inclusion; in the description and claims of the present invention or the description of the above drawings The terms "first", "second", etc. are used to distinguish different objects and are not used to describe a specific order. "Plural" means two or more, unless otherwise expressly and specifically limited.

本发明的说明书和权利要求书及上述附图说明中，当元件被称为“固定于”或“安装于”或“设置于”或“连接于”另一个元件上，它可以是直接或间接位于该另一个元件上。例如，当一个元件被称为“连接于”另一个元件上，它可以是直接或间接连接到该另一个元件上。In the description and claims of the invention, and the description of the drawings above, when an element is referred to as being "fixed to" or "mounted on" or "disposed on" or "connected to" another element, it may be directly or indirectly. on the other element. For example, when an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.

此外，在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本发明的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。Furthermore, reference herein to "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art understand, both explicitly and implicitly, that the embodiments described herein may be combined with other embodiments.

本发明实施例提供一种无人零售柜100，如图1至图3所示，该无人零售柜100包括主柜1、机器人2、副柜3和传输组件4，主柜1包括第一柜本体11和第一货架12，第一柜本体11内形成有第一安装腔(图未示)和主输送腔112，其中，第一安装腔和主输送腔112前后排布、并相通。需说明的是，这里所述的前后通常是指靠近用户的一面/一侧为前面/前侧，背离用户的一面/一侧的后面/后侧。An embodiment of the present invention provides an unmanned retail cabinet 100, as shown in Figures 1 to 3. The unmanned retail cabinet 100 includes a main cabinet 1, a robot 2, an auxiliary cabinet 3 and a transmission assembly 4. The main cabinet 1 includes a first The cabinet body 11 and the first shelf 12 are formed with a first installation cavity (not shown) and a main conveying cavity 112 in the first cabinet body 11, wherein the first installation cavity and the main conveying cavity 112 are arranged front to back and communicate with each other. It should be noted that the front and rear mentioned here usually refers to the front/front side of the side close to the user, and the back/rear side of the side/side facing away from the user.

具体地，为方便安装机器人2，确保目标物品200传输过程中的防盗和防丢功能，第一柜本体11的前侧凹设有凹腔113(参看图1和图2)，机器人2能移动至凹腔113内。需说明的，具体在本实施例中，机器人2与主柜1的第一柜本体11可为非接触，机器人2可依靠自身导航系统将其一半以上或整个身体驶入凹腔113内，到达指定位置后可与第一柜本体11内的传输组件4交接目标物品200。Specifically, in order to facilitate the installation of the robot 2 and ensure the anti-theft and anti-lost functions of the target item 200 during the transportation process, the front side of the first cabinet body 11 is recessed with a cavity 113 (see Figures 1 and 2), and the robot 2 can move. into the cavity 113. It should be noted that specifically in this embodiment, the robot 2 may be in non-contact with the first cabinet body 11 of the main cabinet 1, and the robot 2 may rely on its own navigation system to drive more than half or the entire body into the cavity 113 to reach the After specifying the position, the target item 200 can be handed over to the transmission component 4 in the first cabinet body 11 .

更具体地，具体在本实施例中，为确保该无人零售柜100的结构更加紧凑，且方便合理规划目标物品200的输送路径，第一安装腔(图未示)位于凹腔113的外围。如图2至图4所示，主柜1的第一货架12设置于第一安装腔内，且为方便取放货，第一货架12在凹腔113和主输送腔112之间形成有第一自动仓门121。对应地，机器人2设置有具有取货口(图未示)的出货仓(图未示)；于面向主输送腔112的一侧，出货仓设置有与第一自动仓门121相对应的第二自动仓门(图未示)。可理解地，主输送腔112、第一自动仓门121处、第二自动仓门处和取货口即可共同形成一个输送通道(图未示)。More specifically, in this embodiment, in order to ensure that the structure of the unmanned retail cabinet 100 is more compact and to facilitate reasonable planning of the transportation path of the target items 200, the first installation cavity (not shown) is located at the periphery of the cavity 113. . As shown in FIGS. 2 to 4 , the first shelf 12 of the main cabinet 1 is disposed in the first installation cavity. In order to facilitate loading and unloading of goods, the first shelf 12 is formed with a third shelf 12 between the concave cavity 113 and the main conveying cavity 112 . An automatic warehouse door 121. Correspondingly, the robot 2 is provided with an outbound warehouse (not shown) having a pickup port (not shown); on the side facing the main conveying chamber 112, the outbound warehouse is provided with a warehouse corresponding to the first automatic warehouse door 121 The second automatic door (not shown). Understandably, the main conveying chamber 112, the first automatic door 121, the second automatic door and the pickup port can jointly form a conveying channel (not shown).

在本实施例中，为提高无人零售柜100对不同安装场景的适应力，并利于根据需要增加物品的种类和数量，副柜3设置有至少一个。In this embodiment, in order to improve the adaptability of the unmanned retail cabinet 100 to different installation scenarios and facilitate increasing the type and quantity of items as needed, at least one sub-cabinet 3 is provided.

需说明的是，具体地，主柜1可以单独安装使用(参看图5)，为简化安装和降低生产成本，副柜3不可单独使用，通常需与主柜1配合使用。简言之，主柜1具有取货口，副柜3不具取货口，其内的目标物品200需通过传输组件4输送到主柜1内再出货。It should be noted that, specifically, the main cabinet 1 can be installed and used alone (see Figure 5). In order to simplify installation and reduce production costs, the auxiliary cabinet 3 cannot be used alone and usually needs to be used in conjunction with the main cabinet 1. In short, the main cabinet 1 has a pickup port, but the auxiliary cabinet 3 does not have a pickup port. The target items 200 therein need to be transported to the main cabinet 1 through the transmission assembly 4 before being shipped.

其中，在有副柜3时，所有的副柜3拆卸式安装于主柜1的一侧或相对两侧。可理解地，副柜3的数量可为一个，这时副柜3拆卸式安装于主柜1的其中一侧上。副柜3的数量为至少两个时，一部分副柜3拆卸式安装于主柜1的一侧，另一部分副柜3拆卸式安装于主柜1的另一侧；或者，所有的副柜3拆卸式安装于主柜1的同一侧。Wherein, when there are auxiliary cabinets 3, all auxiliary cabinets 3 are detachably installed on one side or opposite sides of the main cabinet 1. It is understandable that the number of the auxiliary cabinet 3 can be one, and in this case the auxiliary cabinet 3 is detachably installed on one side of the main cabinet 1 . When the number of auxiliary cabinets 3 is at least two, some of the auxiliary cabinets 3 are detachably installed on one side of the main cabinet 1, and the other part of the auxiliary cabinets 3 are detachably installed on the other side of the main cabinet 1; or, all the auxiliary cabinets 3 Detachable installation on the same side of main cabinet 1.

具体地，为实现副柜3的扩容功能、确保目标物品200的合理顺畅输送，及与主柜1适配拼接，如图2至图4所示，副柜3包括第二柜本体31和第二货架32，第二柜本体31内形成有第二安装腔(图未示)和副输送腔34，其中，第二安装腔和副输送腔34前后排布、并相通。第二货架32设置于第二安装腔内；副输送腔34能与主输送腔112对应相通。更具体地，副输送腔34和主输送腔112相通，第二货架32和第一货架12相接；另外，相邻的两个副输送腔34也相通，相邻的第二货架32相接。Specifically, in order to realize the capacity expansion function of the auxiliary cabinet 3, ensure the reasonable and smooth transportation of the target items 200, and adapt and splice with the main cabinet 1, as shown in Figures 2 to 4, the auxiliary cabinet 3 includes a second cabinet body 31 and a second cabinet body 31. The second shelf 32 and the second cabinet body 31 are formed with a second installation cavity (not shown) and an auxiliary conveying cavity 34, wherein the second installation cavity and the auxiliary conveying cavity 34 are arranged front to back and communicate with each other. The second shelf 32 is disposed in the second installation cavity; the auxiliary conveying cavity 34 can communicate with the main conveying cavity 112 correspondingly. More specifically, the auxiliary conveying chamber 34 is connected to the main conveying chamber 112, and the second shelf 32 is connected to the first shelf 12; in addition, two adjacent auxiliary conveying chambers 34 are also connected, and the adjacent second shelves 32 are connected. .

可以理解地，在主柜1拼接有副柜3时，具体为第二柜体通过螺钉等其他拆卸式结构拼接于第一柜体时，副输送腔34与主柜1上述的输送通道相通。It can be understood that when the main cabinet 1 is spliced with the auxiliary cabinet 3, specifically when the second cabinet is spliced to the first cabinet through screws or other detachable structures, the auxiliary conveying cavity 34 is connected to the above-mentioned conveying channel of the main cabinet 1.

在本实施例中，如图3、图4和图6所示，为方便取放目标物品200，并将目标物品200输送到目标位置，传输组件4包括传输机构41和取货装置42，其中，在主柜1单独使用或拼接有副柜3，且用户需购买主柜1内的目标物品200时，在第一自动仓门121和第二自动仓门打开时，取货装置42在传输机构41的带动下能在主输送腔112内移动到第一货架12的目标位置，并在目标位置取出目标物品200后移动，以从主输送腔112依次穿过第一自动仓门121和第二自动仓门伸至出货仓内，并能在出货仓放下目标物品200，以便用户从取货口取到目标物品200。In this embodiment, as shown in Figures 3, 4 and 6, in order to facilitate picking up and placing the target item 200 and transporting the target item 200 to the target location, the transmission assembly 4 includes a transmission mechanism 41 and a pickup device 42, where , when the main cabinet 1 is used alone or is spliced with the auxiliary cabinet 3, and the user needs to purchase the target items 200 in the main cabinet 1, when the first automatic door 121 and the second automatic door are opened, the pickup device 42 is transmitting Driven by the mechanism 41, it can move to the target position of the first shelf 12 in the main conveying chamber 112, take out the target item 200 at the target position and then move to pass through the first automatic door 121 and the first automatic warehouse door 121 from the main conveying chamber 112. The second automatic warehouse door extends into the delivery warehouse and can place the target item 200 in the delivery warehouse so that the user can pick up the target item 200 from the delivery port.

或者，在主柜1拼接有副柜3，且用户需购买副柜3内的目标物品200时，在第一自动仓门121和第二自动仓门打开时，取货装置42能在主输送腔112、副输送腔34内移动到第二货架32的目标位置，并在目标位置取出目标物品200后移动，以从主输送腔112依次穿过第一自动仓门121和第二自动仓门伸至出货仓内，并能在出货仓放下目标物品200，以便用户从取货口取到目标物品200。Alternatively, when the main cabinet 1 is spliced with a sub-cabinet 3 and the user needs to purchase the target items 200 in the sub-cabinet 3, when the first automatic door 121 and the second automatic door are opened, the picking device 42 can be used in the main conveyor Move to the target position of the second shelf 32 in the cavity 112 and the auxiliary conveying cavity 34, take out the target item 200 at the target position, and then move to pass through the first automatic door 121 and the second automatic door 121 from the main conveying chamber 112 It extends into the delivery warehouse and can place the target item 200 in the delivery warehouse so that the user can pick up the target item 200 from the delivery port.

可以理解地，该无人零售柜100的取送货路径合理有序，在拼接有副柜3时，也只是增加了取货装置42的横向移动距离，主路径并没有改变，故而，即使根据不同的安装场景拼装出不同的无人零售柜100组合结构时，该无人零售柜100的整体取货速度也不会受到太大的影响。It can be understood that the pickup and delivery path of the unmanned retail cabinet 100 is reasonable and orderly. When the auxiliary cabinet 3 is spliced, the lateral movement distance of the pickup device 42 is only increased, and the main path is not changed. Therefore, even according to When different installation scenarios are used to assemble different unmanned retail cabinet 100 combination structures, the overall pickup speed of the unmanned retail cabinet 100 will not be greatly affected.

需说明的，具体在本实施例中，传输机构41主要用于将取货装置42输送到目标位置；取货装置42主要用于从对应货架中取出目标物品200，并在传输过程中实现售货员手拿物品的功能，在到达指定位置后根据指令放下目标物品200。It should be noted that in this embodiment, the transmission mechanism 41 is mainly used to transport the picking device 42 to the target position; the picking device 42 is mainly used to take out the target item 200 from the corresponding shelf, and realize the salesperson's request during the transportation process. The function of holding items in hand is to drop the target item 200 according to the instructions after reaching the designated location.

为提高该无人零售柜100的安全性及实现零售功能，该无人零售柜100还包括视觉监控装置、费用结算装置和控制装置，其中，视觉监控装置可设置于主柜1和/或副柜3的外侧；费用结算装置和控制装置可设置于机器人2内。可以理解地，第一自动仓门121、第二自动仓门、取货装置42等均可通过控制装置进行控制。In order to improve the safety of the unmanned retail cabinet 100 and realize the retail function, the unmanned retail cabinet 100 also includes a visual monitoring device, a fee settlement device and a control device, wherein the visual monitoring device can be installed in the main cabinet 1 and/or the auxiliary cabinet. outside the cabinet 3; the cost settlement device and the control device can be installed in the robot 2. It can be understood that the first automatic warehouse door 121, the second automatic warehouse door, the pickup device 42, etc. can all be controlled by the control device.

综上，相比现有技术，该无人零售柜100至少具有以下有益效果：该无人零售柜100通过设置至少一个副柜3，在主柜1上设置取货口，并使传输组件4的传输机构41带动取货装置42能在主柜1的主输送腔112内移动，从第一货架12上取出目标物品200，并将取下的目标物品200依次经第一自动仓门121和第二自动仓门送至出货仓供用户拿取，以实现主柜1的单独使用，或与副柜3拼接使用；或者在主柜1与副柜3拼接使用时，该无人零售柜100还可使传输组件4的带动取货装置42能在副柜3的副输送腔34及主柜1的主输送腔112内移动，从第二货架32上取出目标物品200，并将取下的目标物品200依次经副输送腔34、主输送腔112、第一自动仓门121和第二自动仓门送至出货仓供用户拿取。由此，该无人零售柜100即可根据不同安装场景的需要，单独使用主柜1，或将主柜1与不同数量的副柜3进行不同的组合拼接，并顺畅、合理地完成用户对不同目标位置中目标商品的购买需求。To sum up, compared with the existing technology, the unmanned retail cabinet 100 at least has the following beneficial effects: the unmanned retail cabinet 100 sets at least one auxiliary cabinet 3, sets a pickup port on the main cabinet 1, and makes the transmission assembly 4 The transmission mechanism 41 drives the picking device 42 to move in the main conveying cavity 112 of the main cabinet 1, take out the target items 200 from the first shelf 12, and pass the removed target items 200 through the first automatic door 121 and The second automatic warehouse door is sent to the delivery warehouse for users to take, so that the main cabinet 1 can be used alone or combined with the auxiliary cabinet 3; or when the main cabinet 1 and the auxiliary cabinet 3 are used together, the unmanned retail cabinet 100 can also enable the driven pick-up device 42 of the transmission assembly 4 to move in the auxiliary conveying chamber 34 of the auxiliary cabinet 3 and the main conveying chamber 112 of the main cabinet 1, and take out the target item 200 from the second shelf 32 and remove it. The target items 200 are sent to the delivery warehouse for the user to pick up through the auxiliary conveying chamber 34, the main conveying chamber 112, the first automatic door 121 and the second automatic door. Therefore, according to the needs of different installation scenarios, the unmanned retail cabinet 100 can use the main cabinet 1 alone, or combine the main cabinet 1 with different numbers of sub-cabinets 3 in different combinations, and complete the user's adjustment smoothly and reasonably. Purchase demand for target products in different target locations.

总体上，该无人零售柜100的安装场景适应力强，利于实现扩大无人零售柜100的容量及增加售卖商品的种类，生产成本低，使用方便快捷，安全防盗。Generally speaking, the unmanned retail cabinet 100 has strong adaptability to installation scenarios, which is conducive to expanding the capacity of the unmanned retail cabinet 100 and increasing the types of goods sold. It has low production cost, is convenient and quick to use, and is safe and anti-theft.

为了使本技术领域的人员更好地理解本发明方案，下面将结合附图1至图11，对本发明实施例中的技术方案进行清楚、完整地描述。In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings 1 to 11 .

进一步地，作为本发明一些实施例中的一种具体实施方式，如图1至图3所示，为使该无人零售柜100根据不同安装场景方便、快捷地组合成不同的拼接结构，主柜1还包括侧柜板13，在主柜1独立使用时，侧柜板13拆卸式安装于第一柜本体11的相对两侧，以封闭第一安装腔和主输送腔112，也即封闭该无人零售柜100的左右两侧。Further, as a specific implementation in some embodiments of the present invention, as shown in Figures 1 to 3, in order to make the unmanned retail cabinet 100 conveniently and quickly combined into different splicing structures according to different installation scenarios, the main The cabinet 1 also includes side cabinet panels 13. When the main cabinet 1 is used independently, the side cabinet panels 13 are detachably installed on the opposite sides of the first cabinet body 11 to close the first installation cavity and the main conveying cavity 112, that is, to close the first installation cavity and the main conveying cavity 112. The left and right sides of the unmanned retail cabinet 100.

或者，在所有副柜3设置于主柜1的同一侧时，侧柜板13拆卸式安装于主柜1的一侧，及最远离主柜1的副柜3背离主柜1的一侧，以封闭该无人零售柜100的相对两侧(具体为左右两侧)。Or, when all the auxiliary cabinets 3 are arranged on the same side of the main cabinet 1, the side cabinet plate 13 is detachably installed on one side of the main cabinet 1, and the side of the auxiliary cabinet 3 farthest away from the main cabinet 1 is away from the main cabinet 1. To close the opposite sides of the unmanned retail cabinet 100 (specifically, the left and right sides).

或者，在副柜3设置于主柜1的相对两侧时，也即，一部分副柜3设置于主柜1的一侧，另一部分副柜3设置于主柜1的另一侧时，侧柜板13拆卸式安装于最远离主柜1的两个副柜3背离主柜1的一侧上，以封闭该无人零售柜100的左右两侧。Or when the auxiliary cabinets 3 are disposed on opposite sides of the main cabinet 1, that is, when a part of the auxiliary cabinets 3 is disposed on one side of the main cabinet 1 and the other part of the auxiliary cabinets 3 is disposed on the other side of the main cabinet 1, the side The cabinet board 13 is detachably installed on the side of the two auxiliary cabinets 3 farthest away from the main cabinet 1 to close the left and right sides of the unmanned retail cabinet 100 .

需说明的是，如图2所示，为方便组合拆装，确保主输送腔112与副输送腔34相通，这里所述的第一柜本体11的左右两侧呈敞口结构。同理，副柜3的第二柜本体31左右两侧也呈敞口结构。当然，在其他合适的结构中，副柜3和主柜1的左右两侧还可为自动门，或推拉上锁的门等，在此不做特别限定。It should be noted that, as shown in Figure 2, in order to facilitate assembly and disassembly and ensure that the main conveying chamber 112 and the auxiliary conveying chamber 34 are connected, the left and right sides of the first cabinet body 11 described here have an open structure. Similarly, the left and right sides of the second cabinet body 31 of the sub-cabinet 3 also have an open structure. Of course, in other suitable structures, the left and right sides of the auxiliary cabinet 3 and the main cabinet 1 can also be automatic doors, or push-pull locked doors, etc., which are not particularly limited here.

可以理解地，当主柜1单独使用时，直接将侧柜板13安装于第一柜本体11的相对两侧即可封装主柜1。当主柜1和副柜3同时使用时，可先将第二柜本体31和第一柜本体11根据不同的安装场景拼接一起，再将侧柜板13安装于无人零售柜100的左右两侧，以封装无人零售柜100，以此即可大大地提高拼装效率。It can be understood that when the main cabinet 1 is used alone, the main cabinet 1 can be packaged by directly installing the side cabinet panels 13 on the opposite sides of the first cabinet body 11 . When the main cabinet 1 and the auxiliary cabinet 3 are used at the same time, the second cabinet body 31 and the first cabinet body 11 can be spliced together according to different installation scenarios, and then the side cabinet panels 13 can be installed on the left and right sides of the unmanned retail cabinet 100 , to encapsulate the unmanned retail cabinet 100, thereby greatly improving the assembly efficiency.

进一步地，作为本发明一些实施例中的一种具体实施方式，如图2至图4、图6和图7所示，为实现传输组件4能使取货装置42在主输送腔112、副输送腔34内的目标位置取到目标物品200，传输组件4的传输机构41包括第一主滑轨411、第二主滑轨412、第一副滑轨413、第二副滑轨414和立轨415，其中，在主柜1中，第一主滑轨411和第二主滑轨412上下横向架设于主输送腔112内，并相互对应、平行(参看图6和图7)。具体地，在主输送腔112内，第一主滑轨411横向设置于第一柜本体11的底板(图未示)上，具体可通过螺钉等连接件连接于第一柜本体11底板上的水平导轨支架(图未示)上；对应地，第二主滑轨412横向设置于第一柜本体11的顶板(图未示)上，具体可通过螺钉等连接件连接于第一柜本体11顶板上的水平导轨支架(图未示)上。Further, as a specific implementation in some embodiments of the present invention, as shown in Figures 2 to 4, Figure 6 and Figure 7, in order to realize the transmission assembly 4, the pickup device 42 can be placed in the main conveying chamber 112 and the secondary conveying chamber 112. The target item 200 is taken from the target position in the conveying cavity 34. The transmission mechanism 41 of the transmission assembly 4 includes a first main slide rail 411, a second main slide rail 412, a first auxiliary slide rail 413, a second auxiliary slide rail 414 and an upright. rails 415. In the main cabinet 1, the first main slide rail 411 and the second main slide rail 412 are installed vertically and horizontally in the main conveying cavity 112, and correspond to each other and are parallel (see Figures 6 and 7). Specifically, in the main conveying cavity 112, the first main slide rail 411 is disposed transversely on the bottom plate (not shown) of the first cabinet body 11, and can be connected to the bottom plate of the first cabinet body 11 through connectors such as screws. on the horizontal guide rail bracket (not shown); correspondingly, the second main slide rail 412 is disposed transversely on the top plate (not shown) of the first cabinet body 11, and can be connected to the first cabinet body 11 through connectors such as screws. On the horizontal rail bracket (not shown) on the top plate.

如图2至图4所示，在副柜3中，第一副滑轨413和第二副滑轨414上下横向架设于副输送腔34内，并相互对应、平行，且第一副滑轨413能与第一主滑轨411对接，第二副滑轨414能与第二主滑轨412对接，以确保取货装置42能顺畅地在主输送腔112和副输送腔34之间移动。As shown in Figures 2 to 4, in the auxiliary cabinet 3, the first auxiliary slide rail 413 and the second auxiliary slide rail 414 are erected vertically and horizontally in the auxiliary conveying cavity 34, and correspond to each other and are parallel, and the first auxiliary slide rail 413 can be docked with the first main slide rail 411, and the second auxiliary slide rail 414 can be docked with the second main slide rail 412 to ensure that the picking device 42 can move smoothly between the main conveying chamber 112 and the auxiliary conveying chamber 34.

再如图2至图4所示，立轨415在主输送腔112内一端(具体为下端)活动设置于第一主滑轨411上，另一端(具体为上端)活动设置于第二主滑轨412上，以能沿主输送腔112滑行，且立轨415的上下两端能分别与第一副滑轨413和第二副滑轨414滑动连接，以能进入副输送腔34内滑行。立轨415竖向滑动连接有取货装置42。可理解地，取货装置42能沿立轨415上下移动，且能随立轨415一起在主输送腔112和副输送腔34内顺畅地左右移动，以此，取货装置42能在水平和竖直方向上实现双自由度的直线运动，这样，取货装置42即可运动到第一货架12、第二货架32中的任意一个位置，以达到目标位置取到目标物品200。As shown in Figures 2 to 4, one end (specifically the lower end) of the vertical rail 415 in the main conveying cavity 112 is movably provided on the first main slide rail 411, and the other end (specifically the upper end) is movably provided on the second main slide rail. The upper and lower ends of the vertical rail 415 can be slidably connected with the first auxiliary slide rail 413 and the second auxiliary slide rail 414 respectively to slide into the auxiliary conveyor chamber 34 . The vertical rail 415 is vertically slidably connected to the pickup device 42 . Understandably, the pickup device 42 can move up and down along the vertical rail 415, and can move smoothly left and right along with the vertical rail 415 in the main conveyor chamber 112 and the auxiliary conveyor chamber 34. Therefore, the pickup device 42 can move horizontally and vertically. Linear motion with two degrees of freedom is realized in the vertical direction, so that the picking device 42 can move to any position on the first shelf 12 or the second shelf 32 to reach the target position and pick up the target item 200 .

进一步地，作为本发明一些实施例中的一种具体实施方式，如图2至图4所示，为确保立轨415和取货装置42能在副输送腔34和主输送腔112之间顺畅地横向移动，无人零售柜100还包括连接结构43，其中，在副柜3与主柜1邻接时，第一副滑轨413通过连接结构43与第一主滑轨411拆卸式连接。对应地，第二副滑轨414通过连接结构43与第二主滑轨412拆卸式连接。在副柜3与另一个副柜3邻接时，第一副滑轨413通过连接结构43与和相邻的第一副滑轨413拆卸式连接；对应地，第二副滑轨414通过连接结构43与相邻的第二副滑轨414拆卸式连接。Further, as a specific implementation in some embodiments of the present invention, as shown in Figures 2 to 4, in order to ensure that the vertical rail 415 and the pickup device 42 can move smoothly between the auxiliary conveying chamber 34 and the main conveying chamber 112 The unmanned retail cabinet 100 also includes a connection structure 43, wherein when the auxiliary cabinet 3 is adjacent to the main cabinet 1, the first auxiliary slide rail 413 is detachably connected to the first main slide rail 411 through the connection structure 43. Correspondingly, the second auxiliary slide rail 414 is detachably connected to the second main slide rail 412 through the connection structure 43 . When the auxiliary cabinet 3 is adjacent to another auxiliary cabinet 3, the first auxiliary slide rail 413 is detachably connected to the adjacent first auxiliary slide rail 413 through the connecting structure 43; correspondingly, the second auxiliary slide rail 414 is connected through the connecting structure 43. 43 is detachably connected to the adjacent second auxiliary slide rail 414.

具体地，连接结构43包括相互插接的连接插杆431和插接孔432，其中，在副柜3的第二柜本体31与主柜1的第一柜本体11相连时，第一副滑轨413一侧和第一主滑轨411一侧中的一个设置有连接插杆431，另一个设置有插接孔432。对应地，第二副滑轨414一侧和第二主滑轨412一侧中的一个设置有连接插杆431，另一个设置有插接孔432。具体在本实施例中，第一主滑轨411的一侧设置有连接插杆431(参看图4)，第一副滑轨413的一侧设置有插接孔432。第二主滑轨412的一侧设置有连接插杆431(参看图2)，第二副滑轨414的一侧设置有连接孔(参看图2)。Specifically, the connection structure 43 includes connecting rods 431 and plug holes 432 that are plugged into each other. When the second cabinet body 31 of the auxiliary cabinet 3 is connected to the first cabinet body 11 of the main cabinet 1, the first auxiliary slide One side of the rail 413 and the first main slide rail 411 is provided with a connecting rod 431, and the other side is provided with a plug hole 432. Correspondingly, one side of the second auxiliary slide rail 414 and the second main slide rail 412 is provided with a connecting insertion rod 431, and the other side is provided with an insertion hole 432. Specifically, in this embodiment, one side of the first main slide rail 411 is provided with a connecting rod 431 (see FIG. 4 ), and one side of the first auxiliary slide rail 413 is provided with a plug hole 432 . The second main slide rail 412 is provided with a connecting rod 431 on one side (see FIG. 2 ), and the second auxiliary slide rail 414 is provided with a connecting hole on one side (see FIG. 2 ).

对应地，在相邻两个第二柜本体31相连时，两个第一副滑轨413邻接一侧中的一个设置有连接插杆431，另一个设置有插接孔432；两个第二副滑轨414邻接一侧中的一个设置有连接插杆431，另一个设置有插接孔432。Correspondingly, when two adjacent second cabinet bodies 31 are connected, one of the adjacent sides of the two first auxiliary slide rails 413 is provided with a connecting rod 431 and the other is provided with a plug hole 432; One of the adjacent sides of the auxiliary slide rail 414 is provided with a connecting insertion rod 431, and the other side is provided with an insertion hole 432.

优选地，如图1至图4所示，副柜3设置有两个，两个副柜3拆卸式安装于主柜1的相对两侧(具体为左右两侧)上；取货装置42能在主输出腔和两个副输送腔34共同形成的输送通道内滑动，当然，还可在主输送腔112、第一自动仓门121、第二自动仓门和出货仓之间共同形成的输送通道内前后移动。Preferably, as shown in Figures 1 to 4, there are two auxiliary cabinets 3, and the two auxiliary cabinets 3 are detachably installed on the opposite sides (specifically, the left and right sides) of the main cabinet 1; the pickup device 42 can It slides in the conveying channel formed by the main output chamber and the two auxiliary conveying chambers 34. Of course, it can also be formed between the main conveying chamber 112, the first automatic door 121, the second automatic door and the outgoing warehouse. Move forward and backward in the conveying channel.

进一步地，作为本发明一些实施例中的一种具体实施方式，如图7至图9所示，为实现取货装置42的取放目标物品200的功能，取货装置42包括安装座421、滑动组件422和吸泵组件423，安装座421安装于传输机构41的立轨415上，以将整个取货装置42设置于立轨415上以跟随立轨415一起在主输送腔112、副输送腔34内双自由度移动。Further, as a specific implementation in some embodiments of the present invention, as shown in Figures 7 to 9, in order to realize the function of picking up and placing the target object 200 of the picking device 42, the picking device 42 includes a mounting base 421, The sliding assembly 422, the suction pump assembly 423, and the mounting seat 421 are installed on the vertical rail 415 of the transmission mechanism 41, so that the entire pickup device 42 is set on the vertical rail 415 to follow the vertical rail 415 in the main conveying chamber 112 and the auxiliary conveying chamber. Two degrees of freedom movement within the cavity 34.

于主输送腔112至第一安装腔的方向(具体为该无人零售柜100的前后方向)上，滑动组件422滑动设置于安装座421上，以使设置于其上的吸泵组件423能依次穿过第一自动仓门121、第二自动仓门进入出货仓，或者反向从出货仓进入主输送腔112，或者从第一货架12或第二货架32取目标物品200。可理解地，滑动组件422主要相对于安装座421在无人零售柜100的前后方向上移动，以在第一货架12、第二货架32的任一目标位置取目标物品200，并将取到的目标物品200经对应的输送通道送至出货仓，当然，也可将出货仓内的目标物品200经对应的输送通道取送到第一货架12、第二货架32的任一目标位置上。In the direction from the main conveying chamber 112 to the first installation chamber (specifically, the front and rear direction of the unmanned retail cabinet 100), the sliding component 422 is slidably disposed on the mounting base 421, so that the suction pump component 423 disposed thereon can Pass through the first automatic warehouse door 121 and the second automatic warehouse door in sequence to enter the outgoing warehouse, or enter the main conveying chamber 112 from the outgoing warehouse in reverse, or take the target item 200 from the first shelf 12 or the second shelf 32 . Understandably, the sliding assembly 422 mainly moves in the front and rear direction of the unmanned retail cabinet 100 relative to the mounting base 421 to pick up the target item 200 at any target position of the first shelf 12 and the second shelf 32, and will pick up the target item 200. The target items 200 are sent to the outgoing warehouse through the corresponding conveying channel. Of course, the target items 200 in the outgoing warehouse can also be taken out and sent to any target position on the first shelf 12 and the second shelf 32 through the corresponding conveying channel. superior.

进一步地，作为本发明一些实施例中的一种具体实施方式，如图7至图9所示，为实现取货装置42快速地取放目标物品200的功能，滑动组件422包括第一级滑台4221、第二级滑台4222和第三级滑台4223，其中，于主输送腔112至第一安装腔的方向(具体为该无人零售柜100的前后方向)上，第一级滑台4221的底部滑动安装于安装座421的顶部上，第二级滑台4222的底部滑动安装于第一级滑台4221的顶部上，第三级滑台4223的底部滑动安装于第二级滑台4222的顶部上，吸泵组件423安装于第三级滑台4223靠近凹腔113的一端(具体为朝向取货口的一端)，也即，安装座421、第一级滑台4221、第二级滑台4222、第三级滑台4223之间上下层叠滑动放置。且第一级滑台4221、第二级滑台4222和第三级滑台4223之间能相互联动，以实现吸泵组件423的多级推动或拉回。Further, as a specific implementation in some embodiments of the present invention, as shown in Figures 7 to 9, in order to realize the function of the pickup device 42 to quickly pick up and place the target item 200, the sliding assembly 422 includes a first-level slide. Platform 4221, second-level slide 4222 and third-level slide 4223. Among them, in the direction from the main conveying cavity 112 to the first installation cavity (specifically, the front and rear direction of the unmanned retail cabinet 100), the first-level slide The bottom of the platform 4221 is slidably installed on the top of the mounting base 421, the bottom of the second-level slide 4222 is slidably installed on the top of the first-level slide 4221, and the bottom of the third-level slide 4223 is slidably installed on the second-level slide. On the top of the platform 4222, the suction pump assembly 423 is installed on one end of the third-level slide 4223 close to the cavity 113 (specifically, the end facing the pickup port), that is, the mounting base 421, the first-level slide 4221, the third The second-level sliding table 4222 and the third-level sliding table 4223 are stacked and slidably placed up and down. And the first-stage slide table 4221, the second-stage slide table 4222, and the third-stage slide table 4223 can be linked with each other to realize multi-stage pushing or pulling back of the suction pump assembly 423.

换句话说，第一级滑台4221、第二级滑台4222和第三级滑台4223之间相互串联，当第一级滑台4221相对于安装座421在无人零售柜100的前后方向移动时，第二级滑台4222也会随之联动而相对于第一级滑台4221也前后移动，第三级滑台4223也会随之联动而相对于第二级滑台4222也前后移动，故而，只要第一级滑台4221前行，则设置于滑动组件422上的吸泵组件423的前行距离将会三倍于第一级滑台4221前行的距离，显然，利于实现吸泵组件423的大距离传输目标物品200，以尽快达到目标位置，降低了整个输送成本。In other words, the first-level slide table 4221, the second-level slide table 4222 and the third-level slide table 4223 are connected in series. When the first-level slide table 4221 is in the front and rear direction of the unmanned retail cabinet 100 relative to the mounting base 421, When moving, the second-level sliding table 4222 will also be linked to move forward and backward relative to the first-level sliding table 4221, and the third-level sliding table 4223 will also be linked to move forward and backward relative to the second-level sliding table 4222. , therefore, as long as the first-stage slide table 4221 moves forward, the forward distance of the suction pump assembly 423 provided on the sliding component 422 will be three times the forward distance of the first-stage slide table 4221. Obviously, it is beneficial to achieve suction. The pump assembly 423 transports the target item 200 over a large distance to reach the target location as quickly as possible, thereby reducing the overall transport cost.

进一步地，作为本发明一些实施例中的一种具体实施方式，如图7至图11所示，为实现滑动组件422中第一级滑台4221、第二级滑台4222和第三级滑台4223的串联联动，安装座421包括固定座4211和滑座4212，固定座4211的顶部凸设有第一安装部42111(参看图10)；于主输送腔112至第一安装腔的方向(具体为该无人零售柜100的前后方向)上，固定座4211安装于传输机构41的立轨415上，以将整个取货装置42设置于立轨415上。滑座4212滑动安装于固定座4211的顶部。Further, as a specific implementation in some embodiments of the present invention, as shown in Figures 7 to 11, in order to realize the first-level sliding table 4221, the second-level sliding table 4222 and the third-level sliding table in the sliding assembly 422 For the series linkage of the stages 4223, the mounting base 421 includes a fixed base 4211 and a sliding base 4212. The top of the fixed base 4211 is protruding with a first mounting portion 42111 (see Figure 10); in the direction from the main conveying cavity 112 to the first mounting cavity ( Specifically, in the front and rear directions of the unmanned retail cabinet 100, the fixed base 4211 is installed on the vertical rail 415 of the transmission mechanism 41, so that the entire picking device 42 is arranged on the vertical rail 415. The sliding base 4212 is slidably installed on the top of the fixed base 4211.

具体在本实施例中，如图10所示，为实现滑座4212与固定座4211的滑动连接，安装座421还包括丝杆4214和驱动组件4213，驱动组件4213包括电机42131和传送带结构42132，其中，丝杆4214、电机42131和传送带结构42132均设置于固定座4211上，且丝杆4214和电机42131的输出端均沿该无人零售柜100的前后方向设置，丝杆4214上套接有滑座4212，丝杆4214背离吸泵组件423的一端连接于传送带结构42132的输出端，电机42131的输出端与传送带结构42132的输入端相连。另外，具体在本实施例中，为确保滑座4212能始终沿前后方向滑行，以提高滑动组件422的联动滑行顺畅性，安装座421还包括第一导向杆4215，其中，第一导向杆4215沿丝杆4214的长度方向设置于固定座4211的顶部，并与丝杆4214间隙设置。滑座4212也套设于第一导向杆4215上。Specifically, in this embodiment, as shown in Figure 10, in order to realize the sliding connection between the sliding base 4212 and the fixed base 4211, the mounting base 421 also includes a screw rod 4214 and a driving assembly 4213. The driving assembly 4213 includes a motor 42131 and a conveyor belt structure 42132. Among them, the screw rod 4214, the motor 42131 and the conveyor belt structure 42132 are all arranged on the fixed seat 4211, and the output ends of the screw rod 4214 and the motor 42131 are arranged along the front and rear directions of the unmanned retail cabinet 100. The screw rod 4214 is sleeved with The sliding seat 4212 and the end of the screw rod 4214 facing away from the suction pump assembly 423 are connected to the output end of the conveyor belt structure 42132, and the output end of the motor 42131 is connected to the input end of the conveyor belt structure 42132. In addition, specifically in this embodiment, in order to ensure that the sliding base 4212 can always slide in the front and rear directions to improve the smoothness of the sliding assembly 422, the mounting base 421 also includes a first guide rod 4215, wherein the first guide rod 4215 It is arranged on the top of the fixed seat 4211 along the length direction of the screw rod 4214, and is provided with a gap from the screw rod 4214. The sliding seat 4212 is also sleeved on the first guide rod 4215.

可理解地，传送带结构42132在接收电机42131输送的动力后，能带动丝杆4214相对于其中心线周向转动，在丝杆4214转动过程中，滑座4212能在第一导向杆4215的导向下，沿着丝杆4214前后移动。例如，电机42131正转，则滑座4212前行，以带动吸泵组件423伸出；反之，电机42131反转，则滑座4212后退，以带动吸泵组件423缩回。Understandably, after receiving the power delivered by the motor 42131, the conveyor belt structure 42132 can drive the screw rod 4214 to rotate circumferentially relative to its center line. During the rotation of the screw rod 4214, the slide seat 4212 can be guided by the first guide rod 4215. down and move forward and backward along the screw rod 4214. For example, when the motor 42131 rotates forward, the sliding seat 4212 moves forward to drive the suction pump assembly 423 to extend; conversely, when the motor 42131 rotates reversely, the sliding seat 4212 moves backward to drive the suction pump assembly 423 to retract.

在本实施例中，如图8至图11所示，为进一步实现滑动组件422的多级联动功能，第一级滑台4221包括第一滑台本体42211、第一链轮42212和第一传送链条42213，第二级滑台4222包括第二滑台本体42221、第二链轮42222和第二传送链条42223，第一滑台本体42211的顶部凸设有第二安装部42214(参看图11)，第一滑台本体42211的底部凹设有第一避让腔(图未示)，第二滑台本体42221的底部凹设有第二避让腔42224(参看图8)，第三级滑台4223的底部凹设有第三避让腔42231(参看图8)。其中，第一滑台本体42211固定安装于滑座4212的顶部上，以将滑动组件422滑动安装于安装座421上。第一链轮42212转动设置于第一滑台本体42211靠近吸泵组件423的一端，第一传送链条42213跨过第一链轮42212，且第一传送链条42213一部分在第一避让腔内、固定设置于安装座421的第一安装部42111上，第一传送链条42213一部分在第二避让腔42224内、沿第二避让腔42224的延伸方向设置于第二滑台本体42221的底部。In this embodiment, as shown in Figures 8 to 11, in order to further realize the multi-level linkage function of the sliding assembly 422, the first-level sliding table 4221 includes a first sliding table body 42211, a first sprocket 42212 and a first transmission Chain 42213, the second stage slide 4222 includes a second slide body 42221, a second sprocket 42222 and a second transmission chain 42223. A second mounting part 42214 is protruding from the top of the first slide body 42211 (see Figure 11) , the bottom of the first slide body 42211 is recessed with a first escape cavity (not shown), the bottom of the second slide body 42221 is recessed with a second escape cavity 42224 (see Figure 8), the third slide 4223 The bottom is recessed with a third escape cavity 42231 (see Figure 8). Among them, the first slide body 42211 is fixedly installed on the top of the sliding base 4212 to slide the sliding assembly 422 on the mounting base 421 . The first sprocket 42212 is rotatably disposed at one end of the first slide body 42211 close to the suction pump assembly 423. The first transmission chain 42213 spans the first sprocket 42212, and a part of the first transmission chain 42213 is fixed in the first avoidance cavity. Disposed on the first mounting portion 42111 of the mounting base 421, a portion of the first transmission chain 42213 is disposed in the second escape cavity 42224 and at the bottom of the second slide body 42221 along the extension direction of the second escape cavity 42224.

第二滑台本体42221滑动安装于第一滑台本体42211的顶部，第二链轮42222转动设置于第二滑台本体42221靠近吸泵组件423的一端；第二传送链条42223跨过第二链轮42222，且第二传送链条42223一部分在第二避让腔42224内、固定设置于第一滑台本体42211的第二安装部42214，第二传送链条42223一部分在第三避让腔42231内、沿第三避让腔42231的延伸方向设置于第三级滑台4223的底部；第三级滑台4223滑动安装于第二滑台本体42221的顶部。The second slide body 42221 is slidably installed on the top of the first slide body 42211, and the second sprocket 42222 is rotatably disposed at one end of the second slide body 42221 close to the suction pump assembly 423; the second transmission chain 42223 spans the second chain wheel 42222, and a part of the second transmission chain 42223 is in the second escape cavity 42224 and is fixedly installed on the second mounting part 42214 of the first slide body 42211. A part of the second transmission chain 42223 is in the third escape cavity 42231, along the The extension direction of the three escape cavities 42231 is set at the bottom of the third-level slide table 4223; the third-level slide table 4223 is slidably installed on the top of the second slide table body 42221.

需说明的是，再如图8至图11所示，为确保第二滑台本体42221的滑行方向，第一级滑台4221还包括第二导向杆42216。同理，为确保第三滑台本体的滑行方向，第二级滑台4222还包括第三导向杆42225，其中，第二导向杆42216沿丝杆4214的长度方向设置于第一滑台本体42211的顶部上，并位于第一避让腔和第一传送链条42213的外侧，以避免滑行过程中发生干涉。第二滑台本体42221的底部套设于第二导向杆42216上，以沿着第二导向杆42216相对于第一滑台本体42211滑行。It should be noted that, as shown in Figures 8 to 11, in order to ensure the sliding direction of the second slide body 42221, the first stage slide 4221 also includes a second guide rod 42216. Similarly, in order to ensure the sliding direction of the third slide table body, the second slide table 4222 also includes a third guide rod 42225, wherein the second guide rod 42216 is disposed on the first slide table body 42211 along the length direction of the screw rod 4214. on the top and located outside the first avoidance cavity and the first transmission chain 42213 to avoid interference during sliding. The bottom of the second slide body 42221 is sleeved on the second guide rod 42216 to slide along the second guide rod 42216 relative to the first slide body 42211.

同理，第三导向杆42225沿丝杆4214的长度方向设置于第二滑台本体42221的顶部上，并位于第二避让腔42224和第二传送链条42223的外侧，以避免滑行过程中发生干涉。第三滑台本体的底部套设于第三导向杆42225上，以沿着第三导向杆42225相对于第二滑台本体42221滑行。Similarly, the third guide rod 42225 is arranged on the top of the second slide body 42221 along the length direction of the screw rod 4214, and is located outside the second avoidance cavity 42224 and the second transmission chain 42223 to avoid interference during the sliding process. . The bottom of the third slide body is sleeved on the third guide rod 42225 to slide along the third guide rod 42225 relative to the second slide body 42221.

可理解地，因第一级滑台4221固定连接于安装座421的滑座4212上，故而，在滑座4212相对于丝杆4214前后移动时，第一级滑台4221及设置于其上的第二级滑台4222、第三级滑台4223和吸泵组件423也会随之前后移动。且因第一级滑台4221中的第一传送链条42213的下端固定在安装座421的第一安装部42111上不动，上端连接在第二级滑台4222的第二滑台本体42221上，故而，例如，在第一滑台本体42211前行时，第一传送链条42213的中间部分会被第一滑台本体42211带动往前铺开，这样，第一传送链条42213的上端会带动第二级滑台4222沿着第二导向杆42216相对于第一滑台本体42211前行，由此实现第一级滑台4221和第二级滑台4222之间的串联联动，实现第一次前行距离的扩大。Understandably, since the first-level sliding table 4221 is fixedly connected to the sliding seat 4212 of the mounting base 421, when the sliding seat 4212 moves forward and backward relative to the screw rod 4214, the first-level sliding table 4221 and the The second-stage slide table 4222, the third-stage slide table 4223 and the suction pump assembly 423 will also move back and forth accordingly. And because the lower end of the first transmission chain 42213 in the first-stage slide table 4221 is fixed on the first mounting part 42111 of the mounting base 421, and the upper end is connected to the second slide table body 42221 of the second-stage slide table 4222, Therefore, for example, when the first slide body 42211 moves forward, the middle part of the first conveyor chain 42213 will be driven by the first slide body 42211 to spread forward. In this way, the upper end of the first conveyor chain 42213 will drive the second conveyor chain 42211. The first-level slide table 4222 moves forward along the second guide rod 42216 relative to the first slide table body 42211, thereby realizing the series linkage between the first-level slide table 4221 and the second-level slide table 4222, realizing the first forward movement. Expansion of distance.

同理，因第二级滑台4222的第二传送链条42223的下端固定连接于第一滑台本体42211的第二安装部42214，上端连接有第三级滑台4223，故而，例如，在第二滑台本体42221相对于第一滑台本体42211前行时，第二传送链条42223的中间部分会被第二滑台本体42221带动往前铺开，这样，第二传送链条42223的上端会带动第三级滑台4223沿着第三导向杆42225相对于第二滑台本体42221前行，由此实现第三级滑台4223和第二级滑台4222之间的串联联动，以实现第二次前行距离的扩大，以使吸泵组件423快速到达目标位置。In the same way, because the lower end of the second transmission chain 42223 of the second-stage slide table 4222 is fixedly connected to the second mounting part 42214 of the first slide table body 42211, and the upper end is connected to the third-stage slide table 4223, for example, in the When the second slide body 42221 moves forward relative to the first slide body 42211, the middle part of the second conveyor chain 42223 will be driven by the second slide body 42221 to spread forward. In this way, the upper end of the second conveyor chain 42223 will drive The third-level slide table 4223 moves forward along the third guide rod 42225 relative to the second slide table body 42221, thereby realizing the series linkage between the third-level slide table 4223 and the second-level slide table 4222 to achieve the second step. The forward distance is enlarged so that the suction pump assembly 423 can quickly reach the target position.

进一步地，作为本发明一些实施例中的一种具体实施方式，如图8和图9所示，为实现吸泵组件423对目标物品200的取放功能，吸泵组件423包括L型基座4231、立板4232、弹性件4233和吸部4234，其中，立板4232设置于L型基座4231上，并与L型基座4231在滑动组件422的长度方向上存在间隙(图未示)，弹性件4233位于间隙内，且一端连接于立板4232上。吸部4234的一端外露于L型基座4231，另一端伸至间隙与弹性件4233的一端相连，以在弹性件4233的弹力辅助下缓冲取放目标物品200。Further, as a specific implementation in some embodiments of the present invention, as shown in Figures 8 and 9, in order to realize the pick-and-place function of the suction pump assembly 423 on the target object 200, the suction pump assembly 423 includes an L-shaped base. 4231, vertical plate 4232, elastic member 4233 and suction part 4234. Among them, the vertical plate 4232 is arranged on the L-shaped base 4231, and there is a gap between the L-shaped base 4231 and the L-shaped base 4231 in the length direction of the sliding assembly 422 (not shown in the figure) , the elastic member 4233 is located in the gap, and one end is connected to the vertical plate 4232. One end of the suction part 4234 is exposed on the L-shaped base 4231, and the other end extends into the gap and is connected to one end of the elastic member 4233, so as to buffer and pick up the target object 200 with the assistance of the elastic force of the elastic member 4233.

需说明的是，具体在本实施例中，吸泵组件423还包括与控制装置信号相连的位置传感器(图未示)，其中，位置传感器设置于吸部4234的后方，以实时检测吸部4234与目标物品200的接触情况。当然，实际上，吸泵组件423还包括吸泵(图未示)，吸部4234通过控制装置控制吸泵产生负压，以对目标物品200进行吸附，从而完成对目标物品200的拾取。It should be noted that in this embodiment, the suction pump assembly 423 also includes a position sensor (not shown) connected to the control device signal, wherein the position sensor is disposed behind the suction part 4234 to detect the suction part 4234 in real time. Contact with target item 200. Of course, in fact, the suction pump assembly 423 also includes a suction pump (not shown), and the suction part 4234 controls the suction pump to generate negative pressure through the control device to adsorb the target item 200, thereby completing the picking up of the target item 200.

综上，可理解地，当主柜1单独使用时，该无人零售柜100的工作原理大致如下：In summary, it is understandable that when the main cabinet 1 is used alone, the working principle of the unmanned retail cabinet 100 is roughly as follows:

(1)机器人2在其自身导向系统的辅助下，驶入主柜1的凹腔113的特定位置。(1) With the assistance of its own guidance system, the robot 2 drives into a specific position in the cavity 113 of the main cabinet 1 .

(2)当用户通过机器人2指示需购买主柜1内第一货架12上的物品时，控制装置控制传输组件4中的传输机构41在主输送腔112内移动，以带动取货装置42移动到第一货架12中目标物品200所在的目标位置。(2) When the user instructs the robot 2 to purchase items on the first shelf 12 in the main cabinet 1, the control device controls the transmission mechanism 41 in the transmission assembly 4 to move in the main conveying cavity 112 to drive the pickup device 42 to move Go to the target location where the target item 200 is located on the first shelf 12 .

(3)取货装置42在控制装置的控制下，朝前向目标物品200移动靠近，当取货装置42的吸泵组件423的吸部4234与目标物品200接触后，位置传感器反馈信号到控制装置，控制装置控制吸泵组件423的吸泵产生负压，以吸住目标物品200。(3) Under the control of the control device, the pickup device 42 moves forward toward the target item 200. When the suction part 4234 of the suction pump assembly 423 of the pickup device 42 comes into contact with the target item 200, the position sensor feeds back a signal to the control unit. device, the control device controls the suction pump of the suction pump assembly 423 to generate negative pressure to suck the target item 200 .

(4)在吸取到目标物品200后，在控制装置的控制下，取货装置42被传输组件4的传输机构41连动输送到出货仓的正后方，随后，在控制装置的控制下，在第一自动仓门121和第二自动仓门自动打开。(4) After picking up the target item 200, under the control of the control device, the picking device 42 is linked to the transmission mechanism 41 of the transmission assembly 4 and transported to the right rear of the outgoing warehouse. Then, under the control of the control device, The first automatic warehouse door 121 and the second automatic warehouse door are automatically opened.

(5)在在第一自动仓门121和第二自动仓门自动打开后，取货装置42的驱动组件4213在控制装置的控制下，带动第一级滑台4221向前移动，从而吸泵组件423经过多级推送后，即可将吸取到的目标物品200依次从主输送腔112、第一自动仓门121、第二自动仓门直接将目标物品200送至机器人2的出货仓内。(5) After the first automatic warehouse door 121 and the second automatic warehouse door are automatically opened, the driving assembly 4213 of the pickup device 42 drives the first-level slide 4221 to move forward under the control of the control device, thereby sucking the pump After the component 423 is pushed through multiple stages, the absorbed target items 200 can be directly sent to the delivery warehouse of the robot 2 from the main conveying chamber 112, the first automatic door 121, and the second automatic door. .

(6)在吸泵组件423到达出货仓内后，吸泵控制装置的控制下取消吸部4234的负压作用，以此吸泵组件423吸部4234吸附的目标物品200即可掉至出货仓内，供用户拿取。(6) After the suction pump assembly 423 arrives in the delivery warehouse, the negative pressure of the suction part 4234 is canceled under the control of the suction pump control device, so that the target object 200 adsorbed by the suction part 4234 of the suction pump assembly 423 can fall to the exit. In the warehouse, for users to pick up.

(7)在控制装置的控制下，取货装置42反向收回，以从出货仓进入至主输送腔112内，随后，机器人2的第二自动仓门、主柜1的第一自动仓门121关闭，这样，即可完成一次主柜1内目标物品200的购买任务。(7) Under the control of the control device, the picking device 42 is retracted in the reverse direction to enter the main conveying chamber 112 from the outgoing warehouse. Subsequently, the second automatic warehouse door of the robot 2 and the first automatic warehouse of the main cabinet 1 The door 121 is closed, so that the purchase task of the target item 200 in the main cabinet 1 can be completed.

当然，在主柜1和副柜3拼接配合使用时，在拼装时，需先将主柜1侧面上的侧柜板13拆除下来，再将副柜3拼装于主柜1的对应侧上，且在拼装时，需确保主柜1的第一主滑轨411和第二主滑轨412分别与副柜3的第一副滑轨413和第二副滑轨414对齐拼接，再将拆卸的侧柜板13安装于最远离主柜1的副柜3的背离主柜1的一侧上，以封闭整个输送通道。最后在机器人2中，将副柜3的数量等参数进行更新调整。Of course, when the main cabinet 1 and the auxiliary cabinet 3 are used together, during assembly, the side cabinet panels 13 on the side of the main cabinet 1 need to be removed first, and then the auxiliary cabinet 3 is assembled on the corresponding side of the main cabinet 1. And when assembling, it is necessary to ensure that the first main slide rail 411 and the second main slide rail 412 of the main cabinet 1 are aligned with the first auxiliary slide rail 413 and the second auxiliary slide rail 414 of the auxiliary cabinet 3 respectively, and then disassemble the The side cabinet plate 13 is installed on the side of the auxiliary cabinet 3 farthest away from the main cabinet 1 and away from the main cabinet 1 to close the entire conveying channel. Finally, in robot 2, parameters such as the number of sub-cabinets 3 are updated and adjusted.

总体上，拼接有副柜3的无人零售柜100的购买工作原理跟上述主柜1单独使用的购买工作原理基本相同，只是若用户需购买副柜3的第二货架32上的物品时，取货装置42会被传输组件4的传输机构41从主输送腔112带到副输送腔34内进行取货，然后再从副输送腔34移动到主输送腔112内，再通过取货装置42前行送出来。Generally speaking, the purchasing working principle of the unmanned retail cabinet 100 spliced with the auxiliary cabinet 3 is basically the same as the purchasing working principle of the main cabinet 1 alone, except that if the user needs to purchase items on the second shelf 32 of the auxiliary cabinet 3, The picking device 42 will be brought from the main conveying chamber 112 to the auxiliary conveying chamber 34 by the transmission mechanism 41 of the transport assembly 4 to pick up the goods, and then move from the auxiliary conveying chamber 34 to the main conveying chamber 112, and then pass through the picking device 42 Send it forward.

以上所述仅为本发明的优选实施例而已，并不用于限制本发明。对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的权利要求范围之内。The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations of the present invention may occur to those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the claims of the present invention.