CN213737008U - Automatic change bottled water storage intelligent terminal - Google Patents

Abstract

The utility model discloses an automatic change bottled water storage intelligent terminal realizes that bottled water is automatic to be put in storage and go out of warehouse. The terminal is provided with a bin gate; the terminal is internally provided with: the mechanical arm mechanism comprises a grabbing mechanical arm for grabbing a water outlet of the barreled water bucket and a holding mechanical arm for holding a barrel body of the barreled water bucket; the terminal is also provided with a human-computer interaction device for sending commands to the manipulator mechanism. The utility model provides an intelligent terminal can regard as leading storehouse to deploy near customer, has that area is little, space utilization is high, mobilizable characteristics, can realize the automatic automation of leaving warehouse, putting in storage of bottled water.

Description

Automatic change bottled water storage intelligent terminal

Technical Field

The utility model relates to an intelligent control field indicates an automatic change bottled water storage intelligent terminal especially.

Background

With the development of industry and economy in China, the modernization requirement of the warehousing industry is continuously improved. For the storage of barreled water, the currently adopted approach is to deploy multiple water stations, each serving only the surrounding users. The mode of artifical storage and delivery is adopted mostly to the water station, when the user needs bottled water, calls the telephone through the water supply station and proposes the demand, accomplishes the delivery of bottled water by sending the water person. The water delivery person needs to take the barreled water out of the water station and deliver the barreled water to the user. The barreled water delivered by a water delivery person is limited in quantity, so that the requirements of more users cannot be met simultaneously, the waiting time of some clients is too long, and the user experience is poor. The mode that some bottled water storage schemes pass through the conveyer belt when drawing the bottled water realizes at present, can only realize the output of single brand bottled water, can't realize the demand of different users to many brands bottled water.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides an automatic change bottled water storage intelligent terminal realizes the automatic warehouse entry, the ex-warehouse of different brand bottled water.

In order to achieve the utility model discloses the purpose, the utility model provides an automatic change bottled water storage intelligent terminal, wherein:

the terminal is provided with a bin gate;

the terminal is internally provided with: the mechanical arm mechanism comprises a grabbing mechanical arm for grabbing a water outlet of the barreled water bucket and a holding mechanical arm for holding a barrel body of the barreled water bucket;

the terminal is also provided with a human-computer interaction device for sending commands to the manipulator mechanism.

Further, the goods shelves are located two sides in the intelligent terminal, and the manipulator mechanism is located between the goods shelves on the two sides.

Furthermore, the manipulator mechanism comprises a motion track mechanism, a movable fixing piece connecting mechanism positioned on the motion track mechanism, a fixing piece connected with the fixing piece connecting mechanism, and a controller for receiving the command of the human-computer interaction device; the controller is connected with the moving track mechanism, and the grabbing manipulator and the holding manipulator are mounted on the fixing piece;

the grabbing manipulator comprises grabbing claws and a grabbing claw driving mechanism for driving the grabbing claws to open and tighten, and the grabbing claw driving mechanism is connected with the controller;

the holding manipulator comprises a holding arm and a holding arm driving mechanism for driving the holding arm to open and tighten, and the holding arm driving mechanism is connected with the controller.

Further, still install on the mounting and snatch rail mechanism, it includes to snatch rail mechanism: the grabbing device comprises a grabbing track, a grabbing manipulator connecting piece and a grabbing motion driving mechanism, wherein the grabbing manipulator connecting piece is positioned on the grabbing track in a movable mode; the grabbing claw is arranged on the grabbing manipulator connecting piece, and the grabbing motion driving mechanism is connected with the controller.

Further, still install on the mounting and hold rail mechanism, hold rail mechanism and include: the clamping mechanism comprises a clamping track, a clamping manipulator connecting piece and a clamping motion driving mechanism, wherein the clamping track is in the same direction as the grabbing track; the holding arm is installed on the holding manipulator connecting piece, the holding motion driving mechanism is connected with the controller, and the length of the holding track is smaller than that of the grabbing track.

Further, the fixing member connection mechanism includes: the rotary driving mechanism drives the rotary connecting piece to rotate; one end of the rotatable connecting piece is connected with the moving track mechanism, the other end of the rotatable connecting piece is connected with the fixing piece, and the rotary driving mechanism is connected with the controller.

Furthermore, the rotary driving mechanism is realized by adopting a harmonic speed reducer.

Further, the movement track mechanism includes a horizontal track mechanism and a vertical track mechanism, wherein:

the horizontal rail mechanism comprises a horizontal rail, a movable horizontal connecting piece positioned on the horizontal rail and a horizontal movement driving mechanism for driving the horizontal connecting piece to move on the horizontal rail; the horizontal movement driving mechanism is connected with the controller;

the vertical track mechanism comprises a vertical track fixed on the horizontal connecting piece and a vertical movement driving mechanism for driving the fixing piece connecting mechanism to move on the vertical track; the vertical movement driving mechanism is connected with the controller.

Furthermore, a tray track, a movable tray positioned on the tray track and a tray driving mechanism for driving the tray to move on the tray track are also arranged in the intelligent terminal; the tray driving mechanism is connected with the controller.

Further, the bin gate is arranged on the outer side of the movable tray and is opened or closed along with the movement of the tray.

Compared with the prior art, the utility model provides an intelligent terminal is a small-size bottled water automation warehouse, has that area is little, space utilization is high, mobilizable characteristics, can realize the automatic automation of leaving warehouse, putting in storage and stock management of bottled water. Furthermore, the utility model discloses can utilize man-machine interaction device (like the computer) to carry out accurate errorless information management to the goods information, reduce the mistake that probably appears in the storage goods. The human-computer interaction device issues commands to the mechanical hand mechanism, and the mechanical hand mechanism carries goods, so that the working efficiency is improved, the carrying work is safe and reliable, the damage rate of the goods is reduced, and the injury possibly caused when people carry the goods is also reduced. The grabbing manipulator and the holding manipulator of the embodiment can guarantee that barreled water can be stably fixed, and commands of the human-computer interaction device are combined, the manipulator mechanism can accurately extract any barreled water from the goods shelf and send the barreled water to the bin gate, or extract the barreled water from the bin gate and accurately place the barreled water into a designated goods position on the goods shelf, and storage and arbitrary output of the barreled water of multiple brands can be achieved. The intelligent terminal can be deployed near a customer as a front-end cabin, and can be installed in an office building parking lot or a residential area. When the water sump is no longer needed at the current position, the terminal can be moved to other positions after being emptied of goods.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

The accompanying drawings are included to provide a further understanding of the embodiments of the present invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention and not to limit the embodiments of the invention.

Fig. 1 is an appearance diagram of an intelligent terminal according to an embodiment of the present invention;

fig. 2 is a schematic view of a shelf in an intelligent terminal according to an embodiment of the present invention;

fig. 3 is a perspective view of a robot assembly according to an embodiment of the present invention;

fig. 4 is a rear view of a robot assembly according to an embodiment of the present invention;

fig. 5 is a perspective view of the rotary actuator according to the embodiment of the present invention;

FIG. 6 is a perspective view of a moving rail mechanism according to an embodiment of the present invention;

fig. 7 is a perspective view of a tray portion according to an embodiment of the present invention.

In the drawings, the names corresponding to the reference numbers are:

10-bin gate, 20-man-machine interaction device, 30-shelf, 40-barreled water, 50-fixing piece, 501-grabbing claw, 502-grabbing claw driving mechanism, 503-grabbing track, 504-grabbing manipulator connecting piece, 505-grabbing motion driving mechanism, 506-holding arm, 507-holding arm driving mechanism, 508-holding manipulator connecting piece, 509-holding motion driving mechanism, 510-holding track, 601-rotatable connecting piece, 602-rotary driving mechanism, 603-harmonic reducer mechanism, 70-motion track mechanism, 701-vertical track, 702-vertical motion driving mechanism, 703-horizontal track, 704-horizontal motion driving mechanism, 705-horizontal connecting piece, 706-cable guiding mechanism, 801-pallet, 802-pallet track, 803-pallet drive mechanism.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.

The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.

The intelligent terminal of bottled water storage that this embodiment provided includes:

a bin gate; the terminal is internally provided with: the mechanical arm mechanism comprises a grabbing mechanical arm for grabbing a water outlet of the barreled water bucket and a holding mechanical arm for holding a barrel body of the barreled water bucket; the terminal is also provided with a human-computer interaction device for sending commands to the manipulator mechanism.

The embodiment provides an intelligent terminal for barreled water storage, which comprises a manipulator mechanism, wherein the manipulator mechanism can move between a goods shelf and a bin gate according to a command of a human-computer interaction device so as to transport a barreled water barrel. This manipulator mechanism is including snatching the manipulator of snatching the bottled water cask delivery port and embracing the manipulator of embracing the bottled water cask staving, can guarantee to fix the bottled water steadily through the manipulator subassembly that contains the manipulator of snatching the manipulator and embracing the manipulator, and combine the order of human-computer interaction device, this manipulator mechanism can follow goods shelves and draw arbitrary bottled water and deliver to door department with it accurately, perhaps draw a bottled water and put into the goods position on the goods shelves with it accurately from door department, the storage and arbitrary output when the multi-brand bottled water can be realized to this embodiment scheme.

In an optional embodiment, the shelves are located at two sides in the intelligent terminal, and the manipulator mechanism is located between the shelves at the two sides. Because above-mentioned manipulator mechanism can realize that accurate bottled water gets and puts, so goods shelves need not to distinguish empty bucket district and bottled water product district, only set up both sides goods shelves and can satisfy the use to make this intelligent terminal can realize the miniaturization, be convenient for this intelligent terminal's arrangement.

Specifically, the robot mechanism includes: the device comprises a motion track mechanism, a movable fixing piece connecting mechanism positioned on the motion track mechanism, a fixing piece connected with the fixing piece connecting mechanism, and a controller for receiving commands of the human-computer interaction device; the controller is connected with the motion track mechanism so that the manipulator mechanism can move between the goods shelf and the bin gate, and more specifically, a manipulator assembly comprising a grabbing manipulator and a holding manipulator can move between the goods shelf and the bin gate so as to transport barreled water, and the grabbing manipulator and the holding manipulator are mounted on the fixing piece; the fixing piece can be, for example, a strip-shaped back plate, and the fixing piece is connected with the moving track mechanism through a fixing piece connecting mechanism. The fixing piece connecting mechanism is movable on the moving track mechanism, which means that the fixing piece connecting mechanism moves along the moving track.

The grabbing manipulator comprises grabbing claws and a grabbing claw driving mechanism for driving the grabbing claws to open and tighten, and the grabbing claw driving mechanism is connected with the controller to receive commands of the controller; the grabbing claw can be composed of at least two pawls, or can be a hook-shaped claw; the holding manipulator comprises a holding arm and a holding arm driving mechanism for driving the holding arm to open and tighten, and the holding arm driving mechanism is connected with the controller to receive a command of the controller; the holding arm can be composed of a pair of arc arms or can be a hook-shaped arm. The controller receives a warehouse-out command or a warehouse-in command of the human-computer interaction device, sends a motion command to the motion track mechanism so that the motion track mechanism moves the manipulator assembly to a corresponding position, and when the manipulator assembly moves to the goods shelf, the controller also sends a drive command to the grabbing claw drive mechanism and the holding arm drive mechanism respectively so that the grabbing claw drive mechanism drives the grabbing claws to open or tighten, and the holding arm drive mechanism drives the holding arms to open or tighten.

When transporting barreled aquatic products, considering product weight, adopt like above design snatch the manipulator and hold the manipulator and fix barreled aquatic products jointly, can guarantee stability.

For the maximize utilize the space, cuboid or square can be makeed into to the intelligent terminal appearance, inside intelligent terminal, goods shelves are located both sides in the terminal, and every side goods shelves have the multilayer, reserves the removal passageway of manipulator mechanism between the goods shelves of both sides, sets up above-mentioned motion track mechanism on the removal passageway, and manipulator mechanism sets up on motion track mechanism, realizes the removal between goods shelves and door through motion track mechanism, and the one end of removal passageway is the door.

Fig. 1 is an appearance diagram of the intelligent terminal according to this embodiment, in order to maximize space utilization in this embodiment, the intelligent terminal is designed as a rectangular parallelepiped, and in other embodiments, the intelligent terminal may also be designed as a cube, or in other shapes that can use the manipulator mechanism of this application. The door 10 and the man-machine interaction device 20 are visible. The human-computer interaction device 20 can be implemented by a computer (such as an industrial personal computer), and a display and an input device of the human-computer interaction device can be implemented by a touch screen or can be implemented by combining physical keys according to requirements. Fig. 2 is a schematic diagram of a shelf in the intelligent terminal, in which 30 is the shelf and 40 is barreled water. In the figure, a plurality of goods positions are arranged on the goods shelf, and each goods position is provided with a barrel of water. In the figure, the barreled water is horizontally arranged, but the storage in a vertically arranged mode is not excluded in the application. Unless otherwise specified, the term bottled water as used herein encompasses bottled water products, which refers to buckets filled with water that can be sold, and empty bottled water buckets, which refers to empty buckets without water.

This novel embodiment can realize the warehouse-out and the warehouse entry of bottled water, is suitable for but not limited to following scene: bulk warehousing of barreled water products and bulk ex-warehouse of empty barreled water barrels, which are performed by replenishment operators, and selective ex-warehouse of the barreled water products and warehousing of the empty barreled water barrels, which are performed by water delivery personnel or users. Different scenes can be selected on the human-computer interaction device, and the controller has different control methods for different scenes, for example, the following processing is included:

when barreled aquatic products are put in storage, a storage command is issued through the human-computer interaction device, brands and the number of the barreled aquatic products to be put in storage can be selected, the controller selects the goods space above the goods shelf for the barreled water according to the storage command of the human-computer interaction device, the input product brands and the number of the barreled aquatic products to be put in storage, and sends a command to the mechanical arm mechanism, so that the mechanical arm mechanism moves the barreled water products into the selected goods space from the bin gate, and meanwhile, the state information of the goods space is recorded in the database, and the method comprises the following steps: the goods position identification (such as the goods position number), the state of the goods position corresponding to the goods position number is barreled, the state of the barreled water is the barreled aquatic product (the content is only effective when the state of the goods position is barreled), the product brand corresponding to the barreled aquatic product and the like. Besides the state of the goods location, the sales information can be counted, and the total in-out amount and the current inventory data of each barreled aquatic product are recorded.

When barreled aquatic products are delivered from the warehouse, send out the storehouse order through the human-computer interaction device, the brand (the price difference that the barreled water of different brands corresponds) and the quantity of the barreled water product of simultaneously selectable delivery from the warehouse, the controller is according to human-computer interaction device's delivery order, the product brand of input and the barreled water product quantity of delivery from the warehouse, look for the barreled water and the goods position number that corresponds of corresponding product brand in the database, control manipulator mechanism and move to corresponding goods position, draw the barreled water and send to the door, the goods position state information in the database is updated simultaneously, include: the goods position state corresponding to the goods position number is modified to be barrel-free, sales information is counted, the sales amount corresponding to the brand of the barreled aquatic products which are taken out of the warehouse is modified, and in addition, identity information of a user who extracts or purchases the barreled aquatic products can be recorded. The user who draws the bottled water product may be a water deliverer and the user who purchases the bottled water product may be an individual user.

The barreled water is stored in an empty barrel, and the operation is similar to the operation of storing the barreled aquatic products in a warehouse. Modifying the cargo space state information, including: the warehouse-in goods position number, the goods position state corresponding to the goods position number are barrels, the barreled water state is a barreled water empty barrel, and the product brand corresponding to the barreled water empty barrel. When the barreled water empty barrel is put in storage, the sales information does not need to be counted, but the empty barrel information can be recorded, wherein the empty barrel information comprises the storage quantity, the product brand, the storage user information and the like.

Empty barreled water barrels are taken out of a warehouse, the scene is usually completed by a replenishment operator, batch warehouse-out options can be independently set on a human-computer interaction device, different brands are selected for batch warehouse-out, and the warehouse-out process is similar to the warehouse-out process of barreled water products. When the barreled water empty barrel is taken out of the warehouse, the sales information is not counted, but the empty barrel information can be modified.

In each control flow, in order to facilitate management, an internal unique identifier can be set for each barreled water, so that recording and management are facilitated.

The human-computer interaction device may also have a payment collection function to facilitate service to individual users. The functions of money collection and accounting of the human-computer interaction device can be realized by referring to the existing unmanned vending system.

In order to facilitate management, the man-machine interaction device of the intelligent terminal can be further connected with the internet, various pieces of information recorded in a database can be uploaded, and managers can conveniently and remotely master the inventory condition, the selling condition and the like of barreled water of the intelligent terminal.

In an optional embodiment, a grabbing track mechanism is further mounted on the fixing member, and the grabbing track mechanism includes: the grabbing device comprises a grabbing track, a grabbing manipulator connecting piece and a grabbing motion driving mechanism, wherein the grabbing manipulator connecting piece is positioned on the grabbing track in a movable mode; the grabbing claw is arranged on the grabbing manipulator connecting piece, and the grabbing motion driving mechanism is connected with the controller to receive commands of the controller. The grabbing motion driving mechanism drives the grabbing manipulator connecting piece to move on the grabbing track according to the command of the controller, and meanwhile drives the grabbing claw on the grabbing manipulator connecting piece to move. The grabbing manipulator connecting piece is connected with the grabbing track through the sliding block, and the grabbing track can be a linear guide rail. Alternatively, the gripping drive mechanism may also be mounted on the gripping robot connection.

The barreled water bucket can be vertically arranged on the goods shelf or horizontally arranged, and in order to maximize the space utilization, the barreled water bucket can be horizontally arranged on the goods shelf. In the goods shelves are sent into to the bottled water of being convenient for draw the bottled water and be convenient for from goods shelves inside this moment, still designed for snatching the manipulator and snatched the track. During concrete implementation, when the operation of leaving warehouse, snatch the manipulator and remove to the inside delivery port that grasps the bottled water of goods shelves along snatching the track, after snatching the claw and grasp the bottled water delivery port, reverse movement is the outside removal of horizontal direction to goods shelves promptly, pulls out the bottled water, when pulling to preset the position, preset the position for example set for the position before the bottled water staving breaks away from goods shelves, holds the manipulator and tightens up and hold the arm, fixes the staving of bottled water. During the warehousing operation, the manipulator assembly moves to a designated cargo space on the shelf according to the command of the controller, for example, the manipulator assembly is controlled to move to the following positions: hold the manipulator and be close to goods shelves on the horizontal direction, make bottled water's lower limb equal to or a little be higher than the goods position bottom surface in the vertical direction, snatch the manipulator and remove along snatching the track, with bottled water cask propelling movement to the goods position in.

In an optional embodiment, a holding rail mechanism is further mounted on the fixing member, and the holding rail mechanism includes: the clamping mechanism comprises a clamping track, a clamping manipulator connecting piece and a clamping motion driving mechanism, wherein the clamping track is in the same direction as the grabbing track; the holding arm is installed on the holding manipulator connecting piece, and the holding motion driving mechanism is connected with the controller to receive the command of the controller. The clasping motion driving mechanism drives the clasping manipulator connecting piece to move on the clasping track according to the command of the controller, and simultaneously drives the clasping arm on the clasping manipulator connecting piece to move. The holding manipulator connecting piece is connected with the holding track through the sliding block, and the holding track can be a linear guide rail. Alternatively, the holding driving mechanism can also be arranged on a holding manipulator connecting piece.

The holding track and the grabbing track are in the same direction, that is, the two tracks are in the same direction, for example, the two tracks can be arranged in parallel, for example, one track is arranged on one side of the fixing part, and the other track is arranged on the other side of the fixing part. The holding rail may be shorter than said grabbing rail, i.e. the length of the holding rail is smaller than the length of the grabbing rail.

The motion track of the holding manipulator can enable the holding manipulator to move in the same direction as the grabbing manipulator when the holding manipulator is stored in a warehouse or is taken out of the warehouse. For example, when the barrel is taken out of a warehouse, the holding manipulator moves to the edge of the shelf in the horizontal direction, and the barrel body of the barreled water is fixed in time after the grabbing manipulator pulls out the barreled water. When the bottled water is put in storage, the holding manipulator and the grabbing manipulator move to the same-direction shelf, and when the holding manipulator moves to the edge of the shelf, the grabbing manipulator stops moving and continues to move to send the bottled water into the goods space.

Fig. 3 is a perspective view of a robot assembly including a grasping robot and a holding robot according to an exemplary embodiment of the present invention, and fig. 4 is a rear view of the robot assembly shown in fig. 3. In the figure 50 is a fixed part on which a grabbing manipulator and a holding manipulator are fixed. The figure shows a gripper jaw 501, a gripper jaw drive mechanism 502, and a gripper rail 503. In the present embodiment, the gripping claw driving mechanism 502 is fixed to the gripping robot link 504 together with the gripping claws 501, and in other embodiments, the gripping claw driving mechanism 502 may be provided on a fixing member. The grabbing manipulator connecting piece 504 is connected with the grabbing track 503 through a slide block. 505 is a grabbing motion driving mechanism for driving the grabbing robot link 504 to move on the grabbing track 503. The clasping arms 506 in this example are a pair of arcuate arms. In this embodiment, the clasping arm driving mechanism 507 is fixed on the clasping manipulator connecting piece 508 together with the clasping arm 506, and in other embodiments, the clasping arm driving mechanism 507 may be arranged on a fixing piece. The clasping manipulator connecting piece 508 is connected with the clasping track 510 through a sliding block. 509 is a holding motion driving mechanism for driving the grabbing manipulator connecting member 504 to move on the grabbing track 503.

In an optional embodiment, in order to enable the whole manipulator assembly comprising the holding manipulator and the grabbing manipulator to rotate, the fixed connecting mechanism is set as a rotary actuating mechanism, the fixing piece connecting mechanism comprises a rotatable connecting piece and a rotary driving mechanism for driving the rotatable connecting piece to rotate, one end of the rotatable connecting piece is connected with the moving track mechanism, the other end of the rotatable connecting piece is connected with the fixing piece, the rotatable connecting piece realizes the rotation of the fixing piece provided with the grabbing manipulator and the holding manipulator, and the rotary driving mechanism is connected with the controller to receive commands of the controller.

In an exemplary embodiment, a harmonic reducer is further connected between the rotatable connection and the rotary drive mechanism. Namely, the fixing member attaching mechanism further comprises: and the input of the harmonic speed reducer is connected with the output of the rotary driving mechanism, and the output of the harmonic speed reducer is connected with the rotatable connecting piece. The vertical direction is used as an initial position, the rotatable connecting piece is matched with the rotary driving mechanism and the harmonic speed reducer to accurately control the positive and negative 90-degree rotation of the fixing piece, and the goods shelves on two sides can be considered. After the manipulator assembly extracts a barrel of horizontal barreled water from the goods shelf, the rotary actuating mechanism can enable the manipulator assembly to integrally rotate to the initial position, namely, the barreled water is in the vertical position. Through the cooperation work of the harmonic speed reducer and the rotary driving mechanism, the rotary control precision is high, the stability is high, and the high reduction ratio can be realized.

Fig. 5 is a perspective view of the rotary actuator according to the embodiment of the present invention, in which a rotatable fixed connecting member 601, a rotary driving mechanism 602, and a harmonic reducer mechanism 603 are shown, and the rotary actuator is connected to the middle position of the fixing member shown in fig. 4.

In an alternative embodiment, the moving track mechanism comprises a horizontal track mechanism and a vertical track mechanism, wherein:

the horizontal rail mechanism comprises a horizontal rail, a movable horizontal connecting piece positioned on the horizontal rail and a horizontal movement driving mechanism for driving the horizontal connecting piece to move on the horizontal rail; the horizontal movement driving mechanism is connected with the controller to receive a command sent by the controller; the horizontal connecting piece is connected with the horizontal track through a sliding block; the horizontal rail can be realized by adopting a linear slide rail.

The vertical track mechanism comprises a vertical track fixed on the horizontal connecting piece and a vertical movement driving mechanism for driving the fixing piece connecting mechanism to move on the vertical track; the vertical movement driving mechanism is connected with the controller to receive commands sent by the controller. The fixing piece connecting mechanism can be connected with the vertical track through a sliding block so as to be movable.

The horizontal track can be a sky track, a ground track or a heaven-earth track, and if the ground track is included, the bin gate can be arranged at the end position of the horizontal track. The fixing part provided with the manipulator assembly is connected with the vertical rail through the fixing part connecting mechanism. The vertical rail is also considered to be a pillar of the robot assembly, and may be composed of a pillar and a rail, which may be a linear rail, fixed to the pillar.

Fig. 6 is a perspective view of the moving track mechanism according to the present invention, in which 70 is the moving track mechanism, 701 is the vertical track, 702 is the vertical movement driving mechanism, 703 is the horizontal track, 704 is the horizontal movement driving mechanism, 705 is the horizontal connecting member, and 706 is the cable guiding mechanism. The figures show two states of the bottled water on the pallet and when gripped by the robot mechanism.

In an exemplary embodiment, a tray track, a tray which is movable on the track, a bin gate which is fixed with the side end of the tray facing the outside of the bin, and a tray driving mechanism which drives the tray to move on the tray track may be arranged in the intelligent terminal, and the tray driving mechanism is connected with the controller. The tray and the tray track are connected through a sliding block to be movable. When manipulator assembly places the bottled water on the tray after, the sensor detects to bear the weight of bottled water cask on the tray after, sends the sensing signal who has the bucket to the controller, and controller control tray actuating mechanism drive tray moves to outside the storehouse along the tray track, and the door is opened simultaneously along the outside removal of tray. After the barreled water barrel is taken away, the sensor detects that no barrel is arranged on the tray, a sensing signal of no barrel is sent to the controller, the controller controls the tray driving mechanism to drive the tray to move into the bin gate along the tray track, and meanwhile the bin gate is closed. When the warehouse is put in, the controller controls the tray driving mechanism to drive the tray to move towards the outside of the warehouse along the tray track according to the received warehouse-in command, when the sensor detects that the tray is loaded with the barreled water bucket, a sensing signal of the bucket is sent to the controller, the controller controls the tray driving mechanism to drive the tray to move into the warehouse door along the tray track, and the warehouse door is closed at the same time. The manipulator mechanism extracts the barreled water barrel from the tray according to the command of the controller and puts the barreled water barrel into the designated goods space of the controller. The sensor may be a pressure sensor and/or an infrared sensor, etc.

FIG. 7 is a perspective view of a tray and a door portion, FIG. 10 being a door disposed at an outboard end of the movable tray, in accordance with an exemplary embodiment of the present invention; reference numeral 801 denotes a tray, 802 denotes a tray rail, and 803 denotes a tray driving mechanism. The bin gate can be opened or closed along with the movement (such as in-out movement) of the tray, when the tray moves to the outer side of the intelligent terminal according to the instruction of the controller, the bin gate horizontally moves outwards along with the movement of the tray, when the tray moves to the inner side of the intelligent terminal according to the instruction of the controller, the bin gate horizontally moves inwards along with the movement of the tray, and the bin gate stops when moving to the position where the outer side face of the intelligent terminal is flush.

In an optional embodiment, the terminal is further provided with an access door so that maintenance personnel can conveniently get in and out to maintain and repair the intelligent terminal.

In the above embodiments, the driving mechanism may be implemented by using a servo motor, unless otherwise specified.

The Controller in this embodiment may be a PLC (Programmable Logic Controller). And the PLC receives a command of the human-computer interaction device to control the mechanical structure.

The intelligent terminal provided by the utility model can be designed into a small barreled water warehouse, compared with the common warehouse, the intelligent terminal has the characteristics of small occupied area, high space utilization rate and mobility, can realize the automation of barreled water warehouse-out and warehouse-in and stock management, and adopts a human-computer interaction device (computer) to carry out accurate information management on goods information; the human-computer interaction device issues commands to the mechanical hand mechanism, and the mechanical hand mechanism carries goods, so that the working efficiency is improved. The grabbing manipulator and the holding manipulator of the embodiment can guarantee that the barreled water can be stably fixed, and storage and random output of the barreled water of multiple brands can be realized by combining commands of the human-computer interaction device. The intelligent terminal can be installed at any desired location, for example, in an office building parking lot or in a residential area. When the water sump is no longer needed at the current position, the terminal can be moved to other positions after being emptied of goods.

Although the embodiments of the present invention have been described above, the description is only for the convenience of understanding the present invention, and the present invention is not limited thereto. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. The utility model provides an automatic change bottled water storage intelligent terminal which characterized in that:

the terminal is provided with a bin gate;

the terminal is internally provided with: the mechanical arm mechanism comprises a grabbing mechanical arm for grabbing a water outlet of the barreled water bucket and a holding mechanical arm for holding a barrel body of the barreled water bucket;

the terminal is also provided with a human-computer interaction device for sending commands to the manipulator mechanism.

2. The intelligent terminal of claim 1, wherein:

the goods shelves are located two sides in the intelligent terminal, and the manipulator mechanism is located between the goods shelves on two sides.

3. The intelligent terminal of claim 2, wherein:

the manipulator mechanism comprises a motion track mechanism, a movable fixing piece connecting mechanism positioned on the motion track mechanism, a fixing piece connected with the fixing piece connecting mechanism, and a controller for receiving the command of the human-computer interaction device; the controller is connected with the moving track mechanism, and the grabbing manipulator and the holding manipulator are mounted on the fixing piece;

the grabbing manipulator comprises grabbing claws and a grabbing claw driving mechanism for driving the grabbing claws to open and tighten, and the grabbing claw driving mechanism is connected with the controller;

the holding manipulator comprises a holding arm and a holding arm driving mechanism for driving the holding arm to open and tighten, and the holding arm driving mechanism is connected with the controller.

4. The intelligent terminal of claim 3,

still install on the mounting and snatch rail mechanism, it includes to snatch rail mechanism: the grabbing device comprises a grabbing track, a grabbing manipulator connecting piece and a grabbing motion driving mechanism, wherein the grabbing manipulator connecting piece is positioned on the grabbing track in a movable mode; the grabbing claw is arranged on the grabbing manipulator connecting piece, and the grabbing motion driving mechanism is connected with the controller.

5. The intelligent terminal according to claim 4,

still install on the mounting and hold track mechanism, hold track mechanism and include: the clamping mechanism comprises a clamping track, a clamping manipulator connecting piece and a clamping motion driving mechanism, wherein the clamping track is in the same direction as the grabbing track; the holding arm is installed on the holding manipulator connecting piece, the holding motion driving mechanism is connected with the controller, and the length of the holding track is smaller than that of the grabbing track.

6. The intelligent terminal according to claim 3, 4 or 5, wherein:

the fixing member connecting mechanism includes: the rotary driving mechanism drives the rotary connecting piece to rotate; one end of the rotatable connecting piece is connected with the moving track mechanism, the other end of the rotatable connecting piece is connected with the fixing piece, and the rotary driving mechanism is connected with the controller.

7. The intelligent terminal of claim 6,

and a harmonic speed reducer is also connected between the rotatable connecting piece and the rotary driving mechanism.

8. The intelligent terminal of claim 6,

the movement track mechanism comprises a horizontal track mechanism and a vertical track mechanism, wherein:

the horizontal rail mechanism comprises a horizontal rail, a movable horizontal connecting piece positioned on the horizontal rail and a horizontal movement driving mechanism for driving the horizontal connecting piece to move on the horizontal rail; the horizontal movement driving mechanism is connected with the controller;

the vertical track mechanism comprises a vertical track fixed on the horizontal connecting piece and a vertical movement driving mechanism for driving the fixing piece connecting mechanism to move on the vertical track; the vertical movement driving mechanism is connected with the controller.

9. The intelligent terminal according to any one of claims 3-5, 7-8,

the intelligent terminal is also internally provided with a tray track, a movable tray positioned on the tray track and a tray driving mechanism for driving the tray to move on the tray track; the tray driving mechanism is connected with the controller.

10. The intelligent terminal according to claim 9,

the bin door is arranged on the outer side of the movable tray and is opened or closed along with the movement of the tray.

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