CN107043028B

CN107043028B - Tray exchange mechanism suitable for mobile robot

Info

Publication number: CN107043028B
Application number: CN201710381732.3A
Authority: CN
Inventors: 李小平; 吴胜凯; 刘松; 苟利军; 秦国华; 张�杰
Original assignee: Huazhong University of Science and Technology
Current assignee: Huazhong University of Science and Technology
Priority date: 2017-05-26
Filing date: 2017-05-26
Publication date: 2020-07-07
Anticipated expiration: 2037-05-26
Also published as: CN107043028A

Abstract

The invention belongs to the field of cargo handling accessories, and particularly discloses a tray exchange mechanism suitable for a mobile robot, which comprises a support module, a tray conveying module, a pull rod module and a turntable module, wherein the support module is accommodated in a chassis of the mobile robot; the tray transmission module is arranged on one side of the turntable module and can be contracted into the mobile robot chassis; the pull rod module is arranged on the other side of the turntable module and is used for realizing the horizontal movement of the empty pallets which are not loaded with goods, and the turntable module is used for realizing the rotary motion of the empty pallets which are not loaded with goods. The tray loading and unloading device can complete tray loading and unloading tasks at one time, has the advantages of small overall size, strong applicability, simple structure and the like, and is suitable for occasions such as cargo loading and unloading in narrow spaces such as containers and the like.

Description

Tray exchange mechanism suitable for mobile robot

Technical Field

The invention belongs to the field of cargo loading and unloading auxiliary devices, and particularly relates to a tray exchange mechanism suitable for a mobile robot.

Background

The tray is a common carrier in the process of carrying goods, and plays important roles of facilitating transportation, facilitating loading and unloading and the like. In automated loading and unloading equipment, pallets still play an important role in the goods hand-over process. Because of this, the storage form and exchange manner of the trays in the automatic loading and unloading equipment affect the performance indexes of the equipment, such as the working continuity, the working efficiency and the applicable environment. Therefore, the pallet changing mechanism is an important part of the goods handling field.

The existing prior art has a tray exchange mechanism in the form of a circulating assembly line, wherein the tray exchange mechanism occupies a rectangular area, the rectangular area is divided into four small rectangles, each small rectangle is provided with a tray, and the small rectangle at the upper left corner is a stacking area; after the tray at the upper left corner is filled with goods, moving to the lower left corner, and taking the goods away by a forklift; meanwhile, trays at the lower right corner and the upper right corner move in sequence to fill the position of the upper left corner; the other is a longitudinal assembly line form, the mechanism is provided with three stations in the longitudinal direction, the first station is a stacking area, after the tray of the first station is filled with goods, the tray is moved to the second station to wind the film, the forklift places the empty tray on the third station while winding the film, and the empty tray is grabbed by the side mechanical arm and placed on the first station; and then the tray filled with the goods moves to the third station and is taken away by a forklift.

The existing tray exchange mechanism has the following problems that the mechanism in the form of the circulating assembly line has four stations, the space is occupied in the length direction and the width direction of the equipment, when a forklift is used for placing an empty tray, the forklift needs to be placed at the right lower corner, then the tray filled with goods needs to be taken away at the left lower corner, and the forklift needs to transversely translate in the process, so that the operation difficulty is high; the mechanism in the longitudinal assembly line form has three longitudinal stations, the length of the forklift is increased, after the forklift is used for placing empty trays, the forklift needs to wait for the completion of film winding of the trays filled with goods and move from the second station to the third station, the working efficiency of the forklift is reduced, the exchange mechanism also needs a side mechanical arm and a matched guide rail and other mechanisms, and the complexity of the equipment is increased.

Disclosure of Invention

Aiming at the defects or the improvement requirements of the prior art, the invention provides a tray exchange mechanism suitable for a mobile robot, and the problems of two tasks of placing empty trays and carrying away trays filled with goods can be solved effectively at one time by researching and designing the structures and the specific arrangement modes of key components of the tray exchange mechanism, such as a pull rod module, a turntable module, a support module and a tray conveying module.

In order to achieve the above object, the present invention provides a tray exchanging mechanism suitable for a mobile robot, the tray exchanging mechanism includes a supporting module, a tray conveying module, a pull rod module and a turntable module, all of which are disposed on a chassis of the mobile robot, wherein:

the supporting module is accommodated in a chassis of the mobile robot and used for jacking a tray filled with goods on the turntable module, and the tray filled with the goods is carried away by a forklift;

the tray conveying module is arranged on one side of the turntable module and can be retracted into the mobile robot chassis, and is used for conveying empty trays without goods into the turntable module after the trays full of goods are jacked up, and the empty trays without goods are conveyed to the tray conveying module by the same forklift which conveys away the trays full of goods;

the pull rod module is arranged on the other side of the turntable module and is used for realizing the horizontal movement of the empty pallets which are not loaded with goods, and the turntable module is used for realizing the rotary motion of the empty pallets which are not loaded with goods.

Preferably, the support module comprises a driving four-bar linkage and a driven four-bar linkage, wherein the driving four-bar linkage comprises a telescopic link C, a first support rod, a rocker a and a rocker B, two ends of the telescopic link C are respectively hinged to the mobile robot chassis and one end of the rocker a, the middle of the rocker a is hinged to the mobile robot chassis, the other end of the rocker a is hinged to the support rod, and two ends of the rocker B are respectively hinged to the mobile robot chassis and the support rod; the driven four-bar linkage comprises a second supporting rod, a rocker C and a rocker D, the rocker C and the rocker D are hinged to the second supporting rod and the mobile robot chassis respectively, and the rocker D is connected with the rocker B through a transmission shaft so as to transmit power of the driving four-bar linkage to the driven four-bar linkage.

As a further preferred, the tray conveying module comprises a horizontal moving unit, a lifting unit and a roller unit, and the extension and retraction of the tray conveying module is realized by the combination of the horizontal movement of the horizontal moving unit and the lifting movement of the lifting unit, so as to be conveniently retracted into the mobile robot chassis.

Preferably, the horizontal moving unit comprises a sliding table and a telescopic rod D, the sliding table is in sliding fit with the mobile robot chassis through a sliding rod, one end of the telescopic rod D is connected with the mobile robot chassis, and the other end of the telescopic rod D is connected with the sliding table so as to drive the sliding table to move in the horizontal direction; the lifting unit comprises a driving assembly and a connecting rod, the driving assembly is arranged on the sliding table and connected with one end of the connecting rod, the other end of the connecting rod is hinged with the roller unit, and the connecting rod is driven to rotate by the driving assembly so as to realize the lifting of the roller unit; the roller unit comprises a roller assembly, a transmission assembly and a driving assembly, the roller assembly comprises a roller frame hinged with the connecting rod and a roller arranged on the roller frame through a roller shaft, the transmission assembly comprises a belt wheel A arranged on the roller shaft, a belt wheel B arranged on the belt wheel shaft and a conveying belt used for connecting the belt wheel A and the belt wheel B, the driving assembly comprises a motor arranged on the roller frame, an output shaft of the motor is connected with the belt wheel shaft so as to transmit power to the roller through the conveying belt, and therefore the roller is driven to roll, and the power for advancing the empty tray is further provided.

Preferably, the rod module comprises a telescopic rod a and a telescopic rod B, wherein the telescopic rod a is connected with the chassis of the mobile robot and the telescopic rod B and can drive the telescopic rod B to move in the vertical direction; this telescopic link B towards the one end of carousel module is passed through the sucking disc mounting panel and is installed sucking disc and sensor, and it can drive sucking disc and sensor move on the horizontal direction.

As a further preferred, the turntable module includes a motor, a speed reducer and a turntable frame, the motor is connected to the speed reducer, the speed reducer is mounted on a mobile robot chassis, an output shaft of the speed reducer is connected to the turntable frame, the turntable frame is mounted on the mobile robot chassis through a support bearing, and the turntable frame can rotate relative to the mobile robot chassis under the driving of the motor.

Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:

1. the pallet exchanging mechanism which is researched and designed and comprises the pull rod module, the turntable module, the supporting module and the pallet conveying module can meet the requirement that a forklift can complete two tasks of placing empty pallets and forking pallets filled with goods at one time, so that when a mobile robot loaded with the pallet exchanging mechanism enters a carriage of a truck, the loading and unloading tasks can be completed in a limited space of the carriage at the same time, and the efficiency of pallet exchanging is effectively improved.

2. The supporting module and the tray conveying module in the tray exchange mechanism are arranged to be contained in the chassis of the mobile robot, so that the volume of the tray exchange mechanism is effectively reduced, the overall volume of the mobile robot is further reduced, and the mobile robot provided with the tray exchange mechanism can enter a narrow space to realize goods loading and unloading.

3. The invention also researches and sets the specific structure and the specific arrangement mode of the four modules in the tray exchange mechanism, finishes the exchange process of the tray in one station through the mutual matching of the four modules, can meet the requirement of fast and effective loading and unloading of goods while reducing the whole volume, and has the advantages of simple structure, convenient operation, small volume and the like.

4. In the pallet exchanging process, after the forklift puts the new pallet on the roller, the new pallet is automatically conveyed to the specified position, and then the forklift only needs to lift the forks and continues to move forwards properly to fork the pallet filled with goods, so that the movement of the forklift is continuous in the whole process, the position does not need to be adjusted leftwards and rightwards, the operation difficulty of the forklift is reduced, and the operation of the forklift in a narrow space is facilitated.

Drawings

FIG. 1 is an isometric view of a pallet exchange mechanism of the present invention suitable for use with a mobile robot;

FIG. 2 is a front view of the tie rod module of the present invention (with the other modules removed);

FIG. 3 is a top view of the tie rod module of the present invention (with the other modules removed);

FIG. 4 is a cross-sectional view of a turntable module of the present invention (with other modules removed);

FIG. 5 is an oblique view of the support module of the present invention (with the other modules removed);

FIG. 6 is a front view of the active four bar linkage of the present invention (with other modules removed);

FIG. 7 is a front view of the driven four bar linkage of the present invention (with other modules removed);

FIG. 8 is an isometric view of the tray transfer module of the present invention (with the other modules removed);

FIG. 9 is an oblique view of the tray transport module of the present invention (with the other modules removed);

FIG. 10 is an isometric view of a drum portion of the present invention;

FIG. 11 is an isometric view of an initial state of the invention;

FIG. 12 is a schematic illustration of the tray lifting process of the present invention;

FIG. 13 is a schematic illustration of the fork lift truck of the present invention in an empty pallet position;

FIG. 14 is a top view of the relative position of an empty tray of the present invention;

FIG. 15 is a schematic view of the tray pushing process of the present invention;

FIG. 16 is a right side view of the support module of the present invention returning to its original position;

FIG. 17 is a schematic view of the operation of the turntable module of the present invention;

fig. 18 is a schematic view of the operation of the turntable module of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As shown in fig. 1, the pallet exchanging mechanism suitable for a mobile robot according to an embodiment of the present invention includes a pull rod module 2, a turntable module 3, a support module 4 and a pallet conveying module 5, where the four modules are all installed on a chassis 1 of the mobile robot, the support module 4 is accommodated in the chassis 1 of the mobile robot and is used for jacking up a pallet filled with goods on the turntable module 3, and the pallet filled with goods is transported by a forklift; the tray transfer module 5 is arranged on one side (right side in fig. 1) of the turntable module 3 and can be retracted into the mobile robot chassis, and is used for transferring empty trays without goods into the turntable module 3 after the trays full of goods are jacked up, and the empty trays without goods are conveyed onto the tray transfer module 5 by the same forklift which conveys away the trays full of goods; the tie rod module 2 is arranged on the other side (left side in fig. 1) of the turntable module 3 and is used for realizing the horizontal movement of the empty pallets without goods, and the turntable module 3 is used for realizing the rotation movement of the empty pallets without goods. According to the invention, the supporting module is adopted to jack up the tray filled with goods from the lower part, then the tray conveying module and the pull rod module assist the forklift to place the empty tray below the tray filled with goods, at the moment, the forklift can take the tray filled with goods away, and finally the direction of the empty tray is adjusted by virtue of the turntable module, so that the processes can be circularly carried out.

The pallet exchanging mechanism designed by the invention can simultaneously complete the pallet loading and unloading processes, two tasks of placing empty pallets and forking the pallets filled with goods can be completed by one forklift at one time, the pallet exchanging efficiency is improved, and the support module 4 and the pallet conveying module 5 can be accommodated in the chassis of the mobile robot, so that the overall volume of the pallet exchanging mechanism is further reduced, the mobile robot can conveniently enter a boxcar of a truck, and the goods can be loaded and unloaded in the limited space of the boxcar.

Further, as shown in fig. 2 and 3, the rod module 2 includes a telescopic rod a22 and a telescopic rod B24, wherein the telescopic rod a22 is connected to the chassis 1 of the mobile robot and the telescopic rod B24, and can drive the telescopic rod B24 to move in a vertical direction; the end of the telescopic rod B24 facing the turntable module 3 is provided with a suction cup 27 and a sensor 25 through a suction cup mounting plate 26, which can drive the suction cup 27 and the sensor 25 to move in the horizontal direction. Specifically, telescopic link A22 links to each other with mobile robot chassis 1 through pull rod mount pad 21, and telescopic link B24 passes through connecting plate 23 and links to each other with telescopic link A22, and sucking disc mounting panel 26 is equipped with to telescopic link B24 head, is equipped with sucking disc 27 and sensor 25 on sucking disc mounting panel 26, and telescopic link A22 can make telescopic link B24, sucking disc 27, sensor 25 etc. move in vertical direction, and telescopic link B24 can make sucking disc 27, sensor 25 etc. move in the horizontal direction.

Further, as shown in fig. 4, the turntable module 3 includes a motor 31, a speed reducer 32, and a turntable support 33, the motor 31 is connected to the speed reducer 32, the speed reducer 32 is mounted on the mobile robot chassis, an output shaft of the speed reducer is connected to the turntable support 33, the turntable support 33 is mounted on the mobile robot chassis through a support bearing 34, and the turntable support is driven by the motor 31 to rotate relative to the mobile robot chassis.

Further, as shown in fig. 5-7, the support module 4 includes a driving four-bar linkage 4A and a driven four-bar linkage 4B, where the driving four-bar linkage 4A includes a telescopic rod C42, a first support rod 43, a rocker a44 and a rocker B46, two ends of the telescopic rod C42 are respectively hinged to the mobile robot chassis 1 and one end of the rocker a44, specifically hinged to the mobile robot chassis 1 through a fixed hinge mount a 41, a middle of the rocker a44 is hinged to the mobile robot chassis, specifically hinged to the mobile robot chassis 1 through a fixed hinge mount B45, another end of the rocker a44 is hinged to the support rod 43, and two ends of the rocker B46 are respectively hinged to the mobile robot chassis and the support rod 43, specifically hinged to the mobile robot chassis 1 through a fixed hinge mount C47; the driven four-bar linkage 4B comprises a second supporting rod 43 ', a rocker C49 and a rocker D46 ', the rocker C49 and the rocker D46 ' are hinged with the second supporting rod 43 ' and the mobile robot chassis respectively, the rocker C49 is hinged with the mobile robot chassis 1 through a fixed hinged support B45, the rocker D46 ' is hinged with the mobile robot chassis 1 through a fixed hinged support B47, in addition, the rocker D46 ' is connected with the rocker B46 through a transmission shaft 48, so that the power of the driving four-bar linkage 4A is transmitted to the driven four-bar linkage 4B, and the supporting rods 43 and 43 ' on two sides can synchronously ascend and descend by controlling the extension and retraction of the telescopic rod C42.

Further, as shown in fig. 8 to 10, the tray transfer module 5 includes a horizontal moving unit, a lifting unit, and a roller unit 5A, and by combining the horizontal movement of the horizontal moving unit with the lifting movement of the lifting unit, the extension and contraction of the tray transfer module 5 can be achieved so as to be retracted into the inside of the chassis of the mobile robot. The horizontal moving unit comprises a sliding table 508 and a telescopic rod D502, the sliding table 508 is in sliding fit with the mobile robot chassis 1 through a sliding rod, the specific sliding rod is connected with the chassis 1 through a linear bearing 501, the linear bearing 501 is installed on the mobile robot chassis 1, one end of the telescopic rod D502 is connected with the mobile robot chassis 1, and the other end of the telescopic rod D502 is connected with the sliding table 508 through a pin 511, for example, so as to drive the sliding table 508 to move in the horizontal direction; the lift unit includes drive assembly and connecting rod 510, and this drive assembly sets up on the slip table 508, and with the one end of connecting rod 510 links to each other, the other end of connecting rod 510 with cylinder unit 5A is articulated, drives through this drive assembly thereby connecting rod 510 rotates and realizes the lift of cylinder unit 5A, and is concrete, drive assembly include motor 503 and reduction gear 504, and motor 503 and reduction gear 504 pass through motor mount 505 to be fixed on slip table 508, and the output shaft of reduction gear 504 passes through shaft joint 506 and links to each other with driving shaft 509, and this driving shaft 509 passes through the pedestal bearing 507 to be fixed on slip table 508, its with connecting rod 510 links to each other to this drives connecting rod 510 through motor 503 and rotates.

Further, as shown in fig. 10, the roller unit 5A includes a roller assembly including a roller frame 514 hinged to the link 510 and a roller 512 mounted on the roller frame 514 through a roller shaft, specifically, the roller shaft is mounted on the roller frame 514 through a roller bearing 507, the transmission assembly includes a pulley a513 mounted on the roller shaft, a pulley B516 mounted on the pulley shaft 515, and a transmission belt 517 for connecting the pulley a513 and the pulley B516, the drive assembly includes a motor 503 mounted on the roller frame 514, specifically, the motor 503 is fixed on the roller frame 514 through a motor mount B518, the pulley shaft 515 is mounted on the roller frame 514 through a roller bearing 507 and is connected to an output shaft of the motor 503 through a coupling 506 to transmit power to the roller 512 through the transmission belt 517 to drive the roller 512 to roll, thereby providing power for advancing the empty tray.

The specific use of the tray exchange mechanism of the present invention is described in detail below.

In the initial state of the invention, as shown in fig. 11, a pallet a61 (the length of the pallet used in the invention is larger than the width) is filled with goods 7, at this time, the telescopic rod C42 in the support module 4 is in an extended state, the telescopic rods a22 and B24 in the pull rod module 2 are in a contracted state, and the pallet transport module 5 is retracted under the chassis 1.

In the next state, as shown in fig. 12, the telescopic rod C42 is contracted to drive the rocker a44, the supporting rod 43, the rocker B46 and the like to lift the tray a61 and the goods 7; the telescopic rod D502 is extended to push the sliding table 508 out of the chassis 1, and then the motor 503 rotates to drive the connecting rod 510 to rotate, so as to lift the roller part 5A; the tie rod module 2 and the turntable module 3 are kept in the original state.

Next, as shown in fig. 13, the forklift (not shown) brings the empty pallet B62 into contact with the rollers 512. In this case, the tray B62 is seen in a plan view in fig. 14, with the short side of the empty tray B62 facing to the left.

Next, as shown in fig. 15, the motor 503 rotates the roller 512 via the belt 517 to push the tray B62 to the tray support 33. Then, the pallet A61 and the goods 7 are taken away by the forklift, and the telescopic rod C42 extends out to drive the supporting rod 43 to return to the initial position; the motor 503 rotates to drive the link 510 to rotate, so as to lower the roller portion 5A, retract the telescopic rod D502, and retract the sliding table 508 to the chassis 1, as shown in fig. 16.

In the next state, the telescopic rod A22 and the telescopic rod B24 extend out, the sucker 27 sucks the tray B62, and the position where the telescopic rod B24 extends out is judged by the sensor 25; then, the telescopic rod B24 pulls the tray 52 to a designated position; finally, the telescoping pole A22 and the vertical telescoping pole 14 retract, returning to their original positions.

Finally, as shown in fig. 17 and 18, the motor 31 drives the tray rack 33 to rotate along the Z direction, and the tray B62 is rotated by 90 degrees, thereby completing the whole tray exchange process.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a tray exchange mechanism suitable for mobile robot, its characterized in that, tray exchange mechanism is including all setting up support module (4), tray transfer module (5), pull rod module (2) and carousel module (3) on the mobile robot chassis, wherein:

the supporting module (4) is accommodated in a chassis of the mobile robot and is used for jacking a tray filled with goods on the turntable module (3), and the tray filled with the goods is carried away by a forklift;

the tray conveying module (5) is arranged on one side of the turntable module (3) and can be retracted into the chassis of the mobile robot, and is used for conveying empty trays without goods into the turntable module (3) after the trays full of goods are jacked up, and the empty trays without goods are conveyed onto the tray conveying module (5) by the same forklift which conveys away the trays full of goods;

the pull rod module (2) is arranged on the other side of the turntable module (3) and is used for realizing the horizontal movement of the empty pallets which are not loaded with goods, and the turntable module (3) is used for realizing the rotation movement of the empty pallets which are not loaded with goods.

2. The tray exchange mechanism adapted to a mobile robot according to claim 1, wherein the support module (4) comprises a driving four-bar linkage (4A) and a driven four-bar linkage (4B), wherein the driving four-bar linkage (4A) comprises a telescopic link C (42), a first support rod (43), a rocker a (44) and a rocker B (46), both ends of the telescopic link C (42) are hinged to the mobile robot chassis and one end of the rocker a (44), respectively, the middle of the rocker a (44) is hinged to the mobile robot chassis, the other end of the rocker a (44) is hinged to the support rod (43), and both ends of the rocker B (46) are hinged to the mobile robot chassis and the support rod (43), respectively; the driven four-bar linkage (4B) comprises a second supporting rod (43 '), a rocker C (49) and a rocker D (46 '), wherein the rocker C (49) and the rocker D (46 ') are respectively hinged with the second supporting rod (43 ') and a mobile robot chassis, and the rocker D (46 ') is connected with the rocker B (46) through a transmission shaft (48), so that the power of the driving four-bar linkage (4A) is transmitted to the driven four-bar linkage (4B).

3. The tray exchange mechanism adapted to a mobile robot according to claim 1, wherein the tray transfer module (5) includes a horizontal moving unit, a lifting unit, and a roller unit (5A), and the extension and retraction of the tray transfer module (5) is achieved by the horizontal movement of the horizontal moving unit in combination with the lifting movement of the lifting unit so as to be retracted to the inside of the chassis of the mobile robot.

4. The tray exchange mechanism adapted to a mobile robot according to claim 3, wherein the horizontal moving unit comprises a slide table (508) and a telescopic rod D (502), the slide table (508) is slidably engaged with the mobile robot chassis by a slide rod, one end of the telescopic rod D (502) is connected with the mobile robot chassis, and the other end is connected with the slide table (508) to drive the slide table (508) to move in the horizontal direction; the lifting unit comprises a driving assembly and a connecting rod (510), the driving assembly is arranged on the sliding table (508) and is connected with one end of the connecting rod (510), the other end of the connecting rod (510) is hinged with the roller unit (5A), and the connecting rod (510) is driven to rotate by the driving assembly so as to realize the lifting of the roller unit (5A); the roller unit (5A) comprises a roller assembly, a transmission assembly and a driving assembly, the roller assembly comprises a roller frame (514) hinged with the connecting rod (510) and a roller (512) mounted on the roller frame (514) through a roller shaft, the transmission assembly comprises a belt wheel A (513) mounted on the roller shaft, a belt wheel B (516) mounted on a belt wheel shaft (515) and a conveying belt (517) used for connecting the belt wheel A (513) and the belt wheel B (516), the driving assembly comprises a motor (503) mounted on the roller frame (514), an output shaft of the motor (503) is connected with the belt wheel shaft (515) to transmit power to the roller (512) through the conveying belt (517) so as to drive the roller (512) to roll and further provide power for advancing of the empty tray.

5. The pallet exchange mechanism for mobile robots according to claim 1, characterized in that the rod module (2) comprises a telescopic rod a (22) and a telescopic rod B (24), wherein the telescopic rod a (22) is connected with the chassis of the mobile robot and the telescopic rod B (24), and the telescopic rod B (24) can be driven to move in the vertical direction; one end of the telescopic rod B (24) facing the turntable module (3) is provided with a sucker (27) and a sensor (25) through a sucker mounting plate (26), and the sucker (27) and the sensor (25) can be driven to move in the horizontal direction.

6. The tray exchange mechanism adapted for mobile robots according to any of claims 1-5, characterized in that the turntable module (3) comprises a motor (31), a speed reducer (32) and a turntable frame (33), the motor (31) is connected to the speed reducer (32), the speed reducer (32) is mounted on a mobile robot chassis, the output shaft of the speed reducer is connected to the turntable frame (33), the turntable frame (33) is mounted on the mobile robot chassis by a support bearing (34), and the turntable frame can rotate relative to the mobile robot chassis under the driving of the motor (31).