CN206827672U - A kind of tray exchange mechanism suitable for mobile robot - Google Patents

Abstract

The utility model belongs to cargo handling auxiliary equipment field, and specifically disclose a kind of tray exchange mechanism suitable for mobile robot, it includes supporting module, pallet delivery module, pull bar module and turntable module, and the supporting module is placed in the chassis of mobile robot；The pallet delivery module is located at the side of the turntable module and may contract to the inside on the mobile robot chassis；The pull bar module is located at the opposite side of the turntable module, and it is used to realize moving horizontally for the empty pallet without goods, and the turntable module is then used to realize the rotary motion without the empty pallet of goods.The utility model can disposably complete sabot and unload disk task, small with overall volume, strong applicability, advantages of simple structure and simple, the occasion such as cargo handling suitable for the small spaces such as container.

Description

A kind of tray exchange mechanism suitable for mobile robot

Technical field

The utility model belongs to cargo handling auxiliary equipment field, is applied to mobile robot more particularly, to one kind Tray exchange mechanism.

Background technology

Pallet is a kind of common carrier in goods handling process, plays convenience in transport, is easy to the important function such as handling. In automatic handling device, pallet still plays key player in goods handshaking.Just because of this, pallet is automatic Storage Format, exchanged form in change handling facilities just affect the work continuity, operating efficiency, applicable ring of the equipment The performance indications such as border.So tray exchange mechanism is the important part in one, cargo handling field.

The tray exchange mechanism of following form in currently available technology be present, a kind of is the form of circular pipeline, the machine Structure occupies a rectangular area, and the rectangular area is divided into four small rectangles, and a pallet, the upper left corner are put on each small rectangle Small rectangle be stacking area；After the pallet in the upper left corner fills goods, the lower left corner is moved to, and taken away by fork truck；Meanwhile The pallet in the lower right corner and the upper right corner moves successively, fills up the position in the upper left corner；Another kind is the form of longitudinal streamline, the mechanism There are three stations in the vertical, No.1 station is stacking area, after the pallet of No.1 station fills goods, is moved to No. two stations Carry out twining film, while film is twined, empty pallet is placed on No. three stations by fork truck, is picked up empty pallet by side mechanical arm, is placed To No.1 station；The pallet for filling goods afterwards moves No. three stations again, is taken away by fork truck.

And there are the following problems for above-mentioned existing tray exchange mechanism, the mechanism of wherein circular pipeline form there are four Individual station, space is occupied in the length and width direction of equipment, it is necessary to be placed on the lower right corner, so when fork truck places empty pallet Need to take the pallet for filling goods away in the lower left corner afterwards, fork truck needs transverse translation during this, and operation difficulty is larger；Longitudinal direction stream There are three stations of longitudinal direction in the mechanism of waterline form, increase the length of fork truck, fork truck is after empty pallet has been placed, it is necessary to wait The pallet of goods to be filled twines film and completes and be moved to No. three stations from No. two stations, reduces the operating efficiency of fork truck, the exchange Mechanism also needs to the mechanisms such as a side mechanical arm and its supporting guide rail, increases the complexity of equipment.

Utility model content

For the disadvantages described above or Improvement requirement of prior art, the utility model provides one kind and is applied to mobile robot Tray exchange mechanism, pass through the knot to its key component such as pull bar module, turntable module, supporting module and pallet delivery module Structure and its specific set-up mode are studied and designed, and can effectively solve how disposably to complete to place empty pallet and fortune accordingly The problem of walking to fill two tasks of pallet of goods, strong applicability small with overall volume, advantages of simple structure and simple, thus especially The occasions such as its cargo handling suitable for the small spaces such as container.

To achieve the above object, the utility model proposes a kind of tray exchange mechanism suitable for mobile robot, institute State tray exchange mechanism include being arranged at supporting module on mobile robot chassis, pallet delivery module, pull bar module and Turntable module, wherein：

The supporting module is placed in the chassis of mobile robot, and it is used for the goods of filling in the turntable module Pallet jacks up；

The pallet delivery module is located at the side of the turntable module and may contract to the interior of the mobile robot chassis Portion, it is used to the empty pallet without goods being sent in the turntable module；

The pull bar module is located at the opposite side of the turntable module, and it is used for the water for realizing the empty pallet without goods Translation is dynamic, and the turntable module is then used to realize the rotary motion without the empty pallet of goods.

As it is further preferred that the supporting module includes active double leval jib and driven double leval jib, wherein, the active Double leval jib include expansion link C, first support bar, rocking bar A and rocking bar B, the expansion link C both ends respectively with the mobile machine People chassis and one end of the rocking bar A are hinged, and rocking bar A middle part is hinged with the mobile robot chassis, its other end with The support bar is hinged, and the both ends of the rocking bar B are hinged with the mobile robot chassis and the support bar respectively in addition； The driven double leval jib include second support bar, rocking bar C and rocking bar D, the rocking bar C and rocking bar D respectively with described second Strut and mobile robot chassis are hinged, and rocking bar D is connected by power transmission shaft with the rocking bar B in addition, with this by the master The power of dynamic double leval jib passes to the driven double leval jib.

As it is further preferred that the pallet delivery module includes horizontal movement unit, lifting unit and roller unit, By the horizontal movement of the horizontal movement unit with reference to the elevating movement of the lifting unit, the pallet delivery module is realized It is flexible, in order to be contracted to the inside on the mobile robot chassis.

As it is further preferred that the horizontal movement unit includes slide unit and expansion link D, the slide unit passes through slide bar and institute State mobile robot chassis to be slidably matched, expansion link D one end is connected with the mobile robot chassis, the other end and the cunning Platform is connected, to drive the slide unit to move in the horizontal direction；The lifting unit includes drive component and connecting rod, the driving group Part is arranged on the slide unit, and is connected with one end of the connecting rod, and the other end of the connecting rod is hinged with the roller unit, The link rotatable is driven to realize the lifting of roller unit by the drive component；The roller unit includes roller group Part, transmission component and drive component, the drum assembly include installing with the roller frame of the rod hinge connection and by drum shaft Roller on the roller frame, the transmission component include be arranged on the drum shaft on belt wheel A, on belt shaft Belt wheel B and the conveyer belt for connecting the belt wheel A and belt wheel B, the drive component include the electricity being arranged on roller frame Machine, the output shaft of the motor are connected with the belt shaft, power are passed into the roller by the conveyer belt, so as to drive The rollers roll is moved, and then the power that the empty pallet advances is provided.

As it is further preferred that the pull bar module includes expansion link A and expansion link B, wherein, expansion link A and institute The chassis and the expansion link B for stating mobile robot are connected, and the expansion link B in the vertical directions can be driven to move；This is stretched Contracting bar B is provided with sucker and sensor towards one end of the turntable module by sucker installing plate, and it can drive the sucker Moved in the horizontal direction with sensor.

As it is further preferred that the turntable module includes motor, decelerator and turntable mounting, the motor and the deceleration Device is connected, and the decelerator is arranged on mobile robot chassis, and its output shaft is connected with the turntable mounting, and the turntable mounting passes through branch Bearing is held on the mobile robot chassis, it can relatively described mobile robot chassis under the drive of the motor Rotate.

In general, by the contemplated above technical scheme of the utility model compared with prior art, mainly possess with Under technological merit：

1. the utility model research and design includes pull bar module, turntable module, supporting module and pallet delivery module Tray exchange mechanism, it can meet that fork truck is disposably completed to place empty pallet and fork is walked to fill two tasks of pallet of goods, make When must be mounted with the mobile robot of the tray exchange mechanism and entering boxcar, it can be completed simultaneously in the confined space in compartment Loading and unloading task, effectively improve the efficiency for changing pallet.

2. the supporting module and pallet delivery module in the utility model tray exchange mechanism, which are all provided with being set to, can store to shifting Among the chassis of mobile robot, to effectively reduce the volume of tray exchange mechanism, and then reduce the overall volume of mobile robot, The mobile robot for being mounted with the utility model tray exchange mechanism is enabled to enter in small space the handling for realizing goods Work.

3. the utility model also enters to the concrete structure and its concrete arrangement of the four module in tray exchange mechanism Row research and setting, by the mutual cooperation between aforementioned four module, the exchange process of completion pallet in a station, The fast and effectively handling of goods can be met while reducing overall volume, have simple in construction, easy to operate, small volume etc. excellent Point.

4. the utility model is during pallet is exchanged, after new pallet is placed into roller by fork truck, new pallet is passed automatically Assigned position is delivered to, fork truck only needs fork to raise afterwards, and the pallet of goods can be filled to fork by continuing appropriate move forward, whole The motion of individual process fork truck links up, it is not necessary to left and right adjustment position, reduces the operation difficulty of fork truck, is easy to it in small space Operation.

Brief description of the drawings

Fig. 1 is the axonometric drawing for the tray exchange mechanism that the utility model is applied to mobile robot；

Fig. 2 is the front view (removing other modules) of pull bar module of the present utility model；

Fig. 3 is the top view (removing other modules) of pull bar module of the present utility model；

Fig. 4 is the sectional view (removing other modules) of turntable module of the present utility model；

Fig. 5 is the oblique view (removing other modules) of supporting module of the present utility model；

Fig. 6 is the front view (removing other modules) of active double leval jib of the present utility model；

Fig. 7 is the front view (removing other modules) of driven double leval jib of the present utility model；

Fig. 8 is the axonometric drawing (removing other modules) of pallet delivery module of the present utility model；

Fig. 9 is the oblique view (removing other modules) of pallet delivery module of the present utility model；

Figure 10 is the axonometric drawing of roller part of the present utility model；

Figure 11 is the axonometric drawing of the utility model original state；

Figure 12 is the schematic diagram of pallet lifting process of the present utility model；

Figure 13 is the schematic diagram that fork truck of the present utility model places empty pallet position；

Figure 14 is the top view of empty pallet relative position of the present utility model；

Figure 15 is the schematic diagram of pallet push-on process of the present utility model；

Figure 16 is the right view that supporting module of the present utility model recovers initial position；

Figure 17 is the schematic diagram of the turntable module course of work of the present utility model；

Figure 18 is the schematic diagram of the turntable module course of work of the present utility model.

Embodiment

In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only explaining The utility model, it is not used to limit the utility model.In addition, institute in each embodiment of the utility model disclosed below As long as the technical characteristic being related to does not form conflict each other, can is mutually combined.

As shown in figure 1, a kind of tray exchange mechanism suitable for mobile robot that the utility model embodiment provides, its Including pull bar module 2, turntable module 3, supporting module 4 and pallet delivery module 5, aforementioned four module is installed in mobile machine On people chassis 1, the supporting module 4 is placed in the chassis 1 of mobile robot, and it is used for filling in the turntable module 3 The pallet of goods is jacked up, and the pallet for filling goods is transported by fork truck；The pallet delivery module 5 is located at the turntable module 3 Side (on the right side of Fig. 1) simultaneously may contract to the inside on the mobile robot chassis, and it is used on the pallet top for filling goods After rising, the empty pallet without goods is sent in turntable module 3, the empty pallet without goods fills goods by transporting The same fork truck of pallet is transported on pallet delivery module 5；(Fig. 1 is left located at the opposite side of turntable module 3 for the pull bar module 2 Side), it is used to realize moving horizontally for the empty pallet without goods, and the turntable module 3 is then used to realize that this is not freighted The rotary motion of the empty pallet of thing.The utility model is jacked up the pallet for filling goods come then using supporting module from below Empty pallet is placed on below the pallet for filling goods by two module auxiliary fork trucks of pallet delivery module and pull bar module, this When, fork truck can take the pallet for filling goods away, and the direction of empty pallet is finally adjusted by turntable module, makes said process Progress can be circulated.

The tray exchange mechanism designed by the utility model can complete sabot simultaneously and unload disk process, by a fork truck just It can disposably complete to place empty pallet and fork is walked to fill two tasks of pallet of goods, improve the efficiency for changing pallet, and support Module 4 and pallet delivery module 5 can be stored to the inside chassis of mobile robot, so as to further reduce tray exchanger The overall volume of structure, robot easy to remove enter in boxcar, and the handling of goods are realized in the confined space in compartment.

Further, as shown in Figure 2 and Figure 3, the pull bar module 2 includes expansion link A 22 and expansion link B 24, wherein, Expansion link A 22 is connected with the chassis 1 of the mobile robot and the expansion link B 24, can drive the expansion link B 24 in the vertical directions move；Expansion link B 24 is provided with towards one end of the turntable module 3 by sucker installing plate 26 Sucker 27 and sensor 25, it can drive the sucker 27 and sensor 25 to move in the horizontal direction.Specifically, expansion link A 22 are connected by pull bar mounting seat 21 with mobile robot chassis 1, and expansion link B 24 passes through connecting plate 23 and expansion link A 22 phases Even, the heads of expansion link B 24 are equipped with sucker installing plate 26, sucker 27 and sensor 25, expansion link are housed on sucker installing plate 26 A 22 can move the in the vertical directions such as expansion link B 24, sucker 27, sensor 25, and expansion link B 24 can make sucker 27th, sensor 25 etc. moves in the horizontal direction.

Further, as shown in figure 4, the turntable module 3 includes motor 31, decelerator 32 and turntable mounting 33, the motor 31 are connected with the decelerator 32, and the decelerator 32 is arranged on mobile robot chassis, its output shaft and the turntable mounting 33 Connection, the turntable mounting 33 are arranged on the mobile robot chassis by bearing support 34, its drive in the motor 31 Under can be rotated relative to the mobile robot chassis.

Further, as illustrated in figs. 5-7, supporting module 4 includes active double leval jib 4A and driven double leval jib 4B, wherein, institute Stating active double leval jib 4A includes expansion link C42, first support bar 43, rocking bar A44 and rocking bar B46, the both ends of the expansion link C42 One end with mobile robot chassis 1 and the rocking bar A44 is hinged respectively, especially by fixed hinged seat A 41 and mobile robot Chassis 1 is be hinged, and the rocking bar A44 middle part and mobile robot chassis are hinged, especially by fixed hinged seat B 45 and mobile machine People chassis 1 is be hinged, and the rocking bar A44 other end and support bar 43 is be hinged, and the both ends of the rocking bar B46 are respectively with moving machine in addition People chassis and support bar 43 are be hinged, be hinged especially by fixed hinged seat C 47 and mobile robot chassis 1；Described driven four connect Bar 4B includes the ＇ of second support bar 43, rocking bar C49 and rocking bar D46 ＇, rocking bar C49 and rocking bar the D46 ＇ respectively with described second The ＇ of support bar 43 and mobile robot chassis are hinged, and rocking bar C 49 is especially by fixed hinged seat B 45 and mobile robot chassis 1 Be hinged, the ＇ of rocking bar D 46 are be hinged especially by fixed hinged seat B 47 and mobile robot chassis 1, and rocking bar D46 ＇ pass through biography in addition Moving axis 48 is connected with the rocking bar B46, and power of active double leval jib 4A is passed into the driven double leval jib 4B with this, leads to Control expansion link C 42 stretching and withdrawal is crossed, supported on both sides bar 43,43 ＇ can realize synchronously rise and fall.

Further, as seen in figs. 8-10, pallet delivery module 5 includes horizontal movement unit, lifting unit and roller list First 5A, by the horizontal movement of the horizontal movement unit with reference to the elevating movement of the lifting unit, the pallet can be achieved Delivery module 5 stretches, in order to be contracted to the inside on the mobile robot chassis.Wherein, horizontal movement unit bag Slide unit 508 and expansion link D502 are included, the slide unit 508 is slidably matched by slide bar and mobile robot chassis 1, and specific slide bar leads to Linear bearing 501 to be crossed with chassis 1 to be connected, linear bearing 501 is arranged on mobile robot chassis 1, and the one of expansion link D502 End is connected with mobile robot chassis 1, and the other end is for example connected by bearing pin 511 with slide unit 508, to drive slide unit 508 in water Square upwards motion；The lifting unit includes drive component and connecting rod 510, and the drive component is arranged on the slide unit 508, And be connected with one end of the connecting rod 510, the other end of the connecting rod 510 is hinged with the roller unit 5A, passes through the driving Component drives the connecting rod 510 to rotate so as to realize roller unit 5A lifting, specifically, drive component includes the He of motor 503 Decelerator 504, motor 503 and decelerator 504 are fixed on slide unit 508 by motor mount 505, the output of decelerator 504 Axle is connected by shaft joint 506 with driving shaft 509, and the driving shaft 509 is fixed on slide unit 508 by rolling bearing units 507, its with The connecting rod 510 is connected, and is rotated with this by the drivening rod 510 of motor 503.

Further, as shown in Figure 10, roller unit 5A includes drum assembly, transmission component and drive component, the roller Component includes the roller frame 514 being hinged with connecting rod 510 and is arranged on the roller 512 on the roller frame 514, tool by drum shaft Body, the drum shaft is arranged on roller frame 514 by rolling bearing units 507, and the transmission component includes being arranged on the roller Belt wheel A513 on axle, the belt wheel B516 on belt shaft 515 and for connecting the belt wheel A513 and belt wheel B516 Conveyer belt 517, the drive component include be arranged on roller frame 514 on motor 503, specifically, motor 503 passes through motor Mounting seat B 518 is fixed on roller frame 514, and belt shaft 515 is arranged on roller frame 514 by rolling bearing units 507, and is passed through Shaft joint 506 is connected with the output shaft of motor 503, power is passed into the roller 512 by conveyer belt 517, so as to drive Move the roller 512 to roll, and then the power that the empty pallet advances is provided.

The specifically used process of tray exchange mechanism of the present utility model is described in detail below.

Original state of the present utility model is as shown in figure 11, the pallet A61 (length of pallet used in the requires of the utility model More than width) on be loaded with goods 7, now the expansion link C 42 in supporting module 4, which is in, stretches out, the expansion link A in pull bar module 2 22 and expansion link B 24 is in contraction state, and pallet delivery module 5 is received in below chassis 1.

Next state is as shown in figure 12, and expansion link C 42 shrinks, and drives rocking bar A 44, support bar 43, rocking bar B 46 etc. Pallet A61 and goods 7 are lifted；Expansion link D 502 is stretched out so that slide unit 508 is released into chassis 1, and motor 503 rotates afterwards, band Dynamic connecting rod 510 is rotated, and roller part 5A is lifted；Pull bar module 2 and turntable module 3 maintain the original state.

Next state is as shown in figure 13, and fork truck (being not drawn into figure) allows empty pallet B 62 to contact roller 512.Now pallet B 62 top view is as shown in figure 14, and empty pallet B 62 short side is towards left side.

Next state is as shown in figure 15, and motor 503 drives roller 512 to rotate by band 517, and pallet B 62 is shifted onto and turned On plate rail 33.Then, fork truck takes pallet A 61 and goods 7 away, and expansion link C 42 stretches out, and drives support bar 43 to return to initial bit Put；Motor 503 is rotated, and drivening rod 510 rotates, and roller part 5A is fallen, and expansion link D 502 is shunk, and slide unit 508 is withdrawn Chassis 1, as shown in figure 16.

Next state, expansion link A 22 and expansion link B 24 stretch out, and sucker 27 holds pallet B 62, during which expansion link B 24 positions stretched out are judged by sensor 25；Then, expansion link B 24 moves pallet 52 to specified location；Finally, expansion link A 22 and vertical expansion link 14 shrink, return to initial position.

Finally, as shown in Figure 17,18, motor 31 drives tray rack 33 to be rotated along Z-direction, and pallet B 62 is rotated by 90 °, Complete whole pallet exchange process.

As it will be easily appreciated by one skilled in the art that preferred embodiment of the present utility model is the foregoing is only, not To limit the utility model, any modification of all made within spirit of the present utility model and principle, equivalent substitution and change Enter, should be included within the scope of protection of the utility model.

Claims (6)

1. a kind of tray exchange mechanism suitable for mobile robot, it is characterised in that the tray exchange mechanism includes being all provided with Supporting module (4), pallet delivery module (5), pull bar module (2) and turntable module (3) on mobile robot chassis are put, its In：

The supporting module (4) is placed in the chassis of mobile robot, and it is used to that goods will to be filled in the turntable module (3) Pallet jack up；

The pallet delivery module (5) is located at the side of the turntable module (3) and can be contracted to the mobile robot chassis Inside, it is used to the empty pallet without goods being sent in the turntable module (3)；

The pull bar module (2) is located at the opposite side of the turntable module (3), and it is used to realize the empty pallet without goods Move horizontally, and the turntable module (3) is then used to realize the rotary motion without the empty pallet of goods.

2. it is applied to the tray exchange mechanism of mobile robot as claimed in claim 1, it is characterised in that the supporting module (4) include active double leval jib (4A) and driven double leval jib (4B), wherein, the active double leval jib (4A) include expansion link C (42), First support bar (43), rocking bar A (44) and rocking bar B (46), the both ends of the expansion link C (42) respectively with the mobile robot Chassis and the rocking bar A (44) one end are hinged, and rocking bar A (44) middle part is hinged with the mobile robot chassis, and its is another One end and the support bar (43) are be hinged, in addition the both ends of the rocking bar B (46) respectively with the mobile robot chassis and The support bar (43) is be hinged；The driven double leval jib (4B) includes second support bar (43 ＇), rocking bar C (49) and rocking bar D (46 ＇), the rocking bar C (49) and rocking bar D (46 ＇) respectively with the second support bar (43 ＇) and mobile robot chassis Be hinged, rocking bar D (46 ＇) is connected by power transmission shaft (48) with the rocking bar B (46) in addition, with this by the active double leval jib The power of (4A) passes to the driven double leval jib (4B).

3. it is applied to the tray exchange mechanism of mobile robot as claimed in claim 1 or 2, it is characterised in that the pallet Delivery module (5) includes horizontal movement unit, lifting unit and roller unit (5A), passes through the level of the horizontal movement unit The elevating movement with reference to the lifting unit is moved, the flexible of the pallet delivery module (5) is realized, in order to be contracted to The inside on the mobile robot chassis.

4. it is applied to the tray exchange mechanism of mobile robot as claimed in claim 3, it is characterised in that described to move horizontally Unit includes slide unit (508) and expansion link D (502), and the slide unit (508) is slided by slide bar with the mobile robot chassis matches somebody with somebody Close, expansion link D (502) one end is connected with the mobile robot chassis, and the other end is connected with the slide unit (508), to drive The slide unit (508) is moved to move in the horizontal direction；The lifting unit includes drive component and connecting rod (510), the driving group Part is arranged on the slide unit (508), and is connected with one end of the connecting rod (510), the other end of the connecting rod (510) and institute It is be hinged to state roller unit (5A), drives the connecting rod (510) to rotate so as to realize roller unit (5A) by the drive component Lifting；The roller unit (5A) includes drum assembly, transmission component and drive component, and the drum assembly includes and the connecting rod (510) be hinged roller frame (514) and the roller (512) by drum shaft on the roller frame (514), the transmission Component includes belt wheel A (513), the belt wheel B (516) on belt shaft (515) being arranged on the drum shaft and used In the conveyer belt (517) for connecting the belt wheel A (513) and belt wheel B (516), the drive component includes being arranged on roller frame (514) motor (503) on, the output shaft of the motor (503) are connected with the belt shaft (515), power passed through described Conveyer belt (517) passes to the roller (512), so as to drive the roller (512) to roll, and then provides the empty pallet and advances Power.

5. it is applied to the tray exchange mechanism of mobile robot as claimed in claim 1, it is characterised in that the pull bar module (2) include expansion link A (22) and expansion link B (24), wherein, the chassis of expansion link A (22) and the mobile robot and The expansion link B (24) is connected, and expansion link B (24) in the vertical direction can be driven to move；Expansion link B (24) is towards institute The one end for stating turntable module (3) is provided with sucker (27) and sensor (25) by sucker installing plate (26), and it can drive described Sucker (27) and sensor (25) move in the horizontal direction.

6. it is applied to the tray exchange mechanism of mobile robot as claimed in claim 1, it is characterised in that the turntable module (3) motor (31), decelerator (32) and turntable mounting (33) are included, the motor (31) is connected with the decelerator (32), the deceleration Device (32) is arranged on mobile robot chassis, and its output shaft is connected with the turntable mounting (33), and the turntable mounting (33) passes through branch Bearing (34) is held on the mobile robot chassis, it can relatively described moving machine under the drive of the motor (31) Device people chassis rotates.