CN206927291U - A kind of mobile robot of automatic loading and unloading goods - Google Patents

Abstract

The utility model belongs to freight-handling equipment field, and specifically disclose a kind of mobile robot of automatic loading and unloading goods, including mobile platform, grasping mechanism, transport mechanism, tray exchange mechanism and thinfilms mechanism, grasping mechanism includes preceding manipulator and rear manipulator, transport mechanism is arranged between preceding manipulator and rear manipulator, and tray exchange mechanism includes turntable module；The thinfilms mechanism includes membrane module, presss from both sides film module and cut film module, wherein described membrane module, press from both sides film module and cut film module and be installed on the mobile platform, and positioned at the homonymy of the turntable module, the membrane module can move up and down relative to the mobile platform；The folder film module is separate type sandwiched film mechanism, and it is arranged on the membrane module and cut between film module.The utility model can effectively solve the problems, such as that existing handling goods robot is dfficult to apply in small space, have that overall volume is small, operation facility, the advantages that strong applicability.

Description

A kind of mobile robot of automatic loading and unloading goods

Technical field

The utility model belongs to freight-handling equipment field, more particularly, to a kind of moving machine of automatic loading and unloading goods Device people.

Background technology

At present, the loading and unloading of container or van truck goods is completed by porter substantially, in order to improve handling Efficiency, there is polytype robot palletizer in the market, and the most subject container of existing robot palletizer (compartment) is empty Between on limitation, the loading and unloading of container (compartment) interior goods can not be completed.Tray exchange mechanism and thinfilms mechanism are Executing agency important in goods robot is loaded and unloaded, the overall structure and its volume size of above-mentioned two mechanism directly affect handling goods The overall volume of robot, it is to determine an important factor for can it be applied to small space.

Tray exchange mechanism in existing handling goods robot typically uses circular pipeline form and longitudinal streamline Form, and there are four stations in circular pipeline form, space is occupied in the length and width direction of equipment, fork truck is placed empty , it is necessary to be placed on the lower right corner during pallet, then need to take the pallet for filling goods away in the lower left corner, fork truck needs horizontal stroke during this It is larger to translation, operation difficulty；There are three stations in longitudinal direction in longitudinal streamline form, increase the length of fork truck, and fork truck is being put Complete, it is necessary to wait the pallet for filling goods to twine film after having put empty pallet and be moved to No. three stations from No. two stations, reduce fork The operating efficiency of car, the exchange mechanism also need to the mechanisms such as a side mechanical arm and its supporting guide rail, increase the complexity of equipment Degree.

Winding mechanism in existing handling goods robot belongs to stand-alone product more, inside plants work independently or and its He works at equipment collaboration, and its working space and turntable structure do not have size limitation, in container interior work or integration of equipments work When making, problems be present：Press from both sides the structure type that film module and turntable module are connected, cause rotating disk radial dimension larger, easily with Other equipment produces interference, is unfavorable for integration of equipments；Film module and turntable module are pressed from both sides in addition to mechanically connecting, also exists and electrically connects Connect, increase the electric complexity of turntable module.

Utility model content

For the disadvantages described above or Improvement requirement of prior art, the utility model provides a kind of shifting of automatic loading and unloading goods Mobile robot, wherein with reference to the concrete application occasion of robot, the mobile robot of the automatic loading and unloading goods is devised accordingly, And set to its key component such as structure of grasping mechanism, transport mechanism, tray exchange mechanism and thinfilms mechanism and its specifically The mode of putting is studied and designed, and can effectively be solved existing handling goods robot and be limited by space and be dfficult to apply to such as container The problem of Deng in small space, have that overall volume is small, operation facility, the advantages that strong applicability.

To achieve the above object, the utility model proposes a kind of mobile robot of automatic loading and unloading goods, it includes moving Moving platform, grasping mechanism, transport mechanism, tray exchange mechanism and thinfilms mechanism, wherein：

The grasping mechanism is located at the side of the mobile platform, and it includes preceding manipulator and rear manipulator；The transmission Mechanism is arranged between the preceding manipulator and rear manipulator；The tray exchange mechanism is arranged on the another of the mobile platform Side, it includes turntable module；

The thinfilms mechanism includes membrane module, presss from both sides film module and cut film module, wherein the membrane module, folder film mould Block and cut film module and be installed on the mobile platform, and positioned at the homonymy of the turntable module, the membrane module energy phase Moved up and down for the mobile platform；The folder film module is separate type sandwiched film mechanism, and it is arranged on the membrane module And cut between film module.

As it is further preferred that the tray exchange mechanism includes also including the branch being arranged on the mobile platform Hold mode block, pallet delivery module and pull bar module, the wherein supporting module are placed in the mobile platform, and it is used for will be described The pallet for filling goods in turntable module is jacked up, and the pallet for filling goods is transported by fork truck；The pallet delivery module is located at The side of the turntable module and the inside that may contract to the mobile platform, it is used to jack up in the pallet for filling goods Afterwards, the empty pallet without goods is sent in the turntable module, the empty pallet without goods is by transporting described fill The same fork truck of the pallet of goods is transported on the pallet delivery module；The pull bar module is another located at the turntable module Side, it is used to realize moving horizontally for the empty pallet without goods.

As it is further preferred that the folder film module includes folder membrane module, connection component and separation assembly, wherein, should Folder membrane module includes actively pressing from both sides membrane module and slave clip membrane module, and the membrane module that actively presss from both sides includes folder film clip, folder film clip Gear and folder film motor, the folder film clip are connected with the folder film clip gear, and the folder film clip gear is by the folder film electricity Machine driving rotation, the slave clip membrane module include the folder film clip being connected with each other and folder film clip gear, the folder film clip tooth Wheel is engaged with the folder film clip gear actively pressed from both sides in membrane module, and two institutes are realized from there through the driving of the folder film motor The closure and opening of folder film clip are stated, and then realizes the clamping and release to film；The connection component is used to connect the folder Membrane module and separation assembly, it includes joining connector, folder film handing-over connector position with the folder film that the folder membrane module is connected In the side of the turntable module be provided with folder film handing-over alignment pin and folder film handing-over limit fastener, the folder film handing-over alignment pin and Film handing-over limit fastener is pressed from both sides respectively with the dowel hole in the turntable module and buckle neck to coordinate；The separation assembly includes Folder film telescopic cylinder on the mobile platform, the expansion link of the folder film telescopic cylinder are connected with cylinder flange part, should Be provided with cylinder flange part for hold it is described folder film handing-over connector folder film electromagnet, it is described folder film handing-over connector with The folder film power contacting plate of mutual cooperation is respectively equipped with the cylinder flange part.

As it is further preferred that the folder film motor is actively pressed from both sides in membrane module by worm-gear speed reducer with described Folder film clip gear is connected；The folder film motor and worm-gear speed reducer are arranged on folder membrane support, the folder membrane support It is connected by pressing from both sides film clamp connection with the folder film handing-over connector.

As it is further preferred that it is described folder film handing-over connector on be additionally provided with for the folder film join connector and Spacing folder film alignment pin is carried out between the folder film cylinder flange part, the folder film alignment pin is pressed from both sides on film cylinder flange part with described Folder film handing-over dowel hole coordinate.

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 platform It is hinged with one end of the rocking bar A, the rocking bar A middle part and the mobile platform are hinged, and its other end is cut with scissors with the support bar Connect, the both ends of the rocking bar B are hinged with the mobile platform and the support bar respectively in addition；The driven double leval jib includes Second support bar, rocking bar C and rocking bar D, the rocking bar C and rocking bar D are respectively cut with scissors with the second support bar and mobile platform Connect, rocking bar D is connected by power transmission shaft with the rocking bar B in addition, is passed to the power of the active double leval jib with this described 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 of the mobile platform.

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 platform to be slidably matched, expansion link D one end is connected with the mobile platform, and the other end is connected with the slide unit, to drive The slide unit is moved to move in the horizontal direction；The lifting unit includes drive component and connecting rod, and the drive component is arranged on institute State on slide unit, and be connected with one end of the connecting rod, the other end of the connecting rod is hinged with the roller unit, passes through the driving Component drives the link rotatable to realize the lifting of roller unit；The roller unit includes drum assembly, transmission component And drive component, the drum assembly include being arranged on the roller frame with the roller frame of the rod hinge connection and by drum shaft Roller, the transmission component include be arranged on the drum shaft on belt wheel A, belt wheel B and use on belt shaft In the conveyer belt for connecting the belt wheel A and belt wheel B, the drive component includes the motor being arranged on roller frame, the motor Output shaft is connected with the belt shaft, and power is passed into the roller by the conveyer belt, so as to drive the roller to roll It is dynamic, 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 State mobile platform and the expansion link B is connected, the expansion link B in the vertical directions can be driven to move；Expansion link B towards One end of the turntable module is provided with sucker and sensor by sucker installing plate, and it can drive the sucker and sensor to exist Moved in horizontal direction.

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 installed on a mobile platform, and its output shaft is connected with the turntable mounting, and the turntable mounting passes through bearing support On the mobile platform, it can be rotated under the drive of the motor relative to the mobile platform.

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 mobile platform, grasping mechanism, transport mechanism, tray exchange mechanism and thin The mobile robot of the automatic loading and unloading goods of film winding mechanism, passes through the reasonable Arrangement to above-mentioned all parts so that the movement Robot has the automatic function of freighting with unloading, and the robot architecture is compact, overall volume is small, can enter container etc. Dress unloading operation is completed in small space.

2. the utility model uses separate type sandwiched film mechanism so that folder film module is performed separately action with turntable module, thin In film winding process, folder film module is connected in turntable module and carries out thinfilms, after thinfilms are completed, folder film module with Turntable module separates, thus can effective reducing mechanism lateral dimension so that structure is compacter, and then reduction mobile robot Overall dimensions；Turntable module of the present utility model separates with folder film module structure so that turntable module can depart from folder film mould Block independent work, the physical dimension of turntable module is reduced, be easy to subsequent pallet goods transfer operation.

3. in membrane process is twined, folder film module needs the film clamp work for following turntable module to carry out a period of time, this Motor in utility model folder film module uses worm gear structure, and after sandwiched film mechanism separates with source block, power-off can be achieved Mechanical self-latching, electrically support is provided for it without turntable module；The utility model is in membrane process is twined, turntable module and folder film mould It is fixed between fast by purely mechanic linkage, no electric connecting relation, avoids line, pipe winding problem, turntable module turns Moving part can carry out any number of turns and rotate freely.

4. the tray exchange mechanism of the utility model research and design, it can meet that fork truck is disposably completed to place empty pallet and fork Walk to fill two tasks of pallet of goods so that when being mounted with the mobile robot of the tray exchange mechanism and entering boxcar, It can be effected shipment and unloading task simultaneously in the confined space in compartment, effectively improve the efficiency for changing pallet.

5. 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.

6. 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 pallet can be met while reducing overall volume, have simple in construction, easy to operate, small volume etc. excellent Point.

7. 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 of the mobile robot of automatic loading and unloading goods of the present utility model；

Fig. 2 is the front view of the mobile robot of automatic loading and unloading goods of the present utility model；

Fig. 3 is the structural representation of tray exchange mechanism of the present utility model；

Fig. 4 is the front view of pull bar module of the present utility model；

Fig. 5 is the top view of pull bar module of the present utility model；

Fig. 6 is the oblique view of supporting module of the present utility model；

Fig. 7 is the axonometric drawing of pallet delivery module of the present utility model；

Fig. 8 is the oblique view of pallet delivery module of the present utility model；

Fig. 9 is the axonometric drawing of roller part of the present utility model；

Figure 10 is the structural representation of thinfilms mechanism of the present utility model；

Figure 11 is the axonometric drawing of folder film module of the present utility model；

Figure 12 is the detail view of folder film module of the present utility model；

Figure 13 is work signal of the mobile robot of automatic loading and unloading goods of the present utility model in container (compartment) Figure.

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 1-2, the mobile robot for a kind of automatic loading and unloading goods that the utility model embodiment provides, it includes Mobile platform 2, grasping mechanism, transport mechanism 3, tray exchange mechanism 5 and thinfilms mechanism 6, wherein, the mobile platform 2 has Body is the wheeled Omni-mobile platform of Mecanum, and the grasping mechanism is used to capture goods, and it is located at the side of the mobile platform, And it includes preceding manipulator 1 and rear manipulator 4；The transport mechanism be used for transmit goods, its be arranged on the preceding manipulator and Afterwards between manipulator；The tray exchange mechanism is used for the handling for realizing pallet cargo, and it is arranged on the another of the mobile platform Side, it includes being used for the turntable module for supporting pallet cargo and driving the pallet cargo to rotate；The thinfilms mechanism be used for pair The pallet cargo carries out packing winding, will not during forklift transport with the goods for ensureing to wind in the stacks of cargo of upper film It is scattered.By the mutual cooperation of above-mentioned all parts, the automated handling of goods can be achieved, have that overall volume is small, structure is simple The advantages that single, easy to operate.

During work, tray exchange mechanism lifts the pallet for filling goods, and empty pallet is put into below exchange mechanism by fork truck, The pallet fork for filling goods is walked again, specifically, as shown in figure 3, the tray exchange mechanism includes pull bar module 102, rotating disk mould Block 103, supporting module 104 and pallet delivery module 105, aforementioned four module are installed on mobile platform 2, the supporting module 104 are placed in mobile platform 2, and it is used to jack up on the pallet for filling goods in turntable module 103, and this fills the support of goods Disk is transported by fork truck；The pallet delivery module 105 is located at the side of the turntable module 103 (on the right side of Fig. 3) and may contract to institute The inside of mobile platform is stated, it is used for after the pallet for filling goods jacks up, and the empty pallet without goods is sent to and turned In disk module 103, the same fork truck that the empty pallet without goods fills the pallet of goods by transporting is transported to pallet transmission In module 105；Located at the opposite side (Fig. 3 on the left of) of turntable module 103, it is used to realizing described does not freight the pull bar module 102 The empty pallet of thing moves horizontally, and the turntable module 103 is then used for the rotary motion for realizing pallet.The utility model is using branch The pallet for filling goods is jacked up to come from below by hold mode block, then by two module assisted forks of pallet delivery module and pull bar module Empty pallet is placed on below the pallet for filling goods by car, and now, fork truck can take the pallet for filling goods away, finally borrow Turntable module is helped to adjust the direction of empty pallet, said process is circulated progress.

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 104 and pallet delivery module 105 can be stored to mobile platform, so as to further reduce tray exchange mechanism Overall volume, 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 4 and Figure 5, pull bar module 102 includes expansion link A 22 and expansion link B 24, wherein, should Expansion link A 22 is connected with the mobile platform and the expansion link B 24, can drive the expansion link B 24 in vertical direction Upper motion；Expansion link B 24 is provided with sucker 27 and sensor towards one end of the turntable module by sucker installing plate 26 25, it can drive the sucker 27 and sensor 25 to move in the horizontal direction.Specifically, expansion link A 22 is installed by pull bar Seat 21 is connected with mobile platform, and expansion link B 24 is connected by connecting plate 23 with expansion link A 22, and the heads of expansion link B 24 are equipped with Sucker installing plate 26, is equipped with sucker 27 and sensor 25 on sucker installing plate 26, expansion link A 22 can make expansion link B 24, The in the vertical directions such as sucker 27, sensor 25 move, and expansion link B 24 can make sucker 27, sensor 25 etc. in the horizontal direction Upper motion.

Further, turntable module 103 includes motor, decelerator and turntable mounting, and the motor is connected with the decelerator, should Decelerator is installed on a mobile platform, and its output shaft is connected with the turntable mounting, and the turntable mounting is arranged on institute by bearing support State on mobile platform, it can be rotated under the drive of the motor relative to the mobile platform.

Further, as shown in fig. 6, supporting module 104 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 platform and the rocking bar A44 is hinged respectively, is hinged especially by fixed hinged seat A 41 with mobile platform, this shakes Bar A44 middle part is hinged with mobile platform, is hinged especially by fixed hinged seat B 45 with mobile platform, the rocking bar A44 other end Be hinged with support bar 43, the both ends of the rocking bar B46 are be hinged with mobile platform and support bar 43 respectively in addition, especially by solid Determine free bearing C 47 to be hinged with mobile platform；The driven double leval jib 4B includes the ＇ of second support bar 43, rocking bar C 49 and rocking bar D 46 ＇, rocking bar C 49 and rocking bar D 46 ＇ are respectively hinged with the ＇ of second support bar 43 and mobile platform, rocking bar C 49 It is hinged especially by fixed hinged seat B 45 with mobile platform, the ＇ of rocking bar D 46 are cut with scissors especially by fixed hinged seat B 47 and mobile platform Connect, rocking bar D46 ＇ are connected by power transmission shaft 48 with the rocking bar B46 in addition, are passed the power of the active double leval jib 4A with this The driven double leval jib 4B is passed, by controlling expansion link C 42 stretching and withdrawal, supported on both sides bar 43,43 ＇ can be realized Synchronously rise and fall.

Further, as shown in Figure 7 and Figure 8, pallet delivery module 105 includes horizontal movement unit, lifting unit and rolling Cylinder unit 5A, by the horizontal movement of the horizontal movement unit with reference to the elevating movement of the lifting unit, it can be achieved described Pallet delivery module 105 stretches, in order to be contracted to the inside of the mobile platform.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 platform, and specific slide bar passes through straight line Bearing 501 is connected with mobile platform, and linear bearing 501 is installed on a mobile platform, and expansion link D 502 one end is put down with mobile Platform is connected, and the other end is for example connected by bearing pin 511 with slide unit 508, to drive slide unit 508 to move in the horizontal direction；It is described Lifting unit includes drive component and connecting rod 510, and the drive component is arranged on the slide unit 508, and with the connecting rod 510 One end is connected, and the other end of the connecting rod 510 is hinged with the roller unit 5A, and the connecting rod is driven by the drive component 510 rotate so as to realize roller unit 5A lifting, specifically, drive component includes motor 503 and decelerator 504, motor 503 Be fixed on decelerator 504 by motor mount 505 on slide unit 508, the output shaft of decelerator 504 by shaft joint 506 with Driving shaft 509 is connected, and the driving shaft 509 is fixed on slide unit 508 by rolling bearing units 507, and it is connected with the connecting rod 510, Rotated with this by the drivening rod 510 of motor 503.

Further, as shown in figure 9, roller unit 5A includes drum assembly, transmission component and drive component, the roller group Part includes the roller frame 514 being hinged with connecting rod 510 and is arranged on the roller 512 on the roller frame 514 by drum shaft, specifically , the drum shaft is arranged on roller frame 514 by rolling bearing units 507, and the transmission component includes being arranged on the drum shaft On belt wheel A513, 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 includes the motor 503 being arranged on roller frame 514, specifically, motor 503 is pacified by motor Dress 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 passes through company Axle device 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 The roller 512 rolls, and then provides the power that the empty pallet advances.

The specifically used process of tray exchange mechanism of the present utility model is described in detail below, (this of pallet A 61 Utility model requirement used in pallet length be more than width) on be loaded with goods, now at the expansion link C 42 in supporting module Expansion link A 22 and expansion link B 24 in stretching, pull bar module are in contraction state, and pallet delivery module is received in mobile flat Below platform；Expansion link C 42 shrinks, and drives rocking bar A 44, support bar 43, rocking bar B 46 etc. to lift pallet A 61 and goods； Expansion link D 502 is stretched out so that slide unit 508 is released into mobile platform, and motor 503 rotates afterwards, and drivening rod 510 rotates, will rolling Cylinder part 5A is lifted；Pull bar module and turntable module maintain the original state；Fork truck (being not drawn into figure) allows empty pallet B 62 to contact Roller 512, now empty pallet B 62 short side is towards left side；Motor 503 drives roller 512 to rotate by band 517, pallet B 62 shift onto on turntable mounting 33, and then fork truck takes pallet A 61 and goods away, and expansion link C 42 stretches out, and drive support bar 43 to return to Initial position；Motor 503 is rotated, and drivening rod 510 rotates, and roller part 5A is fallen, and expansion link D 502 shrinks, by slide unit 508 withdraw mobile platform；Expansion link A 22 and expansion link B 24 stretch out, and sucker 27 holds pallet B 62, during which expansion link B 24 The position of stretching is judged by sensor 25；Then, expansion link B 24 moves pallet 52 to specified location；Finally, expansion link A 22 Shunk with vertical expansion link, return to initial position；Finally, motor 31 drives tray rack to rotate, and pallet B 62 is rotated by 90 °, Complete whole pallet exchange process.

As shown in Figure 10, thinfilms mechanism includes membrane module 203, folder film module 204 and cuts film module 205, the drawing Film module, press from both sides film module and cut film module and be respectively mounted on a mobile platform, and positioned at the homonymy of turntable module 103, with rotating disk Module is without electrical correlation, and membrane module is used to provide the film of winding goods and film is pre-stretched, in thinfilms During, the membrane module moves up and down relative to mobile platform；The folder film module is used to clamp film, and it is Separated clamping Film mechanism, during thinfilms, the folder film module is connected in turntable module to be rotated to realize film with the turntable module Winding, thinfilms completion after, the folder film module separates with turntable module；This cuts film module for complete in thinfilms Into cutting off film afterwards.

Further, as is illustrated by figs. 11 and 12, the folder film module includes folder membrane module, connection component and separation assembly, Wherein, the folder membrane module includes folder film clip 401, folder film motor 402, folder film clip gear 403, wherein the He of folder film clip 401 It is two to press from both sides film clip gear 403, one of folder film clip 401 and one of folder film clip gear 403, and the folder Film clip gear 403 is driven by folder film motor 402, and the specific film clip gear that presss from both sides is fixed on folder film by worm-gear speed reducer On the axle of motor 401, thus composition actively presss from both sides membrane module, and another folder film clip 401 presss from both sides film clip gear 403 with another Slave clip membrane module is formed, the folder film clip gear 403 is fixed on the driven shaft of bearing block, the folder in the slave clip membrane module Film clip gear 403 engages with the folder film clip gear 403 actively pressed from both sides in membrane module, from there through the positive and negative of folder film motor 402 Turn to drive two folder film clip gears 403 to be engaged transmission, and then drive two folder film clips to realize closure and open, so as to Realize the clamping and release to film；Connection component is used for connection clip membrane module and separation assembly, and presss from both sides membrane module and separation Component is located at the homonymy of connection component, and the connection component includes joining connector 410, the folder film with the folder film that folder membrane module is connected Handing-over connector 410 is provided with folder film handing-over alignment pin 406 and folder film handing-over limit fastener towards the side of turntable module 103 407, the folder film handing-over alignment pin 406 and folder film join limit fastener 407 respectively with the dowel hole and buckle in turntable module Neck is used cooperatively, and is realized spacing between folder film handing-over connector 410 and turntable module；Separation assembly includes being arranged on mobile put down Folder film telescopic cylinder 414 on platform, the expansion link of the folder film telescopic cylinder 414 is connected with cylinder flange part 412, with expansion link Move along a straight line, folder film electromagnet 408 is provided with the cylinder flange part 412, its electricity is utilized when the folder film electromagnet 408 works Magnetic characteristic holds folder film handing-over connector 410 (its material is carbon steel), is used to limit folder film handing-over connector 410 and cylinder with this The free degree of the flange part 412 along alignment pin direction, folder film join connector 410 with being respectively equipped with the cylinder flange part 412 The folder film power contacting plate 409 of mutual cooperation.

Further, press from both sides film motor to be arranged on folder membrane support 404, specifically pacified jointly with bearing block by motor cabinet On folder membrane support 404, the folder membrane support 404 joins the phase of connector 410 by pressing from both sides film clamp connection 405 with folder film Even.Specifically, folder film alignment pin 406 and totally two groups of dowel hole in turntable module, horizontal direction parallel arrangement, folder film handing-over Limit fastener 407, positioned at the centre position of two groups of dowel hole horizontal directions, passes through two groups with the buckle neck in turntable module Parallel dowel hole, it is possible to achieve horizontal direction and vertical direction of the folder film handing-over connector 410 in addition to bearing pin axial direction Position it is spacing and its it is corresponding rotate limitation, then join buckle neck in limit fastener 407 and turntable module by pressing from both sides film Mechanical snap mode realize position restriction of the folder film handing-over connector 410 along bearing pin axial direction.

Specifically, it is additionally provided with folder film handing-over connector 410 for folder film handing-over connector 410 and folder film cylinder method Spacing folder film alignment pin is carried out between blue part 412, the folder film alignment pin and the folder film handing-over on folder film cylinder flange part 412 are fixed Position pin-and-hole 411 coordinates.Folder film alignment pin herein is again provided with two, and corresponding press from both sides is provided with film cylinder flange part 412 With two folder film handing-over dowel holes 411 of two detent fits, two folder film handing-over dowel hole 411 horizontal Tile peaces On folder film cylinder flange part 412 so that only existed between folder film handing-over connector 410 and cylinder flange part 412 along positioning Sell the free degree of axial direction.

Further, film power contacting plate 409 totally 4 is pressed from both sides, two are formed a pair, and totally two pairs, two pairs respectively positioned at folder film The both sides of electromagnet 408, it is gentle that two folder film power contacting plates 409 per centering are separately mounted to folder film handing-over connector 410 On cylinder flange part 412, and two folder film power contacting plates 409 are toward each other, when pressing from both sides the work of film electromagnet 408, can produce Attract the attraction of folder film handing-over connector, so that two power supply contacts on folder film handing-over connector and cylinder flange part 409 extruding fully contacts mutually, reach the state of transfer overvoltage electric current, and the voltage x current of external power supply is delivered into folder film electricity In machine 402, power supply is provided for folder film motor.

Further, press from both sides film telescopic cylinder 414 to be fixed in folder film cylinder mounting seat 413, mounting seat 413 is fixed on movement On platform, when the two of which alignment pin 406 of folder film handing-over connector 410 produces with the dowel hole on cylinder flange part 412 During cooperation, it is powered by electromagnet 408 and produces electromagnetic attraction so that folder film interface member 410 and the position of cylinder flange part 412 It is relatively fixed, meanwhile, the fully contact mutually of power supply contact 409, cylinder side provides electricity by power supply contact for folder film motor 402 Source, it is driven folder film clip closure by gear and is opened, realize the clamping and release of film；When folder film handing-over connection When two other alignment pin 406 of part 410 coordinates with the dowel hole in turntable module, and limit fastener is produced with neck and connect When touching, folder film handing-over connector 410 and the position of turntable module are relatively fixed, and with the relative separation of cylinder flange part 412, power supply touches Piece 409 is separated from each other, and folder film motor 402 powers off, and folder film motor is realized using the mechanical self-latching characteristic of its worm-gear speed reducer The state for pressing from both sides film clip is kept.

Further, membrane module is installed on a mobile platform by column 202, and column is the vertical-lifting of membrane module Guide rail provides support, and membrane module is located at column side, can moved up and down along column, coordinates pallet during it is moved up and down The rotation of goods is realized to be completely wound around to the upper and lower of pallet cargo.

Further, membrane cut mechanism 205 is located at mobile platform rear, can be swung, and is located at blade and suitably cuts Film location, blade, which can move up and down, to carry out cutting membrane operations, specifically, cutting film module includes cutting film yaw motor, cuts film movement Platform, film sitting blade and lifting motor, this cut film yaw motor driven cut film mobile platform swing it is flat to drive this to cut film movement Film sitting blade on platform, which is placed into film, needs cutting position, then the film sitting blade slided up and down under the drive of lifting motor with Membrane operations are cut in completion.

The specific winding process of Full-automatic tray goods thin film winding machine of the present utility model is described in detail below. First, the folder film clip 401 of pallet cargo stretched film wrapping machine advance grab tensile film, rotating disk mould is placed on by pallet cargo On block；Then, press from both sides film module and join the relatively-stationary folder film folder of connector 410 by pressing from both sides the promotion of film telescopic cylinder 414 and folder film Son 401 moves, and makes between folder film handing-over connector 410 and turntable module by limit pin hole with being clasped；Then, cylinder method The power-off failure of folder film electromagnet 408 on blue part 412, folder film telescopic cylinder 414 shrink, cylinder flange part 412 and folder film handing-over Limit pin hole on connector 410 coordinates failure, realizes that cylinder separates with folder film clip 401, folder film clip 401 and turntable module An entirety is connected as, can be rotated with it；Then, turntable module drives folder film clip 401 to rotate a whole circle, is rotating through Film clip 401 is pressed from both sides in journey and holds stretched film all the time, plastic tensile film presss from both sides the flexible gas of film in the circle of pallet cargo bottom winding one Cylinder is fixed in frame not to be rotated with turntable module, and then, folder film telescopic cylinder 414 stretches out, the folder film electromagnetism of cylinder side The energization work of iron 408, folder film handing-over connector 410 is held, folder film telescopic cylinder 414 is connected with folder film handing-over connector 410, And fully contacted by pressing from both sides film power contacting plate 409, the power supply of cylinder side is passed into folder film motor 402, makes folder film clip 401 open；Then press from both sides film telescopic cylinder 414 to shrink, will press from both sides film handing-over limit fastener 407 by cylinder convergent force pulls open, and makes folder Film joins connector 410 and the spacing cooperation of turntable module is failed, and folder film clip 401 is separated with turntable module, connects with cylinder It is connected in an entirety；Then, turntable module continues to rotate with pallet cargo, while membrane module coordinates turntable module to enter Row is moved up and down, and pallet cargo is carried out into packing winding with stretched film；Then, membrane module returns to initial position, turntable module Delivery position point is returned to, the folder film telescopic cylinder 414 for pressing from both sides film module stretches out, and cuts film module and turns to cutting film location point, presss from both sides film mould The folder film clip 401 of block closes, and clamps film；Then, the film sitting blade for cutting film module is moved up and down, and membrane operations are cut in completion, Finally, press from both sides film telescopic cylinder 414 to shrink, cut film module return, whole stretched film wrapping machine returns to original state, so far, completes The thinfilms work of one pallet cargo.When next pallet cargo carries out thinfilms, aforesaid operations are repeated.

Specifically, transport mechanism 3 includes fixed transmission mechanism 31 and lifting transmission mechanism 32, fixed transmission mechanism 31 is fixed On mobile platform 2, the lower section of its manipulator 1 to the front between two manipulators, lifting transmission mechanism 32 is in two machineries The front portion of manipulator 4 to the rear between hand.

The course of work of the mobile robot of automatic loading and unloading goods of the present utility model is described in detail below.

As shown in figure 13, mobile robot 7 of the present utility model is made to enter in container 8 first, due to the utility model Mobile robot 7 uses mobile platform, therefore it can flexibly be moved in container, and it includes two processes：First, unloaded Journey, mobile robot are moved to the front of stacks of cargo 9, and preceding manipulator captures goods, then puts it in fixed transmission mechanism, fixed Conveyer sends goods to lifting transmission mechanism, and lifting conveyer mechanism rises, and rear manipulator is grabbed from lifting transmission mechanism Picking thing, then it is piled up on the pallet on tray exchange mechanism by certain stacking mode, then twined by film Packing is wound to goods around mechanism, finally takes the pallet for filling goods away by fork truck, and the fork truck fills goods taking away Pallet before can transport an empty pallet to the pallet delivery module of tray exchange mechanism, for next time freight；Second, loading The pallet for filling goods is placed on tray exchange mechanism by process, fork truck, and rear manipulator captures goods from pallet, and is put On lifting transmission mechanism, lifting transmission mechanism declines, and goods is sent in fixed transmission mechanism, and fixed transmission mechanism is by goods The front of manipulator before thing is sent to, last preceding manipulator capture goods from fixed transmission mechanism, piled up in container.

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 (10)

1. A kind of 1. mobile robot of automatic loading and unloading goods, it is characterised in that including mobile platform, grasping mechanism, transport mechanism, Tray exchange mechanism and thinfilms mechanism, wherein：

   The grasping mechanism is located at the side of the mobile platform, and it includes preceding manipulator and rear manipulator；The transport mechanism It is arranged between the preceding manipulator and rear manipulator；The tray exchange mechanism is arranged on the opposite side of the mobile platform, its Including turntable module；

   The thinfilms mechanism include membrane module, press from both sides film module and cut film module, wherein the membrane module, folder film module and Film module is cut to be installed on the mobile platform, and can be relative to positioned at the homonymy of the turntable module, the membrane module The mobile platform moves up and down；The folder film module is separate type sandwiched film mechanism, and it is arranged on the membrane module and cut Between film module.
2. 2. the mobile robot of automatic loading and unloading goods as claimed in claim 1, it is characterised in that the tray exchange mechanism bag Include supporting module, pallet delivery module and the pull bar module for also including being arranged on the mobile platform, wherein the branch hold mode Block is placed in the mobile platform, and it is used to jack up on the pallet for filling goods in the turntable module, and this fills goods Pallet transported by fork truck；The pallet delivery module is located at the side of the turntable module and may contract to the mobile platform Inside, it is used for after the pallet for filling goods jacks up, the empty pallet without goods is sent in the turntable module, The empty pallet without goods is transported to the pallet delivery module by the same fork truck for transporting the pallet for filling goods On；The pull bar module is located at the opposite side of the turntable module, and it is used to realize that the horizontal of the empty pallet without goods moves It is dynamic.
3. 3. the mobile robot of automatic loading and unloading goods as claimed in claim 1 or 2, it is characterised in that the folder film module bag Folder membrane module, connection component and separation assembly are included, wherein, the folder membrane module includes actively pressing from both sides membrane module and slave clip membrane module, The membrane module that actively presss from both sides includes folder film clip, folder film clip gear and folder film motor, the folder film clip and the folder film folder Sub- gear is connected, and the folder film clip gear is included being connected with each other by the folder film motor driving rotation, the slave clip membrane module Folder film clip and folder film clip gear, the folder film clip gear nibbles with the folder film clip gear actively pressed from both sides in membrane module Close, the closure and opening of two folder film clips are realized from there through the driving of the folder film motor, and then realize to film Clamping and release；The connection component is used to connect the folder membrane module and separation assembly, and it includes and the folder membrane module Connected folder film handing-over connector, the side that folder film handing-over connector is located at the turntable module are provided with folder film handing-over positioning Pin and folder film handing-over limit fastener, the folder film handing-over alignment pin and folder film join limit fastener respectively with the turntable module Dowel hole and buckle neck coordinate；The separation assembly includes the folder film telescopic cylinder being arranged on the mobile platform, should The expansion link of folder film telescopic cylinder is connected with cylinder flange part, is provided with the cylinder flange part for holding the folder film handing-over The folder film electromagnet of connector, the folder film handing-over connector and the folder film electricity that mutual cooperation is respectively equipped with the cylinder flange part Source contact chip.
4. 4. the mobile robot of automatic loading and unloading goods as claimed in claim 3, it is characterised in that the folder film motor passes through snail Worm and gear reductor is connected with the folder film clip gear actively pressed from both sides in membrane module；The folder film motor and worm and gear slow down Machine is arranged on folder membrane support, and the folder membrane support is connected by pressing from both sides film clamp connection with the folder film handing-over connector.
5. 5. the mobile robot of automatic loading and unloading goods as claimed in claim 3, it is characterised in that the folder film handing-over connector On be additionally provided with and carry out spacing folder film alignment pin, the folder between connector and the cylinder flange part for joining to the folder film Film alignment pin coordinates with the folder film handing-over dowel hole on the cylinder flange part.
6. 6. the mobile robot of automatic loading and unloading goods as claimed in claim 2, it is characterised in that the supporting module includes master Dynamic double leval jib and driven double leval jib, wherein, the active double leval jib includes expansion link C, first support bar, rocking bar A and rocking bar B, The one end of the both ends of the expansion link C respectively with the mobile platform and the rocking bar A is hinged, rocking bar A middle part with it is described Mobile platform is hinged, and its other end is hinged with the support bar, in addition the both ends of the rocking bar B respectively with the mobile platform with And the support bar is hinged；It is equal that the driven double leval jib includes second support bar, rocking bar C and rocking bar D, the rocking bar C and rocking bar D It is hinged respectively with the second support bar and mobile platform, rocking bar D is connected by power transmission shaft with the rocking bar B in addition, with The power of the active double leval jib is passed to the driven double leval jib by this.
7. 7. the mobile robot of automatic loading and unloading goods as claimed in claim 6, it is characterised in that the pallet delivery module bag Horizontal movement unit, lifting unit and roller unit are included, by the horizontal movement of the horizontal movement unit with reference to the lifting The elevating movement of unit, the flexible of the pallet delivery module is realized, in order to be contracted to the inside of the mobile platform.
8. 8. the mobile robot of automatic loading and unloading goods as claimed in claim 7, it is characterised in that the horizontal movement unit bag Slide unit and expansion link D are included, the slide unit is slidably matched by slide bar and the mobile platform, expansion link D one end and the movement Platform is connected, and the other end is connected with the slide unit, to drive the slide unit to move in the horizontal direction；The lifting unit includes Drive component and connecting rod, the drive component are arranged on the slide unit, and are connected with one end of the connecting rod, the connecting rod it is another One end is hinged with the roller unit, drives the link rotatable to realize the lifting of roller unit by the drive component； The roller unit includes drum assembly, transmission component and drive component, and the drum assembly includes the rolling with the rod hinge connection Tub and the roller by drum shaft on the roller frame, the transmission component include being arranged on the drum shaft Belt wheel A, the belt wheel B on belt shaft and the conveyer belt for connecting the belt wheel A and belt wheel B, the drive component Including the motor on roller frame, the output shaft of the motor is connected with the belt shaft, and power is passed through into the transmission Band passes to the roller, so as to drive the rollers roll, and then provides the power that the empty pallet advances.
9. 9. the mobile robot of automatic loading and unloading goods as claimed in claim 2, it is characterised in that the pull bar module includes stretching Contracting bar A and expansion link B, wherein, expansion link A is connected with the mobile platform and the expansion link B, can drive described flexible Bar B in the vertical directions move；Expansion link B towards one end of the turntable module by sucker installing plate be provided with sucker and Sensor, it can drive the sucker and sensor to move in the horizontal direction.
10. 10. the mobile robot of automatic loading and unloading goods as claimed in claim 1, it is characterised in that the turntable module includes Motor, decelerator and turntable mounting, the motor are connected with the decelerator, and the decelerator is installed on a mobile platform, its output shaft It is connected with the turntable mounting, the turntable mounting is arranged on the mobile platform by bearing support, its drive in the motor Under can be rotated relative to the mobile platform.