CN107043028A - A kind of tray exchange mechanism suitable for mobile robot - Google Patents
A kind of tray exchange mechanism suitable for mobile robot Download PDFInfo
- Publication number
- CN107043028A CN107043028A CN201710381732.3A CN201710381732A CN107043028A CN 107043028 A CN107043028 A CN 107043028A CN 201710381732 A CN201710381732 A CN 201710381732A CN 107043028 A CN107043028 A CN 107043028A
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- module
- pallet
- expansion link
- goods
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/24—Unloading land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Warehouses Or Storage Devices (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention 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 present invention can disposably complete sabot and unload disk task, strong applicability small with overall volume, advantages of simple structure and simple, it is adaptable to the occasion such as cargo handling in the small space such as container.
Description
Technical field
The invention belongs to cargo handling auxiliary equipment field, more particularly, to a kind of support suitable for mobile robot
Disc changer structure.
Background technology
Pallet is a kind of common carrier in goods handling process, plays and conveniently transports, 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
Change work continuity, operating efficiency, applicable ring that the Storage Format in handling facilities, exchanged form just affect the equipment
The performance indications such as border.So, tray exchange mechanism is the important part in one, cargo handling field.
There is the tray exchange mechanism of following form in currently available technology, 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 is moved successively, fills up the position in the upper left corner；Another is the form of longitudinal streamline, the mechanism
There are three stations in the vertical, a station is stacking area, after the pallet of a station fills goods, is moved to No. two stations
Progress twines film, while film is twined, and empty pallet is placed on No. three stations by fork truck, and by side, mechanical arm picks up empty pallet, places
To a 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 during fork truck placement empty pallet
Need to take the pallet for filling goods away in the lower left corner afterwards, fork truck needs transverse translation during this, 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.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of support suitable for mobile robot
Disc changer structure, by its key component such as structure of pull bar module, turntable module, supporting module and pallet delivery module and
Its specific set-up mode is studied and designed, and can effectively be solved how disposably to complete to place empty pallet accordingly and be transported dress
The problem of two tasks of pallet of full goods, strong applicability small with overall volume, advantages of simple structure and simple, thus especially fit
For occasions such as the cargo handlings in the small spaces such as container.
To achieve the above object, the present invention proposes a kind of tray exchange mechanism suitable for mobile robot, the support
Disc changer structure includes supporting module, pallet delivery module, pull bar module and the rotating disk being arranged on mobile robot chassis
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 jack-up, the pallet for filling goods is transported by fork truck；
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, its be used for it is described fill the pallet jack-up of goods after, the empty pallet without goods is sent in the turntable module, institute
The empty pallet stated without goods is transported on the pallet delivery module by the same fork truck for transporting the pallet for filling goods；
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 include 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 two 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 two 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 include 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,
Drive the link rotatable 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 is including the belt wheel A on the drum shaft, 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 is connected with the belt shaft, power is 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 include 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 slows down with described
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, possess following compared with prior art, mainly by the contemplated above technical scheme of the present invention
Technological merit：
1. research and design of the present invention includes pull bar module, turntable module, the pallet of supporting module and pallet delivery module
Exchange mechanism, it can meet, and fork truck disposably completes to place empty pallet and fork is walked to fill two tasks of pallet of goods so that dress
When the mobile robot for being loaded with the tray exchange mechanism enters boxcar, can simultaneously it be effected shipment in the confined space in compartment
With unloading task, the efficiency for changing pallet is effectively improved.
2. the supporting module and pallet delivery module in tray exchange mechanism of the present invention are all provided with being set to and can stored to moving machine
Among the chassis of device people, to effectively reduce the volume of tray exchange mechanism, and then reduce the overall volume of mobile robot so that
The loading and unloading that goods is realized in small space can be entered by being mounted with the mobile robot of tray exchange mechanism of the present invention.
3. the present invention is also ground to the concrete structure and its concrete arrangement of the four module in tray exchange mechanism
Study carefully and set, by the mutual cooperation between aforementioned four module, the exchange process of pallet is completed in a station, reducing
The fast and effectively handling of goods can be met while overall volume, there is simple in construction, easy to operate, small volume.
4. the present invention exchange pallet during, new pallet is placed into after roller by fork truck, new pallet be automatically transferred to
Assigned position, afterwards fork truck only need fork to raise, continuing appropriate move forward just can fork the pallet for filling goods, whole mistake
The motion of journey fork truck links up, it is not necessary to left and right adjustment position, reduces the operation difficulty of fork truck, is easy to its behaviour in small space
Make.
Brief description of the drawings
Fig. 1 is axonometric drawing of the present invention suitable for the tray exchange mechanism of mobile robot；
Fig. 2 is the front view (removing other modules) of the pull bar module of the present invention；
Fig. 3 is the top view (removing other modules) of the pull bar module of the present invention；
Fig. 4 is the sectional view (removing other modules) of the turntable module of the present invention；
Fig. 5 is the oblique view (removing other modules) of the supporting module of the present invention；
Fig. 6 is the front view (removing other modules) of the active double leval jib of the present invention；
Fig. 7 is the front view (removing other modules) of the driven double leval jib of the present invention；
Fig. 8 is the axonometric drawing (removing other modules) of the pallet delivery module of the present invention；
Fig. 9 is the oblique view (removing other modules) of the pallet delivery module of the present invention；
Figure 10 is the axonometric drawing of the roller part of the present invention；
Figure 11 is the axonometric drawing of original state of the present invention；
Figure 12 is the schematic diagram of the pallet lifting process of the present invention；
Figure 13 places the schematic diagram of empty pallet position for the fork truck of the present invention；
Figure 14 is the top view of the empty pallet relative position of the present invention；
Figure 15 is the schematic diagram of the pallet push-on process of the present invention；
Figure 16 recovers the right view of initial position for the supporting module of the present invention；
Figure 17 is the schematic diagram of the turntable module course of work of the present invention；
Figure 18 is the schematic diagram of the turntable module course of work of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Not constituting conflict each other can just be mutually combined.
As shown in figure 1, a kind of tray exchange mechanism suitable for mobile robot provided in an embodiment of the present invention, it includes
Pull bar module 2, turntable module 3, supporting module 4 and pallet delivery module 5, aforementioned four module are installed in mobile robot bottom
On disk 1, the supporting module 4 is placed in the chassis 1 of mobile robot, and it is used to that goods will to be filled in the turntable module 3
Pallet jack-up, the pallet for filling goods transported by fork truck；The pallet delivery module 5 is located at the side of the turntable module 3
(Fig. 1 on the right side of) and the inside that may contract to the mobile robot chassis, its be used for it is described fill the pallet jack-up of goods after,
Empty pallet without goods is sent in turntable module 3, the empty pallet without goods fills the pallet of goods by transporting
Same fork truck be transported on pallet delivery module 5；The pull bar module 2 is located at the opposite side of turntable module 3 (on the left of Fig. 1), its
For realizing moving horizontally for the empty pallet without goods, and the turntable module 3 is then used to realize the sky without goods
The rotary motion of pallet.The present invention will fill the pallet of goods using supporting module, and then jack-up is transmitted by pallet from below
Empty pallet is placed on below the pallet for filling goods by two module auxiliary fork trucks of module and pull bar module, and now, fork truck can
So that the pallet for filling goods to be taken away, the direction of empty pallet is finally adjusted by turntable module, said process is circulated
Carry out.
The tray exchange mechanism designed by the present invention can be while completing sabot and unloading disk process, by a fork truck with regard to energy one
Secondary property completes to place empty pallet and fork is walked to fill two tasks of pallet of goods, improves the efficiency for changing pallet, and supporting module 4
It can be stored to the inside chassis of mobile robot with pallet delivery module 5, so as to further reduce tray exchange mechanism
Overall volume, is easy to mobile robot to enter in boxcar, and realizes in the confined space in compartment the handling of goods.
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 are moved；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, and 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. is moved 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 is 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 two 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 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 hinged, and rocking bar the A44 other end and support bar 43 are hinged, and the two ends of the rocking bar B46 are respectively with moving machine in addition
People chassis and support bar 43 are hinged, and are hinged especially by fixed hinged seat C 47 with 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
It is hinged, the ＇ of rocking bar D 46 are hinged especially by fixed hinged seat B 47 with mobile robot chassis 1, rocking bar D46 ＇ are by passing 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, can be achieved the pallet
Delivery module 5 it is flexible, 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 with mobile robot chassis 1, specific slide bar leads to
Cross linear bearing 501 with chassis 1 to be connected, linear bearing 501 is arranged on mobile robot chassis 1, 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 to the tray exchange mechanism of the present invention is described in detail below.
The original state of the present invention is as shown in figure 11, pallet A61 (length of pallet used in application claims is more than width)
On be loaded with goods 7, now the expansion link C 42 in supporting module 4, which is in, stretches out, and expansion link A 22 in pull bar module 2 and stretches
Contracting bar B 24 is in contraction state, and pallet delivery module 5 is received in below chassis 1.
As shown in figure 12, expansion link C 42 shrinks next state, 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 is rotated 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.
As shown in figure 13, fork truck (being not drawn into figure) allows empty pallet B 62 to contact roller 512 to next state.Now pallet
As shown in figure 14, empty pallet B 62 short side is towards left side for B 62 top view.
As shown in figure 15, motor 503 drives roller 512 to rotate to next state 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, expansion link D 502 shrinks, 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 the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
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 for filling goods transported by fork truck；
The pallet delivery module (5) is located at the side of the turntable module (3) and may contract to the mobile robot chassis
Inside, its be used for it is described fill the pallet jack-up of goods after, the empty pallet without goods is sent to the turntable module (3)
In, the empty pallet without goods is transported to the pallet by the same fork truck for transporting the pallet for filling goods and transmits mould
On block (5)；
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) including expansion link C (42),
First support bar (43), rocking bar A (44) and rocking bar B (46), the two 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 is hinged with the support bar (43), in addition the two ends of the rocking bar B (46) respectively with the mobile robot chassis and
The support bar (43) is 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
It is 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
State roller unit (5A) to be hinged, drive the connecting rod (510) to rotate 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) the roller frame (514) being hinged 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) is connected with the belt shaft (515), power is 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 advance
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) are moved in the horizontal direction.
6. the tray exchange mechanism suitable for mobile robot as described in claim any one of 1-5, it is characterised in that described
Turntable module (3) includes motor (31), decelerator (32) and turntable mounting (33), the motor (31) and the decelerator (32) phase
Even, the decelerator (32) is arranged on mobile robot chassis, and its output shaft is connected with the turntable mounting (33), the turntable mounting
(33) it is arranged on by bearing support (34) on the mobile robot chassis, it can be relative under the drive of the motor (31)
The mobile robot chassis is rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710381732.3A CN107043028B (en) | 2017-05-26 | 2017-05-26 | Tray exchange mechanism suitable for mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710381732.3A CN107043028B (en) | 2017-05-26 | 2017-05-26 | Tray exchange mechanism suitable for mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107043028A true CN107043028A (en) | 2017-08-15 |
| CN107043028B CN107043028B (en) | 2020-07-07 |
Family
ID=59547053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710381732.3A Active CN107043028B (en) | 2017-05-26 | 2017-05-26 | Tray exchange mechanism suitable for mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107043028B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972574A (en) * | 2018-11-06 | 2018-12-11 | 淮海工学院 | A kind of Office Service robot and its control system |
| CN109132607A (en) * | 2018-10-29 | 2019-01-04 | 四川大学 | Luggage handling facilities and luggage movement system |
| CN110270974A (en) * | 2019-04-29 | 2019-09-24 | 北京工业大学 | A kind of multipurpose tray load-engaging device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3417736A1 (en) * | 1984-05-12 | 1985-11-14 | Möllers Maschinenfabrik GmbH, 4720 Beckum | Device for commissioning piece goods placed in readiness on pallets |
| CN200960983Y (en) * | 2006-04-25 | 2007-10-17 | 孙奎连 | Full-automatic extension winding packaging machine |
| CN101797982A (en) * | 2010-03-25 | 2010-08-11 | 杭州永创机械有限公司 | walking winding machine |
| WO2010111298A1 (en) * | 2009-03-23 | 2010-09-30 | Lancaster P R Iii | Methods and apparatuses for loading and unloading by pallet truck |
| EP2986445A1 (en) * | 2013-04-19 | 2016-02-24 | Ipn Ip B.V. | System and method for the assembly and collection of non-filled spouted pouches |
| US9457970B1 (en) * | 2015-03-30 | 2016-10-04 | Google Inc. | Modular cross-docking system |
| CN106276325A (en) * | 2016-08-31 | 2017-01-04 | 长沙长泰机器人有限公司 | Van automatic loading system |
| CN206827672U (en) * | 2017-05-26 | 2018-01-02 | 华中科技大学 | A kind of tray exchange mechanism suitable for mobile robot |
-
2017
- 2017-05-26 CN CN201710381732.3A patent/CN107043028B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3417736A1 (en) * | 1984-05-12 | 1985-11-14 | Möllers Maschinenfabrik GmbH, 4720 Beckum | Device for commissioning piece goods placed in readiness on pallets |
| CN200960983Y (en) * | 2006-04-25 | 2007-10-17 | 孙奎连 | Full-automatic extension winding packaging machine |
| WO2010111298A1 (en) * | 2009-03-23 | 2010-09-30 | Lancaster P R Iii | Methods and apparatuses for loading and unloading by pallet truck |
| CN101797982A (en) * | 2010-03-25 | 2010-08-11 | 杭州永创机械有限公司 | walking winding machine |
| EP2986445A1 (en) * | 2013-04-19 | 2016-02-24 | Ipn Ip B.V. | System and method for the assembly and collection of non-filled spouted pouches |
| US9457970B1 (en) * | 2015-03-30 | 2016-10-04 | Google Inc. | Modular cross-docking system |
| CN106276325A (en) * | 2016-08-31 | 2017-01-04 | 长沙长泰机器人有限公司 | Van automatic loading system |
| CN206827672U (en) * | 2017-05-26 | 2018-01-02 | 华中科技大学 | A kind of tray exchange mechanism suitable for mobile robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109132607A (en) * | 2018-10-29 | 2019-01-04 | 四川大学 | Luggage handling facilities and luggage movement system |
| CN109132607B (en) * | 2018-10-29 | 2019-07-23 | 四川大学 | Luggage handling facilities and luggage movement system |
| CN108972574A (en) * | 2018-11-06 | 2018-12-11 | 淮海工学院 | A kind of Office Service robot and its control system |
| CN108972574B (en) * | 2018-11-06 | 2021-05-11 | 淮海工学院 | Office service robot and control system thereof |
| CN110270974A (en) * | 2019-04-29 | 2019-09-24 | 北京工业大学 | A kind of multipurpose tray load-engaging device |
| CN110270974B (en) * | 2019-04-29 | 2021-04-30 | 北京工业大学 | Tray object taking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107043028B (en) | 2020-07-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107032141A (en) | A kind of mobile robot of automatic loading and unloading goods | |
| CN206827672U (en) | A kind of tray exchange mechanism suitable for mobile robot | |
| CN107043028A (en) | A kind of tray exchange mechanism suitable for mobile robot | |
| CN212449767U (en) | Full-automatic car loader | |
| CN105173506A (en) | Automatic pallet storing and taking system and method for goods shelf | |
| CN110001694B (en) | Rapid assembling and disassembling system and method for container from automobile to high-speed rail | |
| CN210973037U (en) | Compact loading and unloading goods mobile robot | |
| CN101151198B (en) | Method and apparatus for storaging and transfering containers | |
| CN106144673B (en) | A kind of rotary transfer platform moves Che Fangfa | |
| CN111532638A (en) | Unmanned storehouse system | |
| CN216471055U (en) | Logistics vehicle loading and unloading device | |
| CN209972446U (en) | Quick loading and unloading system for container from automobile to high-speed rail | |
| JP2733012B2 (en) | Truck loader | |
| CN106586358B (en) | Object storage mechanism and its handling device, access method | |
| CN115744018A (en) | Shuttle car and multi-pass vertical warehouse access system | |
| CN217349274U (en) | Lifting machine and warehousing system | |
| CN214191206U (en) | Automatic material taking telescopic frame | |
| CN212244954U (en) | Novel foldable commodity circulation transfer system | |
| CN210259833U (en) | Device for automatically storing and taking goods of different specifications in intensive warehouse | |
| CN113291689A (en) | Lifting machine and warehousing system | |
| CN210559196U (en) | Recyclable pallet fork device | |
| CN112850137A (en) | Intelligent logistics device | |
| JP7217139B2 (en) | Luggage carrier | |
| JP3192599B2 (en) | Plane reciprocating parking system | |
| CN111977239A (en) | Operation system and control method of box type composite elevator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |