CN210973037U

CN210973037U - Compact loading and unloading goods mobile robot

Info

Publication number: CN210973037U
Application number: CN201920996993.0U
Authority: CN
Inventors: 李小平; 胡泽鑫; 史峻彰
Original assignee: Huazhong University of Science and Technology
Current assignee: Huazhong University of Science and Technology
Priority date: 2019-06-28
Filing date: 2019-06-28
Publication date: 2020-07-10
Anticipated expiration: 2029-06-28

Abstract

The utility model belongs to the technical field of loading and unloading robots, and particularly discloses a compact loading and unloading mobile robot, which comprises an omnidirectional mobile platform, a mechanical arm arranged on the omnidirectional mobile platform, a tray exchange device, a tray lifting device, a tray rotary conveying device and a film winding device, wherein the mechanical arm is positioned on one side of the omnidirectional mobile platform; the tray exchanging device is positioned on the other side of the omnidirectional mobile platform; the tray lifting device is positioned between the manipulator and the tray exchanging device; the tray rotary conveying device comprises a stacking rotary conveying unit and a film winding rotary conveying unit, and the stacking rotary conveying unit and the film winding rotary conveying unit are respectively positioned above the tray lifting device and the tray exchanging device; the film winding device is positioned beside the film winding rotary conveying unit, and loading and unloading can be realized through the loading and unloading mobile robot. The utility model has the advantages of simple structure, efficient, be applicable to the loading and unloading of goods in narrow and small space.

Description

Compact loading and unloading goods mobile robot

Technical Field

The utility model belongs to the technical field of loading and unloading goods robot, more specifically relates to a compact loading and unloading goods mobile robot.

Background

At present, the loading and unloading work of the container or van cargos is basically completed by a porter, the manual carrying efficiency is low, the cost is high, and the large-scale loading and unloading of the container cargos are not facilitated. In order to improve the loading and unloading efficiency and the automation level, some intelligent loading and unloading devices are appeared, for example, patent CN108974964A discloses an intelligent loading and unloading device for container cargos, which realizes automatic intelligent identification, fast loading and unloading, turnover return and stacking of cargos in a container by arranging a track conveying mechanism, a grabbing mechanism, a turnover return mechanism, a stacking mechanism and a tray switching mechanism on a rack, but the device does not have a film winding module and a tray handover module, so that the device cannot wind the film on the cargos and cannot perform good handover with a forklift. The TEUN corporation in the netherlands has developed a loading and unloading robot which integrates three functions of stacking, film wrapping and handing-over, can realize full automation of goods from a container to a forklift, but still has the following disadvantages: 1) the three stations of the device are horizontally arranged, the longitudinal size of the whole vehicle exceeds 5m, and the device cannot adapt to a narrow space; 2) the device can only realize unloading and can not realize loading function; 3) the circulation of the device goods tray is realized through installing the mechanism that snatchs in the side, has increased the complexity of structure on the one hand, and on the other hand has also influenced discharge efficiency.

SUMMERY OF THE UTILITY MODEL

To the above defect of prior art or improve the demand, the utility model provides a compact loading and unloading goods mobile robot, it is through the research and the design to key subassembly like manipulator, tray exchange device, tray elevating gear and the rotatory conveyor arrangement of tray mode, obtains the compact loading and unloading goods mobile robot that the station is three-dimensional circulation and arranges, has simple structure, efficient, can realize the advantage of loading and unloading simultaneously, is applicable to the loading and unloading of goods in the narrow and small space.

In order to achieve the above object, the utility model provides a compact loads and unloads goods mobile robot, it includes omnidirectional movement platform, sets up manipulator, tray exchange device, tray elevating gear, the rotatory conveyor of tray and twine the membrane device on this omnidirectional movement platform, wherein:

the manipulator is positioned at one side of the omnidirectional moving platform and is used for transferring goods from the tray rotary conveying device to an external space or transferring goods from the external space to the tray rotary conveying device;

the tray exchange device is positioned on the other side of the omnidirectional moving platform and is used as a tray handover station for realizing handover and conveying of trays; the tray lifting device is positioned between the manipulator and the tray exchanging device;

the pallet rotary conveying device comprises a pallet lifting device and a pallet exchanging device, and the pallet rotary conveying device and the pallet winding rotary conveying device are respectively positioned above the pallet lifting device and the pallet exchanging device and jointly form a cargo loading and unloading station for lifting a pallet;

the film winding device is located on the side of the film winding rotary conveying unit, and the film winding device and the film winding rotary conveying unit jointly form a cargo film winding station for winding the film of the cargo.

Preferably, the stacking rotary conveying unit and the film winding rotary conveying unit have the same structure and each include a conveying rack, a rotating assembly and a conveying assembly, and the rotating assembly and the conveying assembly are mounted on the conveying rack.

Preferably, the rotating assembly comprises a rotating motor and a rotating speed reducer which are both mounted on the conveyor frame, the output end of the rotating motor is connected with the rotating speed reducer, the output end of the rotating speed reducer in the stacking rotating and conveying unit is fixedly connected to the tray lifting device, and the output end of the rotating speed reducer in the film winding rotating and conveying unit is fixedly connected to the omnidirectional moving platform.

As further preferred, conveying assembly includes conveyor motor, carries speed reducer, transmission shaft and transport chain, wherein, conveyor motor's output is connected carry the speed reducer, carry the speed reducer pass through the gear pair with the cooperation is realized to the transmission shaft, the transmission shaft is installed on the transport frame, and its both ends install the sprocket respectively, and the cover is equipped with respectively on each sprocket transport chain, simultaneously each transport chain still with set up the sprocket cooperation on the transport frame.

Preferably, the conveying frame is further provided with a plurality of groups of bearing roller groups arranged in parallel, and the arrangement direction of each bearing roller group is consistent with the arrangement direction of the conveying chain.

Preferably, the tray lifting device is a scissor-type connecting rod lifting mechanism and comprises a lifting platform, a rack, a scissor structure and a power source, wherein the lifting platform and the rack are arranged up and down, the upper end and the lower end of one side of the scissor structure are respectively hinged with the lifting platform and the rack, the upper end and the lower end of the other side of the scissor structure are respectively in sliding fit with the lifting platform and the rack, and the side of the scissor structure is connected with the power source.

Preferably, the scissors structure comprises a driving connecting rod and a driven connecting rod which are arranged in a crossed manner and are hinged with each other, the upper end of the driving connecting rod is hinged with the rack, and the lower end of the driving connecting rod is connected with the lifting platform in a sliding manner and is connected with the power source; the upper end of the driven connecting rod is connected with the rack in a sliding way, and the lower end of the driven connecting rod is hinged with the lifting platform.

Generally, through the utility model above technical scheme who thinks compares with prior art, mainly possesses following technical advantage:

1. the utility model is different from other existing devices in the station arrangement mode, three stations (namely a tray handover station, a goods loading and unloading station and a goods film winding station) are obtained through the cooperation of the mechanical arm, the tray exchange device, the tray lifting device and the tray rotary conveying device, and through the research and design of the arrangement mode of each part, even if the manipulator and the tray exchanging device are respectively arranged at two sides, the tray lifting device is positioned between the manipulator and the tray exchanging device, and the two parts of the tray rotary conveying device are respectively arranged above the tray lifting device and the tray exchanging device, so that the three stations are circularly arranged in a three-dimensional manner, the inner space of the robot is effectively utilized, can make whole car length reduce greatly, specifically steerable within 3.5m, compare in current other equipment, the structure is more compact, applicable in the narrow and small place in space.

2. The utility model discloses a working method is different from other current equipment, the utility model discloses can realize the loading operation and can realize the operation of unloading again, the tray circulation order twines membrane station-goods loading and unloading goods station-tray handing-over station for the goods during the loading operation, and the tray circulation order twines the membrane station for tray handing-over station-goods loading and unloading goods station-goods during the operation of unloading.

3. The utility model discloses an utilize tray elevating gear to realize the lift of pile up neatly rotary conveying unit, make the goods handling station effectively adapt to the height that the membrane station was twined to tray handing-over station and goods, and through the structural design to the pile up neatly rotary conveying unit and twine the membrane rotary conveying unit, make the tray can effectually twine the membrane station from the goods during the loading operation and transmit to tray handing-over station through goods handling goods station, the tray can effectually transmit to the membrane station through goods handling goods handing-over station from tray handing-over station during the unloading operation, the circulation of comparing current tray realizes through installing the mechanism of snatching in the side, transmission efficiency is higher, it is faster to load and unload the goods beat, and can the mutual noninterference of parallel work between each station.

Drawings

Fig. 1 is an isometric view of a compact loading and unloading mobile robot provided by an embodiment of the present invention;

fig. 2 is a side sectional view of a compact loading and unloading mobile robot according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a station of a compact loading and unloading mobile robot according to an embodiment of the present invention;

fig. 4 is a schematic view of a tray lifting device provided in an embodiment of the present invention;

fig. 5 is a schematic view of a tray rotary conveying device provided in an embodiment of the present invention;

fig. 6 is a tray flow diagram of a compact loading and unloading mobile robot according to an embodiment of the present invention during unloading;

fig. 7 is a tray flow diagram of a compact loading and unloading mobile robot according to an embodiment of the present invention during loading.

The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-mechanical arm, 2-omnidirectional moving platform, 3-pallet lifting device, 31-lifting platform, 32-driving connecting rod, 33-driven connecting rod, 34-frame, 35-driving rod, 36-electric push rod, 4-pallet rotary conveying device, 41-pallet rotary conveying unit, 42-film winding rotary conveying unit, 401-conveying frame, 402-bearing roller set, 403-rotary reducer, 404-rotary motor, 405-conveying chain, 406-conveying motor, 407-conveying reducer, 408-gear pair, 409-transmission shaft, 410-chain wheel, 5-film winding device, 6-pallet connecting device, 7-pallet, 71-first pallet, 72-second pallet, 73-third pallet, 8-pile of goods, 81-first pile of goods, 82-second pile of goods, 83-third pile of goods.

Detailed Description

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

As shown in fig. 1-3, the embodiment of the utility model provides a compact loading and unloading goods mobile robot, it includes omnidirectional movement platform 2, manipulator 1, tray exchange device 6, tray elevating gear 3, tray rotary conveyor 4 and twine membrane device 5, wherein, manipulator 1, tray exchange device 6, tray elevating gear 3, tray rotary conveyor 4 and twine membrane device 5 and all set up on omnidirectional movement platform 2, this manipulator 1 is used for the centre gripping goods, in order to shift the goods to another position by a position, tray exchange device 6 is used for realizing the transport of tray, tray elevating gear 3 is used for driving the tray up-and-down motion, tray rotary conveyor 4 is used for realizing the rotation and the position transfer of tray, twine membrane device 5 and be used for realizing twining the membrane of goods. Through the mutual cooperation of above-mentioned each part, can realize the pile up neatly of goods, unstack, twine functions such as membrane, transportation.

As shown in fig. 3, the robot arm 1 is located at one side (e.g., the left side of fig. 3, which is defined as the front end of the robot) of the omni-directional mobile platform 2, and is used for transferring the goods from the pallet turning conveyor 4 into an external space, preferably a narrow space such as a container or a compartment of a van, or from the external space into the pallet turning conveyor 4, thereby achieving loading and unloading of the goods.

As shown in fig. 3, the pallet exchanging device 6 is located at the other side (e.g., the right side of fig. 3, defined as the rear end of the robot) of the omni-directional mobile platform 2, and forms the first station of the loading and unloading mobile robot, i.e., a pallet transfer station a, which is mainly responsible for pallet transfer with a forklift and storage of a standby pallet, and also, pallet transfer with a cargo loading and unloading station B is possible, and the pallet lifting device 3 is located between the manipulator 1 and the pallet exchanging device 6, preferably, installed at the middle of the omni-directional mobile platform 2, and lifting and lowering of the pallet is possible.

As shown in fig. 3, the tray rotary conveyance device 4 includes a palletizing rotary conveyance unit 41 and a film winding rotary conveyance unit 42, the palletizing rotary conveyance unit 41 is located above the tray lifting device 3 and mounted on the tray lifting device 3, and the film winding rotary conveyance unit 42 is located above the tray exchange device 6, that is, the film winding rotary conveyance unit 42 is located above the rear end of the robot, and the tray exchange device 6 is located below the rear end of the robot. The stacking rotary conveying unit 41 and the tray lifting device 3 together form a second station of the loading and unloading mobile robot, namely a cargo loading and unloading station B, the station is mainly responsible for matching with the manipulator 1 to stack or unstack cargos, the rotation of the tray can be realized so that the manipulator can place or grab the cargos on the tray, and in addition, the tray lifting device 3 can lift or lower the tray to different heights to adapt to the conveying of the tray between the tray handing-over station a and the cargo film winding station C.

As shown in fig. 1-3, the film winding device 5 is located beside the film winding rotary conveying unit 42 for realizing film winding of the goods, the film winding device 5 and the film winding rotary conveying unit 42 together form a third station of the loading and unloading mobile robot, namely a goods film winding station C, which is mainly responsible for film winding of the goods on the pallet, the film winding rotary conveying device 42 can realize rotation of the pallet, the film winding device 5 can wind a film on the goods pile on the pallet to ensure that the goods in the goods pile are not scattered, and in addition, pallet conveying with the goods loading and unloading station B or a forklift can also be realized.

That is the utility model discloses a loading and unloading goods mobile robot coexists at three station, owing to twine the rotatory conveying unit 42 of membrane and be located the top of tray exchange device 6, and the rotatory conveying unit 41 of pile up neatly on the tray elevating gear 3 lies in between manipulator 1 and the tray exchange device 6, makes from this the utility model discloses loading and unloading goods mobile robot's three station is three-dimensional circulation and arranges, and wherein tray handing-over station A lies in robot rear end below, and goods loading and unloading station B lies in the robot middle part, and the goods twines membrane station C and lies in robot rear end top, directly over tray handing-over station A, has effectively utilized automobile body inner space from this, makes whole car length reduce greatly, and is concrete steerable within 3.5 m.

As shown in fig. 4, the tray lifting device 3 is preferably a scissor-type linkage lifting mechanism, and includes a lifting platform 31, a frame 34, a scissor structure and a power source, wherein the lifting platform 31 and the frame 34 are arranged up and down, the left side of the upper end of the scissor structure is hinged to the lifting platform 31, the right side is in sliding fit with the lifting platform 31, the left side of the lower end of the scissor structure is hinged to the frame 34, the right side is in sliding fit with the lifting platform 31 and is connected to the power source, so that under the action of the power source, the scissor structure slides relative to the lifting platform 31 and the frame 34, and the lifting platform 31 is lifted up and down by the opening and contraction of the scissor structure. Specifically, the scissors structure comprises a driving connecting rod 32 and a driven connecting rod 33 which are arranged in a crossed manner and are hinged with each other, wherein the upper end of the driving connecting rod 32 is hinged with a machine frame 34, the lower end of the driving connecting rod 32 is connected with a lifting platform 31 in a sliding manner, the upper end of the driven connecting rod 33 is connected with the machine frame 34 in a sliding manner, and the lower end of the driven connecting rod 33 is hinged with the lifting platform 31. The power source is specifically electric putter 36, electric putter 36 links to each other with the lower extreme of initiative connecting rod 32 through transfer line 35, through electric putter 36's effect, drive transfer line 35 horizontal migration, and then drive initiative connecting rod 32 and slide relative frame 34, driven connecting rod 33 slides relative elevating platform 31 to this height between the upper end and the lower extreme of adjustment initiative connecting rod 32 and driven connecting rod 33, and then the height of adjustment elevating platform 31, convert electric putter 36 telescopic movement on the horizontal direction into elevating movement of elevating platform 31 on the vertical direction through this tray elevating gear 3.

Specifically, the stacking rotary conveying unit 41 and the film winding rotary conveying unit 42 have the same structure, and as shown in fig. 5, each of the stacking rotary conveying unit 41 and the film winding rotary conveying unit includes a conveying frame 401, a rotating assembly and a conveying assembly, where the rotating assembly includes a rotating motor 404 and a rotating speed reducer 403, the rotating motor 404 and the rotating speed reducer 403 are both installed on the conveying frame 401, an output end of the rotating motor 404 is connected to the rotating speed reducer 403, an output end of the rotating speed reducer 403 is fixedly connected to the omnidirectional moving platform 2 or the tray lifting device 3 (specifically, the lifting platform 31), an output end of the rotating speed reducer 403 of the stacking rotary conveying unit 41 is fixedly connected to the tray lifting device 3, and an output end of the rotating speed reducer 403 of the film winding rotary conveying unit 42 is fixedly connected to. After the rotating motor 404 is started, the rotating speed reducer 403 is driven to rotate around the output end of the rotating speed reducer 403, the output end of the rotating speed reducer 403 is fixed on the omnidirectional moving platform 2 or the tray lifting device 3, and the rotating motor 404 and the rotating speed reducer 403 are installed on the conveying rack 401, so that the whole body formed by the rotating motor 404, the rotating speed reducer 403 and the conveying rack 401 rotates around the output end of the rotating speed reducer 403 relative to the omnidirectional moving platform 2 or the tray lifting device 3.

As shown in fig. 5, the conveying assembly includes a conveying motor 406, a conveying speed reducer 407, a transmission shaft 409 and a conveying chain 405, the conveying motor 406 and the conveying speed reducer 407 are both mounted on the conveying frame 401, the output end of the conveying motor 406 is connected to the conveying speed reducer 407, the conveying speed reducer 407 is connected to the transmission shaft 409 through a gear pair 408, that is, one gear of the gear pair 408 is connected to the conveying speed reducer 407, the other gear is connected to the transmission shaft 409, two gears of the gear pair 408 are engaged with each other, the transmission shaft 409 is mounted on the conveying frame 401 through a bearing, chain wheels 410 are mounted at two ends of the transmission shaft 409 respectively, a conveying chain 405 is respectively sleeved on each chain wheel 410, and meanwhile, the conveying chain 405 is also matched with a chain wheel disposed on. Therefore, the output power of the conveying motor 406 is reduced by the conveying speed reducer 407 and then transmitted to the transmission shaft 409 through the gear pair 408, the transmission shaft 409 rotates under the action of power, and then the transmission shaft 409 drives the chain wheel 410 to rotate, so that the conveying chain 405 is driven to move, and the tray 7 above the chain wheel moves horizontally.

Preferably, the conveying frame 401 is further provided with a plurality of groups of bearing roller sets 402 arranged in parallel, preferably four groups, and the arrangement direction of each group of bearing roller sets is consistent with that of the conveying chain 405, so as to bear the pallet 7 and the goods push 8 thereon, and ensure the stability and reliability of the support.

Further, the structure of the pallet exchanging apparatus 6 is similar to that of the rotary conveying unit, and includes a conveyor frame and a conveyor assembly, and since rotation is not required, there is no rotary assembly, and the conveyor frame is installed on the omni-directional moving platform 2. Equally, this conveying assembly's structure is unanimous with conveying assembly's structure in the rotatory conveying unit, including conveying motor, carry the speed reducer, transmission shaft and transport chain, conveying motor and transport speed reducer all install in carrying the frame, conveying motor's output is connected and is carried the speed reducer, it is connected through the realization of gear pair with the transmission shaft to carry the speed reducer, a gear of gear pair is promptly connected with carrying the speed reducer, another gear is connected with the transmission shaft, two gears of gear pair mesh each other, the transmission shaft passes through the bearing and installs in carrying the frame, the sprocket is installed respectively at the both ends of transmission shaft, it is equipped with a transport chain to overlap respectively on each sprocket, this transport chain still cooperates with the sprocket that sets up in carrying the frame simultaneously. From this conveying motor's output power is through carrying the speed reducer speed reduction back and then by gear pair transmission to transmission shaft, the transmission shaft is rotatory under the power effect, and then drives the sprocket rotation to this drives and carries the chain motion, finally realizes the horizontal migration of sprocket top tray. Preferably, the conveying frame is further provided with a plurality of groups of bearing roller groups which are arranged in parallel, preferably four groups of bearing roller groups, the arrangement direction of each group of bearing roller groups is consistent with that of the conveying chain, so that the bearing tray and goods on the bearing tray are pushed, and the stability and the reliability of the support are ensured.

The utility model discloses a compact loading and unloading goods mobile robot can realize loading and unloading, as shown in FIG. 6, the unloading process specifically includes following step:

1) the compact loading and unloading mobile robot enters an external space to be unloaded, such as a container, particularly can be automatically navigated by the omnidirectional mobile platform 2, a first tray 71 for stacking cargoes is placed on a tray exchange device 6 positioned at a tray transfer station A, and particularly can be placed on the tray exchange device 6 by a forklift;

2) the tray exchanging device 6 conveys the first tray 71 from the tray handover station a to the stacking rotary conveying unit 41 located at the cargo loading and unloading station B;

3) the manipulator 1 grabs goods from the inside of the external space and stacks the goods on the stacking rotary conveying unit 41 to achieve stacking of the goods, meanwhile, the second tray 72 is placed on the tray exchanging device 6, and particularly, the tray can be placed on the tray exchanging device 6 through a forklift;

4) after the stacking is finished, the tray lifting device 3 drives the stacking rotary conveying unit 41 and the first tray 71 stacked with the goods stack 8 to ascend, and then the stacking rotary conveying unit 41 conveys the first tray 71 stacked with the goods stack to the film winding rotary conveying unit 42 located at the goods film winding station C;

5) the film winding of the goods stack 8 on the tray is realized under the combined action of the film winding rotary conveying unit 42 and the film winding device 5, specifically, the film winding rotary conveying unit 42 drives the tray and the goods stack 8 thereon to rotate, and the film winding device 5 winds the film outside the goods stack 8 so as to wind the goods in the goods stack 8 into a whole and avoid the falling of the goods in the carrying process; the tray lifting device 3 descends while the film is wound, and the tray exchange device 6 conveys the second tray 72 from the tray handover station A to the stacking rotary conveying unit 41 positioned at the goods loading and unloading station B;

6) after the film winding is completed, the third tray 73 is placed on the tray exchanging device 6, the goods stack 8 which is subjected to the film winding and the tray below the goods stack are conveyed away from the goods film winding station C, the action can be realized by a forklift, the forklift carries the third tray 73 and places the third tray on the tray exchanging device 6, and then the goods stack 8 which is subjected to the film winding and the tray below the goods stack are conveyed away from the goods film winding station C, so that the unloading is completed; as can be seen, three trays are shared in one round of unloading and are respectively placed on the stacking rotary conveying device 41, the film winding rotary conveying device 42 and the tray exchanging device 6;

7) and 3) to 6) are repeated, so that the unloading of the goods in the external space is completed.

As shown in fig. 7, the loading process specifically includes the following steps:

1) the compact loading and unloading mobile robot enters an external space to be loaded, such as a carriage of a van truck, and can be particularly realized by autonomous navigation of the omnidirectional mobile platform 2, a first tray 71 stacked with a first pile of goods 81 is placed on the film winding rotary conveying unit 42 positioned at the goods film winding station C, and particularly, the tray and the goods on the tray can be placed on the film winding rotary conveying unit 42 through a forklift;

2) the film-wrapping rotary conveying unit 42 conveys the first tray 71 on which the first stack of the goods 81 is stacked, to the stacking rotary conveying unit 41 located at the goods loading and unloading station B;

3) the mechanical arm 1 grabs the goods from the stacking rotary conveying unit 41 and stacks the goods into the external space to realize unstacking of the goods, a second tray 72 stacked with a second pile of goods 82 is placed on the film winding rotary conveying unit 42 positioned at the goods film winding station C while unstacking is carried out, and particularly the tray and the goods on the tray can be placed on the film winding rotary conveying unit 42 through a forklift;

4) after the unstacking is completed, the tray lifting device 3 drives the stacking rotary conveying unit 41 and the first tray 71 of the unstacked goods on the tray lifting device to descend, and then the first tray 71 is conveyed to the tray exchanging device 6 positioned at the tray handover station A under the action of the stacking rotary conveying unit 41;

5) subsequently, the tray lifting device 3 is lifted, the film-wrapping rotary conveying unit 42 conveys the second tray 72 stacked with the second pile of goods 82 to the stacking rotary conveying unit 41 positioned at the goods loading and unloading station B, meanwhile, the third tray 73 stacked with the third pile of goods 83 is placed on the film-wrapping rotary conveying unit 42 positioned at the goods film-wrapping station C, and the first tray 71 positioned at the tray handover station a is conveyed away, the action can be realized by a forklift, the forklift carries the third tray 73 stacked with the third pile of goods 83 and places the third tray 73 on the film-wrapping rotary conveying unit 42, and then the first tray 71 positioned at the tray handover station a is conveyed away, so that one-wheel loading is completed; as can be seen, three trays are shared in one round of loading, and are respectively placed on the stacking rotary conveying device 41, the film winding rotary conveying device 42 and the tray exchanging device 6;

6) repeating 3) to 5) to finish the loading of the goods in the external space.

It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a compact loading and unloading goods mobile robot, its characterized in that includes omnidirectional movement platform (2), sets up manipulator (1) on this omnidirectional movement platform (2), tray exchange device (6), tray elevating gear (3), tray rotary conveying device (4) and twines membrane device (5), wherein:

the manipulator (1) is positioned at one side of the omnidirectional moving platform (2) and is used for transferring goods from the tray rotary conveying device (4) to an external space or transferring goods from the external space to the tray rotary conveying device (4);

the tray exchange device (6) is positioned on the other side of the omnidirectional moving platform (2) and is used as a tray handover station (A) for realizing handover and conveying of trays; the tray lifting device (3) is positioned between the manipulator (1) and the tray exchanging device (6);

the tray rotary conveying device (4) comprises a stacking rotary conveying unit (41) and a film winding rotary conveying unit (42), the stacking rotary conveying unit (41) and the film winding rotary conveying unit (42) are respectively positioned above the tray lifting device (3) and the tray exchanging device (6), and the stacking rotary conveying unit (41) and the tray lifting device (3) jointly form a cargo loading and unloading station (B) for realizing the lifting of the tray;

the film winding device (5) is located beside the film winding rotary conveying unit (42), and the film winding device and the film winding rotary conveying unit (42) jointly form a cargo film winding station (C) for realizing film winding of cargos.

2. The compact handling robot according to claim 1, characterised in that said palletizing and film-wrapping rotary conveyor unit (41, 42) is structurally identical and comprises a conveyor frame (401), a rotating assembly and a conveyor assembly, both of which are mounted on said conveyor frame (401).

3. The compact mobile robot for handling loads according to claim 2, characterized in that said rotating assembly comprises a rotating motor (404) and a rotating reducer (403), both mounted on said conveyor frame (401), the output of said rotating motor (404) being connected to said rotating reducer (403), and the output of the rotating reducer (403) of the palletizing rotating conveyor unit (41) being fixed to the pallet lifting device (3), and the output of the rotating reducer (403) of the film wrapping rotating conveyor unit (42) being fixed to said omnidirectional mobile platform (2).

4. The compact loading and unloading mobile robot of claim 2, wherein the conveying component comprises a conveying motor (406), a conveying speed reducer (407), a transmission shaft (409) and a conveying chain (405), wherein the output end of the conveying motor (406) is connected with the conveying speed reducer (407), the conveying speed reducer (407) is matched with the transmission shaft (409) through a gear pair (408), the transmission shaft (409) is installed on the conveying rack (401), chain wheels (410) are installed at two ends of the transmission shaft respectively, the conveying chain (405) is sleeved on each chain wheel (410) respectively, and meanwhile each conveying chain (405) is also matched with the chain wheel arranged on the conveying rack (401).

5. The compact handling robot according to claim 4, characterized in that said conveyor frame (401) is further provided with a plurality of sets of parallel bearing roller sets (402), the arrangement direction of each bearing roller set being in accordance with the arrangement direction of said conveyor chain (405).

6. A compact handling robot according to claim 1, characterized in that said pallet lifting means (3) is a scissor link lifting mechanism comprising a lifting platform (31), a frame (34), a scissor structure and a power source, wherein said lifting platform (31) and said frame (34) are arranged in a vertical position, the upper and lower ends of one side of said scissor structure are hinged to said lifting platform (31) and said frame (34), respectively, and the upper and lower ends of the other side are slidably engaged with said lifting platform (31) and said frame (34), respectively, and said side is connected to said power source.

7. The compact handling mobile robot according to claim 6, characterized in that said scissors structure comprises a driving link (32) and a driven link (33) arranged crosswise and articulated to each other, the upper end of said driving link (32) being articulated to said frame (34) and the lower end being slidingly connected to said lifting table (31) and to said power source; the upper end of the driven connecting rod (33) is connected with the frame (34) in a sliding way, and the lower end is hinged with the lifting platform (31).