Tray mechanism and delivery robot

Abstract

The present application belongs to the field of robot technology, and specifically discloses a tray mechanism and a delivery robot. The tray mechanism comprises a storage rack, a limiting mechanism and a buffer assembly. The storage rack is used for placing articles. The storage rack is connected with the robot body through the buffer assembly. The limiting mechanism can be communicatively connected with the control assembly of the robot. Under the control of the control assembly, the limiting mechanism has a limiting state of limiting the movement of the storage rack relative to the robot body and a release state of enabling the movement of the storage rack relative to the robot body. When the limiting mechanism is in the release state and the storage rack moves relative to the robot body, the buffer assembly can keep the relative stability of the storage rack and the articles. The delivery robot comprises the above tray mechanism. The tray mechanism and the delivery robot disclosed by the present application can reduce the impact of the vibration and sudden stop of the delivery robot on the delivery articles, and improve the delivery safety, stability and reliability.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a pallet mechanism and a delivery robot. Background Technology

[0002] With the development of robotics technology, the types and performance of robots are becoming increasingly diverse to meet the intelligent work needs of different industries. Food delivery robots, as a new type of robot used for transporting food, are becoming more and more widespread, and can be applied in restaurants, canteens, and other settings to reduce the workload of service personnel.

[0003] Food delivery robots are typically equipped with trays for holding items, which are usually fixedly attached to the robot's frame. During operation, the robot may experience bumps due to uneven surfaces or obstacles. Because the tray is rigidly connected to the robot, the items on it may vibrate or tip over, especially if the items contain liquids, such as cupped beverages, which can easily cause spillage and seriously affect the quality of delivery. Furthermore, when the robot stops abruptly, the items on the tray may also tip over or fall due to inertia, affecting the stability and safety of the delivery.

[0004] Therefore, there is an urgent need for a pallet mechanism and a delivery robot to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a pallet mechanism and a delivery robot to reduce the probability of objects tipping over or falling off the pallet, thereby improving the stability and safety of delivery.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A tray mechanism includes a shelf, a limiting mechanism, and a buffer assembly. The shelf is used to place items and is connected to a robot body via the buffer assembly. The limiting mechanism is communicatively connected to a robot control component. Under the control of the control component, the limiting mechanism has a limiting state that restricts the movement of the shelf relative to the robot body and a releasing state that allows the shelf to move relative to the robot body.

[0008] When the limiting mechanism is in the released state and the shelf moves relative to the robot body, the buffer assembly can maintain the relative stability of the shelf and the item.

[0009] As an optional technical solution for the pallet mechanism, the cushioning component includes:

[0010] The mounting component extends in the left-right direction and has both ends for connection to the robot body;

[0011] The connector has a first end rotatably mounted on the mounting component, a second end connected to one end of the shelf, and the other opposite end of the shelf is freely disposed or movably connected to the robot body.

[0012] As an optional technical solution for the pallet mechanism, the first end of the connector is rotatably connected to the mounting member via a rotating component. The rotating component allows the connector to rotate about the extension direction of the mounting member, and the rotating component allows the connector to swing about the vertical direction and / or move along the extension direction of the mounting member.

[0013] As an optional technical solution for the pallet mechanism, the buffer assembly further includes a limiting member, which is installed on the mounting member and one is provided on each of the left and right sides of the connector, and the connector can flexibly contact the limiting member.

[0014] As an optional technical solution for a pallet mechanism, the pallet mechanism has an initial state. When the pallet mechanism is in the initial state, the connecting member abuts against the limiting member, and the abutting force between the limiting member and the connecting member in the initial state can be adjusted.

[0015] Alternatively, the pallet mechanism has an initial state, in which the connecting member and the limiting member are spaced apart, and the time interval between the limiting member and the connecting member in the initial state is adjustable.

[0016] As an optional technical solution for the pallet mechanism, the buffer assembly further includes an adjusting member, which is installed on the mounting member and corresponding to the limiting member. The adjusting member is located on the side of the limiting member away from the connecting member, and the adjusting member can move in the left-right direction to push against the limiting member.

[0017] As an optional technical solution for the pallet mechanism, the limiting mechanism includes a drive assembly, a mounting bracket, and a limiting component, wherein,

[0018] The mounting bracket is detachably connected to the robot body, and the drive assembly is mounted on the mounting bracket.

[0019] The limiting member can cooperate with the shelf under the drive of the drive assembly to put the limiting mechanism in the limiting state, or it can separate from the shelf under the drive of the drive assembly to put the limiting mechanism in the releasing state.

[0020] As an optional technical solution for the pallet mechanism, the limiting member has a clamping groove with two opposing limiting groove walls, and the shelf has a mating component. When the limiting mechanism is in the limiting state, the mating component extends into the clamping groove and abuts against the two limiting groove walls.

[0021] As an optional technical solution for the pallet mechanism, the mounting bracket includes:

[0022] A mounting plate is horizontally positioned and located on the outer side of one end of the shelf, and the drive assembly is mounted on the mounting plate;

[0023] A fixed rod extends along the left-right direction and has both ends for connection to the robot body;

[0024] The fastening unit secures the fixing rod to the mounting plate.

[0025] As an optional technical solution for the pallet mechanism, the limiting mechanism further includes a detection component, which is used to detect the position of the limiting member and can communicate with the control component. The control component can control the operation of the drive component through the detection signal of the detection component.

[0026] As an optional technical solution for the tray mechanism, the top or bottom of the shelf has a crossbar that extends in the left-right direction. The crossbar is connected to the robot body through the buffer assembly, and the limiting mechanism engages with the crossbar in the limiting state.

[0027] As an optional technical solution for the pallet mechanism, the pallet mechanism further includes mounting seats, two of which are spaced apart in the left-right direction, and the two mounting seats are respectively used to connect to the inner walls of the left and right sides of the robot body;

[0028] The mounting base has an upper-opening mounting groove. Both the limiting mechanism and the buffer assembly have rod-shaped structures that extend along the left-right direction. The two ends of the rod-shaped structures are respectively accommodated in the mounting groove.

[0029] A delivery robot, including the pallet mechanism described above.

[0030] The beneficial effects of this invention are as follows:

[0031] The tray mechanism provided by this invention, by setting a limiting mechanism with a restricted state and a released state, allows the limiting mechanism to be in the restricted state when items need to be retrieved or placed on the shelf, restricting the shelf's movement relative to the robot body. This keeps the shelf, limiting mechanism, and robot body relatively stable, thus avoiding the risk of items falling due to excessive shelf swaying during item retrieval, improving the convenience, reliability, and safety of item retrieval. During item handling, the limiting mechanism can be in the released state, allowing the shelf to move relative to the robot body. This allows the shelf to move relative to the robot body when the delivery robot encounters bumps or stops suddenly, buffering the impact and reducing the risk of items falling, tipping over, or vibrating excessively due to bumps or sudden stops, improving delivery safety and reliability. Furthermore, by setting a buffer component, the vibration generated by bumps or the inertial force generated by sudden stops can be absorbed and buffered, effectively preventing or mitigating the transmission of vibration from the robot body to the shelf, further improving the safety and reliability of the delivery robot in item delivery.

[0032] The delivery robot provided by this invention, by adopting the above-mentioned pallet mechanism, can improve the safety, stability and reliability of the delivery robot for goods, and improve delivery efficiency. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the delivery robot provided in an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the pallet mechanism provided in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the structure of the shelf and buffer assembly provided in an embodiment of the present invention;

[0036] Figure 4 yes Figure 3 A magnified view of a section at point I;

[0037] Figure 5 This is a cross-sectional view of the buffer component provided in an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the connecting rod provided in an embodiment of the present invention;

[0039] Figure 7 This is a partial structural schematic diagram of the pallet mechanism provided in an embodiment of the present invention;

[0040] Figure 8 This is a schematic diagram of the structure of the limiting mechanism and buffer assembly provided in the embodiments of the present invention;

[0041] Figure 9 This is a schematic diagram of the limiting mechanism provided in an embodiment of the present invention;

[0042] Figure 10 This is a side view of the limiting mechanism provided in an embodiment of the present invention.

[0043] The markings in the image are as follows:

[0044] 100. Pallet mechanism; 200. Robot body; 201. Side arm; 202. Top arm; 203. Display screen;

[0045] 1. Shelf; 11. Tray; 111. Placement slot; 112. Folded edge; 12. Crossbar; 13. Connector;

[0046] 2. Limiting mechanism; 21. Drive assembly; 211. Drive motor; 212. Lead screw; 213. Nut seat; 22. Mounting bracket; 221. Fixing rod; 222. Mounting plate; 223. Fastening unit; 2231. Fixing ring; 2232. Locking nut; 23. Adapter plate; 231. Main board; 232. Extension arm; 24. Limiting component; 241. Clamping groove; 242. Guide groove; 25. Guide assembly; 251. Guide sleeve; 252. Guide rod; 26. Detection assembly; 261. Sensing element; 262. Proximity switch; 262a. First proximity switch; 262b. Second proximity switch; 263. Switch bracket; 2631. Horizontal plate; 2632. Vertical plate;

[0047] 3. Buffer assembly; 31. Mounting component; 311. Anti-rotation plane; 32. Connecting rod; 321. Bearing hole; 322. Limiting ring; 323. Locking hole; 324. Rod through hole; 33. Spherical ball bearing; 34. Limiting component; 35. Adjusting assembly; 351. Threaded sleeve; 3511. Screw part; 3512. Limiting part; 352. Adjusting component; 3521. Wrench groove; 3522. Screw hole; 353. Fastener;

[0048] 4. Mounting components; 41. Mounting base; 411. Mounting slot; 42. First locking element; 43. Second locking element. Detailed Implementation

[0049] The present invention will now be described in further detail 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 not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0050] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0052] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0053] As shown in Figure 1 and Figure 2 As shown, this embodiment provides a delivery robot that can be applied in restaurants, canteens, supermarkets, or other scenarios requiring item delivery to deliver dishes or other items. In this embodiment, the structure of the delivery robot is described using a food delivery robot as an example.

[0054] The delivery robot includes a robot body 200 and a pallet mechanism 100. The pallet mechanism 100 is mounted on the robot body 200 and is used to carry items to be delivered. The robot body 200 can move automatically, thereby enabling the handling or transfer of items.

[0055] In this embodiment, the robot body 200 includes a mobile chassis and a frame mounted on the mobile chassis. The mobile chassis is used to enable autonomous movement of the robot body 200, and is equipped with a drive wheel mechanism, follower wheels, and obstacle avoidance radar. The frame is used to mount the pallet mechanism 100, which includes two side arms 201 arranged opposite to each other and spaced apart along the left-right direction of the delivery robot, and a top arm 202 connected to the top of the two side arms 201. The top arm 202, the two side arms 201, and the mobile chassis together form a through mounting space in the front-back direction, and the pallet mechanism 100 is mounted in the mounting space.

[0056] Furthermore, the robot body 200 is also equipped with a display screen 203 and control components. The display screen 203 is used to display delivery information to improve delivery accuracy and intelligence. The display screen 203 is preferably located on the top arm 202 and tilted upwards from front to back for easy viewing of the information displayed. The control components are used to control the robot's operation.

[0057] It is understood that the structure of the robot body 200 described above is only an exemplary structure, and the arrangement of the mobile chassis, frame, control components and display screen 203, etc. can all be made with reference to the prior art. This is not the focus of this invention and will not be described in detail here.

[0058] The tray mechanism 100 includes a shelf 1, a restraining mechanism 2, and a buffer assembly 3. The shelf 1 is used to place items and is connected to the robot body 200 via the buffer assembly 3. The restraining mechanism is communicatively connected to a control component. Under the control of the control component, the restraining mechanism 2 has a restraining state that restricts the movement of the shelf 1 relative to the robot body 200 and a released state that allows the shelf 1 to move relative to the robot body 200. When the restraining mechanism 2 is in the released state and the shelf 1 moves relative to the robot body 200, the buffer assembly 3 maintains the relative stability of the shelf 1 and the items.

[0059] The pallet mechanism 100 and delivery robot provided in this embodiment, by setting a limiting mechanism 2 with a limiting state and a releasing state, allow the limiting mechanism 2 to be in a limiting state when it is necessary to retrieve or place items on the shelf 1, restricting the shelf 1 from moving relative to the robot body 200. This keeps the shelf 1, the limiting mechanism 2, and the robot body 200 relatively stable, thereby avoiding the risk of items falling due to excessive shaking of the shelf 1 during item retrieval, and improving the convenience, reliability, and safety of item retrieval. During the handling of items, the limiting mechanism 2 can be in a releasing state. This allows the shelf 1 to move relative to the robot body 200. When the delivery robot encounters bumps or stops suddenly, the shelf 1 can move relative to the robot body 200 to buffer the impact and reduce the risk of items falling, tipping over, or vibrating excessively due to bumps or sudden stops, thus improving delivery safety and reliability. Furthermore, by setting up the buffer component 3, the vibration generated by bumps or the inertial force generated by sudden stops can be further absorbed and buffered, thereby effectively preventing or reducing the transmission of vibration from the robot body 200 to the shelf 1, further improving the safety and reliability of the delivery robot in delivering items.

[0060] It should be noted that the left-right, front-back, and height directions mentioned above are all based on the direction of the delivery robot when it is in assembly and normal use. That is, the front-back direction refers to the direction from the front side to the back side of the delivery robot, the left-right direction refers to the direction from the left side to the right side of the delivery robot, and the height direction is the vertical direction.

[0061] In this embodiment, the top of the shelf 1 is connected to the robot body 200 via a buffer assembly 3. The top of the shelf 1 is in a free state, and the buffer assembly 3 allows the shelf 1 to have degrees of freedom relative to the robot body 200, including swinging in the front-to-back direction, rotating in the left-to-right direction, and / or moving in the left-to-right direction. This arrangement can significantly reduce the impact of the robot body 200 on the shelf 1 due to stopping or bumps, while also simplifying the connection structure between the shelf 1 and the robot body 200, reducing the weight of the pallet mechanism 100, and lowering the cost of the pallet mechanism 100 and the delivery robot.

[0062] In other embodiments, the bottom end of the shelf 1 may be connected to the robot body 200 via a buffer assembly 3, and the top end of the shelf 1 may be movably connected to the robot body 200. The buffer assembly 3 allows the shelf 1 to have degrees of freedom relative to the robot body 200, such as swinging in the front-back direction, rotating in the left-right direction, and / or moving in the left-right direction. For example, the top end of the shelf 1 may be movably connected to the robot body 200 via a spring, so that while the spring provides support for the top end of the shelf 1, the shelf 1 can have multiple degrees of freedom relative to the robot body 200.

[0063] like Figure 2 As shown, in this embodiment, the shelf 1 includes a crossbar 12, trays 11, and adapters 13. At least two trays 11 are spaced vertically apart, forming a storage space between adjacent trays 11, which are used to hold items. The crossbar 12 is located on top of the uppermost tray 11 and cooperates with the buffer assembly 3 and the limiting mechanism 2. Adapters 13 connect adjacent trays 11 and between the uppermost tray 11 and the mounting plate 222, connecting all trays 11 and the crossbar 12 to form a rigid whole. This structural design of the shelf 1 improves the ease of connection between the shelf 1 and the buffer assembly 3, and also improves the ease of docking between the shelf 1 and the limiting mechanism 2, resulting in a simpler overall structure for the shelf 1.

[0064] The upper surface of the tray 11 is recessed downward to form a placement groove 111, which is used to place tableware and other items to improve the stability of the items on the tray 11. To improve the connection between the tray 11 and the adapter 13, the left and right sides of the tray 11 are folded upward to form folded edges 112. The folded edges 112 protrude upward from the tray 11 to increase the contact area between the adapter 13 and the tray 11 and improve the reliability of the connection.

[0065] Each tray 11 has a connecting member 13 on both its left and right sides, with each connecting member 13 corresponding to the other on both sides to improve the structural stability of the shelf 1. The connecting member 13 is preferably a plate-like structure, perpendicular to the left and right direction, to simplify its structure and reduce its processing cost. The upper end of the connecting member 13 connects to the corresponding tray 11 or crossbar 12, and the lower end connects to the folded edge 112 of the corresponding tray 11. In other embodiments, the connecting member 13 can also connect between the back sides of two adjacent trays 11, or between the back side of the tray 11 and the crossbar 12.

[0066] The adapter 13 preferably has a forward-facing arc-shaped structure, and its lower end connects to the rear end of the tray 11. This allows the adapter 13 to provide clearance for the hanging ears of cooking utensils supported on the tray 11, improving the convenience of placing cooking utensils on the tray 11. Simultaneously, the upper and lower ends of the adapter 13 are staggered in the front-back direction, allowing two adapters 13 located on the same side of the tray 11 and connected to the same tray 11 to have their connection positions staggered in the front-back direction, reducing interference between structures. The width of the adapter 13 in the front-back direction preferably gradually increases from top to bottom, which helps to improve the connection strength between the adapter 13 and the tray 11.

[0067] like Figures 3 to 6As shown, the buffer assembly 3 includes a mounting member 31 and a connecting member 32. The mounting member 31 extends in the left-right direction and is mounted on the robot body 200 at both ends. The upper end of the connecting member 32 is rotatably mounted on the mounting member 31, and the lower end of the connecting member 32 is connected to the shelf 1. This arrangement allows the shelf 1 to rotate around the mounting member 31. Since the mounting member 31 extends in the left-right direction, the shelf 1 has the freedom to swing in the front-back direction. Therefore, when the robot body 200 stops suddenly, the shelf 1 can continue to move forward to buffer the impact caused by the sudden stop of the robot body 200, thereby improving the delivery safety and stability of the delivery robot.

[0068] In this embodiment, the lower end of the connector 32 is connected to the crossbar 12 to simplify the connection structure between the buffer assembly 3 and the shelf 1. In other embodiments, the top of the shelf 1 may be provided with other mating structures that connect with the connector 32, such as a mounting base 41, a protrusion, or other structures.

[0069] Furthermore, the upper end of the connector 32 is rotatably connected to the mounting member 31 via a rotating component. The rotating component allows the connector 32 to rotate relative to the mounting member 31 about the extension direction of the mounting member 31, and also allows the connector 32 to swing relative to the mounting member 31 about the vertical direction and / or move left and right. This gives the connector 32 not only a degree of freedom to swing in the front-back direction, but also a degree of freedom to swing in the left-right direction and / or move in the left-right direction. This ensures that the shelf 1 has a degree of freedom to swing in the left-right direction, a degree of freedom to swing in the front-back direction, and / or a degree of freedom to move in the left-right direction relative to the robot body 200, thereby improving the movement flexibility of the shelf 1. It can not only buffer the impact caused by sudden stops, but also the impact caused by bumps due to uneven road surfaces, improving the shock absorption capacity and further enhancing the safety and stability of delivery.

[0070] In this embodiment, the rotating component includes a spherical ball bearing 33, the inner ring of which is securely fitted onto the mounting member 31, and the outer periphery of which is embedded in the connecting member 32. This simplifies the overall structure of the buffer assembly 3 and improves the smoothness of rotation of the connecting member 32.

[0071] In this embodiment, the mounting member 31 is a rod-shaped structure extending in the left-right direction, which improves the ease of installation of the rotating component and other structures of the buffer assembly 3 on the mounting member 31 and simplifies the structure of the buffer assembly 3. In other embodiments, the mounting member 31 may be plate-shaped or other structures, and the mounting member 31 may be provided with a mounting base 41 connected to the ball bearing 33.

[0072] To improve the ease of assembly between the ball bearing 33 and the connector 32, a bearing hole 321 is provided on the connector 32, and the outer ring of the ball bearing 33 is interference-fitted with the bearing hole 321. Preferably, a limiting ring 322 protrudes from the inner wall of one end of the bearing hole 321, and the limiting ring 322 abuts against the end face of the outer ring of the ball bearing 33 to provide positioning and limiting for the installation of the ball bearing 33 in the bearing hole 321. Preferably, a locking hole 323 is provided in the hole wall of the bearing hole 321, and the locking hole 323 penetrates the outer wall of the connector 32. A fastening screw passes through the locking hole 323, and the end face of the fastening screw abuts against the outer ring of the ball bearing 33 to further secure the ball bearing 33 and the connector 32, thereby improving the assembly reliability of the ball bearing 33.

[0073] The lower end of the connector 32 has a rod through hole 324, through which the crossbar 12 passes. A locking hole 323, penetrating the outer wall of the connector 32, is provided on the side wall of the rod through hole 324. A fastening screw passes through the locking hole 323, with its end inserted into the rod through hole 324 and pressing against the crossbar 12, thereby achieving a relative fastening between the crossbar 12 and the connector 32. In this embodiment, the connector 32 is located at the middle of the crossbar 12 along its length to improve the force balance of the shelf 1.

[0074] The buffer assembly 3 also includes limiting members 34, which are installed on the mounting member 31 and one on each side of the connecting member 32. The connecting member 32 can flexibly contact the limiting members 34. This arrangement allows the limiting members 34 to restrict the range of movement of the connecting member 32 in the left and right directions and the range of rotation of the connecting member 32 around the vertical direction. This, in turn, limits the range of movement of the shelf 1 in the left and right directions and the range of rotation around the vertical axis, thereby preventing the shelf 1 from colliding with the robot body 200, improving the safety and reliability of the shelf 1, and extending the service life of the delivery robot.

[0075] In this embodiment, the limiting member 34 is made of elastic materials such as rubber or silicone. The limiting member 34 has the ability to deform along the mounting member 31, thereby enhancing its shock absorption capacity and better enabling the connecting member 32 to return to its original position after movement. In other embodiments, the limiting member 34 can be a structure such as a spring that can deform in the left-right direction, as long as the deformation of the limiting member 34 in the left-right direction can achieve the buffering and limiting of the movement of the connecting member 32.

[0076] Preferably, the tray mechanism 100 has an initial state. When the tray mechanism 100 is in the initial state, the connecting member 32 abuts against the limiting member 34, thereby enhancing the cushioning effect. Preferably, the abutting force between the limiting member 34 and the connecting member 32 in the initial state is adjustable. This allows the deformation capacity of the limiting member 34 to be changed by altering the abutting force between the limiting member 34 and the connecting member 32, thereby changing the degree of restriction on the movement range of the connecting member 32 by the limiting member 34. This allows the cushioning capacity of the buffer assembly 3 on the connecting member 32 to be adjusted according to the dimensions of the shelf 1 and the robot body 200, ensuring that the shelf 1 has sufficient freedom of movement while avoiding interference between the shelf 1 and the robot body 200, and improving the versatility of the buffer assembly 3 for shelves 1 and robot bodies 200 of different sizes.

[0077] In other embodiments, the tray mechanism 100 has an initial state in which the connecting member 32 and the limiting member 34 are spaced apart, and the connecting member 32 can move to abut against the limiting member 34 to limit the range of rotation and movement of the connecting member 32 in the vertical direction. In this configuration, it is preferable that the time interval between the limiting member 34 and the connecting member 32 in the initial state is adjustable, thereby allowing the buffering capacity of the buffer assembly 3 on the connecting member 32 to be adjusted according to the dimensions of the shelf 1 and the robot body 200.

[0078] The buffer assembly 3 preferably also includes an adjustment assembly 35. The adjustment assembly 35 is disposed on the mounting member 31 and corresponds one-to-one with the limiting member 34. The adjustment assembly 35 includes an adjustment member 352, which is located on the side of the limiting member 34 away from the connecting member 32. The adjustment member 352 can move in the left and right direction to push against the limiting member 34, thereby changing the pressure between the limiting member 34 and the connecting member 32 in the initial state. This adjustment structure is simple in structure and easy to set up.

[0079] Furthermore, the adjusting assembly 35 includes a threaded sleeve 351, which is fixedly sleeved on the mounting member 31 and has external threads; the adjusting member 352 has internal threads, is screwed onto the threaded sleeve 351, and is positioned on the side of the limiting member 34 away from the connecting member 32 and abuts against the limiting member 34. The arrangement of the adjusting member 352 and the threaded sleeve 351 allows the force applied by the adjusting member 352 to the limiting member 34 to be changed by screwing on the adjusting member 352. This can cause the adjusting member 352 to deform against the limiting member 34 towards the side closer to the connecting member 32, thereby increasing the pressure of the limiting member 34 against the connecting member 32, or cause the adjusting member 352 to rotate away from the connecting member 32, thereby reducing the pressure of the adjusting member 352 against the limiting member 34, and thus reducing the pressure of the limiting member 34 against the connecting member 32. This type of adjustment structure improves the ease of adjustment of the adjustment component 352, makes it easier to control the adjustment accuracy, and ensures the stability of the adjustment component 352 on the mounting component 31 after adjustment.

[0080] In another embodiment, the mounting member 31 may have a threaded section with external threads directly provided on it, and the adjusting member 352 may be screwed onto the threaded section. In yet another embodiment, the mounting member 31 may not be a rod-shaped structure, and the adjusting member 352 may be slidably disposed on the mounting member 31 to achieve movement of the adjusting member 352 in the direction of approaching or moving away from the limiting member 34.

[0081] In this embodiment, the limiting member 34 is fitted onto the threaded sleeve 351 to ensure the adjustment stroke and setting stability of the adjusting member 352, and to prevent the adjusting member 352 from dislodging from the threaded sleeve 351 during adjustment. Preferably, the limiting member 34 has a through hole, the diameter of which is larger than the outer diameter of the threaded sleeve 351. The threaded sleeve 351 passes through the through hole to avoid excessive friction between the threads on the threaded sleeve 351 and the limiting member 34. In other embodiments, the limiting member 34 can also be directly fitted onto the mounting member 31.

[0082] To prevent the adjusting member 352 from dislodging from the threaded sleeve 351 in a direction away from the limiting member 34, the threaded sleeve 351 preferably includes a screw portion 3511 and a limiting portion 3512. The limiting portion 3512 protrudes radially from the outer side of the screw portion 3511 and is located on the side of the screw portion 3511 away from the limiting member 34. The adjusting member 352 is screwed onto the screw portion 3511.

[0083] The limiting part 3512 has a fastening hole, and the mounting shaft has a mounting groove. A fastener 353 is installed in the fastening hole, and the end of the fastener 353 extends into the mounting groove. This restricts the axial and circumferential positions of the threaded sleeve 351 on the mounting part 31, preventing the threaded sleeve 351 from rotating relative to the mounting part 31. The fastener 353 can be threaded to the groove wall of the mounting groove or to the hole wall of the fastening hole.

[0084] Furthermore, to improve the ease of adjustment of the adjusting member 352, a wrench groove 3521 is provided on the outer peripheral wall of the adjusting member 352. The wrench groove 3521 can be used to engage with a wrench to tighten the adjusting member 352. Preferably, multiple wrench grooves 3521 are provided at intervals along the circumference of the adjusting member 352.

[0085] Preferably, the outer peripheral wall of the adjusting member 352 is also provided with screw holes 3522, and a fastening screw is screwed into the screw hole 3522. The end of the fastening screw abuts against the threaded sleeve 351 to ensure the positional stability of the adjusting member 352 and the threaded sleeve 351 after adjustment, and to ensure the reliability of the buffer assembly 3. Preferably, multiple screw holes 3522 are provided at intervals along the circumference of the adjusting member 352, and the screw holes 3522 and the wrench groove 3521 are preferably staggered in the circumference of the adjusting member 352.

[0086] like Figures 7 to 10 As shown, preferably, the limiting mechanism 2 is installed at the top or bottom of the shelf 1, thereby avoiding the setting of the limiting mechanism 2 from increasing the size of the pallet mechanism 100 in the left and right direction, thus reducing the width of the delivery robot, improving the delivery flexibility of the delivery robot and the limitation on the delivery environment; or, on the basis of keeping the width of the delivery robot unchanged, avoiding the limiting mechanism 2 from occupying the space of the shelf 1 in the left and right direction, increasing the width of the shelf 1 in the left and right direction, and improving the item carrying capacity of the shelf 1.

[0087] In other embodiments, the limiting mechanism 2 may also be disposed on one side or opposite sides of the shelf 1 in the left-right direction. For example, the limiting mechanism 2 may include two clamping units, which are respectively disposed on the left and right sides of the shelf 1. The two clamping units can cooperate to clamp or release the shelf 1. Thus, when the clamping unit clamps the shelf 1, it restricts the movement of the shelf 1 relative to the robot body 200. When the clamping unit releases the shelf 1, the limiting mechanism 2 is in a released state.

[0088] Since the bottom of the shelf 1 is usually close to the mobile chassis and there are many structures installed on the mobile chassis, in this embodiment, the limiting mechanism 2 and the buffer assembly 3 are preferably installed on the top of the shelf 1. This improves the spatial layout rationality of the limiting mechanism 2 and the buffer assembly 3 in the installation space, so that the limiting mechanism 2 and the buffer assembly 3 can act on the same mating part of the shelf 1, simplifying the structure of the shelf 1 and reducing the probability of interference between the limiting mechanism 2 and the buffer assembly 3 and the mobile chassis.

[0089] The limiting mechanism 2 preferably includes a limiting member 24 and a drive assembly 21. The drive assembly 21 drives the limiting member 24 to move, allowing the limiting member 24 to switch between an engaged position and a disengaged position. When the limiting member 24 is in the engaged position, it is connected to the shelf 1 to limit the movement of the shelf 1 relative to the robot body 200. When the limiting member 24 is in the disengaged position, the limiting mechanism 2 separates from the shelf 1 to release the constraint on the shelf 1. Constraining the shelf 1 by connecting the limiting member 24 to the shelf 1 enhances the convenience of constraining the shelf 1 and improves the operational reliability of the limiting mechanism 2.

[0090] The limiting member 24 has a clamping groove 241 with two opposing limiting groove walls. The shelf 1 has a mating component. When the limiting member 24 is in the mating position, the mating component extends into the clamping groove 241 and abuts against the two limiting groove walls. This arrangement improves the ease of mating and separating the limiting member 24 from the shelf 1, and enhances docking efficiency and reliability.

[0091] In this embodiment, the mating component is the crossbar 12, the limiting member 24 is located on the upper side of the crossbar 12, and the clamping groove 241 is arranged through in the left-right direction with its opening facing downwards and towards the crossbar 12. When the limiting member 24 is in the mating position, the crossbar 12 is located in the clamping groove 241 and abuts against the two side walls of the clamping groove 241 to limit the movement of the crossbar 12 relative to the limiting member 24. That is, the swinging motion of the crossbar 12 in the front-back direction and the deflection motion around the vertical direction are limited by the two side walls of the clamping groove 241 in the front-back direction. In other embodiments, the mating component can also be other structures, such as a protrusion structure provided on the shelf 1.

[0092] The shape of the clamping groove 241 is preferably adapted to the shape of the crossbar 12 to increase the contact area between the crossbar 12 and the groove wall of the clamping groove 241, thereby enhancing the restriction on the movement of the crossbar 12. To improve the convenience of the crossbar 12 entering the clamping groove 241, the limiting member 24 also has a guide groove 242, which is connected to the open end of the clamping groove 241. The width of the guide groove 242 gradually increases in the direction away from the clamping groove 241 to guide the crossbar 12 into the clamping groove 241.

[0093] The limiting component 24 is preferably supported by elastic materials such as rubber or silicone to reduce friction on the crossbar 12 and extend the service life of the pallet mechanism 100. Simultaneously, this design allows the size of the clamping groove 241 to be appropriately smaller than the size of the crossbar 12. That is, when the mating component is located in the clamping groove 241, the groove wall is compressed and deformed. This deformation of the groove wall allows for a secure enclosure of the crossbar 12, further enhancing the constraint on its movement.

[0094] Preferably, two limiting members 24 are spaced apart in the left-right direction to increase the constraint positions on the crossbar 12, thereby improving the limiting ability of the limiting mechanism 2 on the shelf 1. Furthermore, the arrangement of two limiting members 24 can better limit the deflection of the crossbar 12 around the vertical axis. The drive assembly 21 drives multiple limiting members 24 to move synchronously, achieving synchronous clamping or releasing of the crossbar 12, and can reduce the number of drive assemblies 21, reducing the cost of the limiting mechanism 2, thereby reducing the cost of the tray mechanism 100.

[0095] Preferably, in this embodiment, the limiting mechanism 2 further includes an adapter plate 23, on which all limiting members 24 are mounted. The driving assembly 21 is connected to the adapter plate 23 to drive the adapter plate 23 to move. The adapter plate 23 improves the ease of installation of the limiting members 24 and the ease of transmission connection between the driving assembly 21 and the limiting members 24.

[0096] The adapter plate 23 preferably includes a main plate 231 and extension arms 232. The extension arms 232 extend in the front-to-back direction and are spaced apart in the left-to-right direction. The rear end of each extension arm 232 is connected to the main plate 231, and the main plate 231 is located behind the crossbar 12. The main plate 231 and the two extension arms 232 together form a clearance space with a front opening. The connector 32 is located within this clearance space, and two limiting members 34 are respectively installed on the lower side of the two extension arms 232. This structure facilitates clearance for the connector 32, allowing the two limiting members 24 to be located on either side of the connector 32, effectively enhancing the constraint performance on the crossbar 12 and improving the force balance of the shelf 1.

[0097] The limiting mechanism 2 also includes a mounting bracket 22, which is detachably connected between the left and right sides of the robot body 200. The drive assembly 21 is mounted on the mounting bracket 22. Specifically, the mounting bracket 22 includes a mounting plate 222, a fixing rod 221, and a fastening unit 223. The mounting plate 222 is horizontally positioned and located on the outer side of one end of the shelf 1, and the drive assembly 21 is mounted on the mounting plate 222; the fixing rod 221 extends in the left-right direction and its two ends are used to connect to the robot body 200; the fixing rod 221 and the mounting plate 222 are fastened together by the fastening unit 223. This allows for the reduction of the width of the mounting plate 222 in the left-right direction while ensuring that the installation requirements of the drive assembly 21 are met, thereby reducing the weight of the limiting mechanism 2 and the tray mechanism 100 and lowering costs.

[0098] The fixing rod 221 and the mounting member 31 are parallel and spaced apart in the front-to-back direction. The mounting member 31 is a rod-shaped structure and is connected to the mounting plate 222 by a fastening unit 223. In this embodiment, the mounting plate 222 is stably mounted on the robot body 200 via the fixing rod 221 and the mounting member 31 in the buffer assembly 3, effectively simplifying the mounting structure of the mounting plate 222 and the structure of the tray mechanism 100. In other embodiments, two fixing rods 221 can be spaced apart in the front-to-back direction, with each fixing rod 221 corresponding to a set of fastening units 223, so that the mounting plate 222 is fastened by the two fixing rods 221, thus achieving separation of the limiting mechanism 2 and the buffer assembly 3.

[0099] To improve the connection reliability between the fixing rod 221 and the mounting plate 222, the outer wall of the fixing rod 221 has an abutting plane, which abuts against the upper surface of the mounting plate 222. This makes the fixing rod 221 and the mounting plate 222 in surface contact, preventing the fixing rod 221 and the mounting plate 222 from rotating relative to each other and improving the fastening reliability of the two.

[0100] The fastening unit 223 includes a retaining ring 2231 and a locking nut 2232. The retaining ring 2231 is U-shaped, and both ends of the retaining ring 2231 pass through the mounting plate 222 and have external threads. The horizontal part of the U-shape presses the fixing rod 221 against the mounting plate 222. Both ends of the retaining ring 2231 are threaded with locking nuts 2232, and the locking nuts 2232 are in contact with the side of the mounting plate 222 away from the fixing rod 221.

[0101] The structure of the fastening unit 223 allows the retaining ring 2231 to be moved upward by tightening the locking nut 2232, thereby releasing its contact with the fixing rod 221. This allows the fixing rod 221 to be directly pulled out of the retaining ring 2231, improving the ease of assembly and disassembly of the fixing rod 221 from the mounting plate 222. In other embodiments, screws or bolts can be used to directly fasten the mounting plate 222 and the fixing rod 221.

[0102] The drive assembly 21 includes a drive motor 211 and a lead screw and nut assembly. The drive motor 211 is mounted on the mounting plate 222 with its drive shaft arranged vertically. The lead screw and nut assembly includes a lead screw 212 and a nut seat 213 threadedly engaged with the lead screw 212. The nut seat 213 is fixedly mounted on the adapter plate 23, and the upper end of the lead screw 212 is connected to the motor shaft of the drive motor 211. The limiting mechanism 2 also includes a guide assembly 25, which guides the vertical movement of the adapter plate 23. Thus, when the drive motor 211 is running, the motor shaft rotates, causing the lead screw 212 to rotate. The guide assembly 25 limits the rotation of the adapter plate 23, thereby limiting the rotation of the nut seat 213. That is, the nut seat 213 moves up and down along the lead screw 212, thereby causing the limiting member 24 to move up and down, realizing the switching of the limiting member 24 between the engaged position and the disengaged position.

[0103] In this embodiment, the movement of the limiting member 24 is controlled by the drive motor 211 in conjunction with the lead screw and nut assembly. In other embodiments, the drive assembly 21 can also adopt other structural forms to realize the movement of the adapter plate 23 in the vertical direction, such as the drive assembly 21 can adopt a piston cylinder structure, etc.

[0104] The guide assembly 25 includes a guide rod 252 and a guide sleeve 251. The guide sleeve 251 is fixedly installed on the adapter plate 23 and has a vertically penetrating guide hole. The guide rod 252 slides through the guide hole, and its upper end is connected to the mounting plate 222. Preferably, at least two guide assemblies 25 are provided to improve guiding reliability. In this embodiment, one set of guide assemblies 25 is provided on each of the front and rear sides of the lead screw and nut assembly. In other embodiments, four guide assemblies 25 can be arranged in a rectangular pattern, with the lead screw and nut assembly positioned in the middle of the area formed by the four guide assemblies 25.

[0105] Both the guide sleeve 251 and the nut seat 213 have a T-shaped structure. The lower end face of the horizontal part of the T-shaped structure abuts against the upper end face of the adapter plate 23, and the horizontal part is fastened to the adapter plate 23 with screws. The vertical part of the T-shaped structure passes through the adapter plate 23. This not only enables the installation and positioning of the guide sleeve 251 and the nut seat 213 on the adapter plate 23, but also improves the convenience of connecting the guide sleeve 251 and the nut seat 213 to the adapter plate 23.

[0106] The width of the main body portion 231 of the adapter plate 23 in the left-right direction is preferably gradually reduced from front to back, so that the front end of the adapter plate 23 has sufficient width to extend the arm portion 232 while reducing the overall size of the adapter plate 23 and reducing the weight of the adapter plate 23, thereby reducing the weight of the limiting mechanism 2 and the pallet mechanism 100.

[0107] To control the operation of the drive assembly 21, the limiting mechanism 2 also includes a detection component 26. The detection component 26 is used to detect the operating position of the limiting member 24 to control the operating state of the drive assembly 21. The delivery robot also includes a controller, which is communicatively connected to both the drive assembly 21 and the detection component 26. The controller can control the operation of the drive assembly 21 based on the detection results of the detection component 26.

[0108] The detection assembly 26 includes a sensor 261 and a proximity switch assembly. One of the sensor 261 and the proximity switch assembly is fixed relative to the fixed component of the drive assembly 21, and the other of the proximity switch assembly and the sensor 261 is fixed relative to the limiting component 24. The proximity switch assembly has two proximity switches 262 spaced apart in the direction of movement of the limiting component 24. The two proximity switches 262 are a first proximity switch 262a and a second proximity switch 262b. The first proximity switch 262a is triggered by the sensor 261 when the limiting component 24 is in the engaged position, and the second proximity switch 262b is triggered by the sensor 261 when the limiting component 24 is in the disengaged position.

[0109] This configuration allows the operating position of the limiting member 24 to be determined by the difference in signals from the two proximity switches 262. When the limiting member 24 moves to the mating position, the controller can control the drive assembly 21 to stop running to prevent the limiting member 24 from continuing to move toward the crossbar 12 and causing compression or collision to the shelf 1. When the limiting member 24 moves to the separation position, the controller can control the drive assembly 21 to stop moving to prevent the adapter plate 23 from moving upward and colliding with the mounting plate 222 or the structure between the adapter plate 23 and the mounting plate 222 from being compressed or collided, thereby improving the safety and reliability of the limiting mechanism 2.

[0110] In this embodiment, the proximity switch assembly is mounted on the mounting bracket 22, and the sensing element 261 is mounted on the adapter plate 23, thereby reducing the driving load on the drive assembly 21 and saving energy. In other embodiments, the proximity switch assembly may be mounted on the adapter plate 23, and the sensing element 261 may be mounted on the mounting plate 222.

[0111] To improve the ease of installation of the proximity switches 262, the detection assembly 26 also includes a switch bracket 263, which is mounted on one side of the mounting plate 222. Both proximity switches 262 are mounted on the switch bracket 263. The switch bracket 263 includes a horizontal plate portion 2631 and a vertical plate portion 2632 that are vertically connected. The horizontal plate portion 2631 is detachably connected to the mounting plate 222, and the proximity switches 262 are mounted on the vertical plate portion 2632, which is located on the outside of the mounting plate 222.

[0112] The detection light of proximity switch 262 is arranged vertically, and the sensing element 261 extends between the first proximity switch 262a and the second proximity switch 262b, thereby improving the reliability of detection and reducing the probability of other structures interfering with the detection results. In other embodiments, the detection line of proximity switch 262 can also be arranged horizontally, that is, the vertical plate 2632 and the mounting plate 222 are spaced apart, and the proximity switch 262 is mounted on the side of the vertical plate 2632 facing the mounting plate 222. When the proximity switch 262 moves to be directly opposite the sensing element 261 in the left-right direction, the proximity switch 262 is triggered. Specifically, the sensing element 261 extends in the left-right direction, and one end of the sensing element 261 is detachably connected to the adapter plate 23, while the other end of the sensing element 261 is located between the two proximity switches 262.

[0113] Furthermore, the mounting positions of the first proximity switch 262a and / or the second proximity switch 262b on the switch bracket 263 can be adjusted along the direction of movement. This allows adjustment of the distance between the first proximity switch 262a and the sensing element 261 when the limiting member 24 is in the mating position, ensuring that the first proximity switch 262a is triggered precisely. At the same time, it also allows adjustment of the distance between the second proximity switch 262b and the sensing element 261 when the limiting member 34 is in the disengaged position, ensuring that the second proximity switch 262b is triggered precisely, thereby improving the control accuracy of the drive assembly 21.

[0114] The pallet mechanism 100 also includes a mounting component 4, which is provided on the left and right inner sides of the robot body 200. The left and right ends of the buffer component 3 and the limiting mechanism 2 are detachably connected to the mounting component 4. The mounting component 4 is detachably connected to the side arm 201 of the robot body 200, thereby improving the connection convenience of the buffer component 3 and the limiting mechanism 2 and reducing the processing difficulty of the robot body 200.

[0115] Preferably, the mounting base 41 has an upper-opening mounting groove 411. Both the limiting mechanism 2 and the buffer assembly 3 have rod-shaped structures that extend in the left-right direction, with both ends of the rod-shaped structures respectively accommodated in the mounting groove 411. That is, each mounting base 41 has two mounting grooves 411. In this embodiment, both ends of the fixing rod 221 are respectively inserted into the mounting grooves 411 of the two mounting bases 41, and both ends of the mounting member 31 are respectively inserted into the two mounting grooves 411, thereby improving the ease of installation and disassembly of the limiting mechanism 2 and the buffer assembly 3.

[0116] Furthermore, the mounting base 41 is detachably connected to the side arm 201 via the first locking member 42, and the mounting member 31 and the fixing rod 221 are both connected to the bottom of the mounting groove 411 via the vertically arranged second locking member 43, so as to improve the installation stability and disassembly convenience.

[0117] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A pallet mechanism, characterized in that, The system includes a shelf (1), a limiting mechanism (2), and a buffer assembly (3). The shelf (1) is used to place items. The shelf (1) is connected to the robot body (200) through the buffer assembly (3). The limiting mechanism (2) can communicate with the robot's control assembly. Under the control of the control assembly, the limiting mechanism (2) has a limiting state that restricts the movement of the shelf (1) relative to the robot body (200) and a releasing state that allows the shelf (1) to move relative to the robot body (200). When the limiting mechanism (2) is in the released state and the shelf (1) moves relative to the robot body (200), the buffer assembly (3) can maintain the relative stability of the shelf (1) and the item. The buffer component (3) includes: Mounting component (31) extends in the left-right direction and has both ends for connection to the robot body (200); The connector (32) has a first end rotatably mounted on the mounting component (31) and a second end connected to one end of the shelf (1). The other opposite end of the shelf (1) is freely set or movably connected to the robot body (200). The buffer assembly (3) further includes a limiting member (34), which is installed on the mounting member (31) and one is provided on each of the left and right sides of the connector (32). The connector (32) can flexibly contact the limiting member (34). The buffer assembly (3) further includes an adjusting member (352), which is installed on the mounting member (31) and is correspondingly set with the limiting member (34). The adjusting member (352) is located on the side of the limiting member (34) away from the connecting member (32). The adjusting member (352) can move in the left and right direction to push against the limiting member (34). The limiting mechanism (2) includes a drive assembly (21), a mounting bracket (22), and a limiting element (24), wherein, The mounting bracket (22) is detachably connected to the robot body (200), and the drive assembly (21) is mounted on the mounting bracket (22). The limiting member (24) can cooperate with the shelf (1) under the drive of the drive assembly (21) to put the limiting mechanism (2) in the limiting state, and can also separate from the shelf (1) under the drive of the drive assembly (21) to put the limiting mechanism (2) in the releasing state; The limiting member (24) has a clamping groove (241) with two opposing limiting groove walls. The shelf (1) has a cooperating component. When the limiting mechanism (2) is in the limiting state, the cooperating component extends into the clamping groove (241) and abuts against the two limiting groove walls.

2. The pallet mechanism according to claim 1, characterized in that, The first end of the connector (32) is rotatably connected to the mounting (31) via a rotating component, the rotating component allowing the connector (32) to rotate about the extension direction of the mounting (31), and the rotating component allowing the connector (32) to swing about the vertical direction and / or move along the extension direction of the mounting (31).

3. The pallet mechanism according to claim 1, characterized in that, The pallet mechanism has an initial state. When the pallet mechanism is in the initial state, the connecting member (32) abuts against the limiting member (34), and the abutting force between the limiting member (34) and the connecting member (32) in the initial state can be adjusted. Alternatively, the pallet mechanism has an initial state in which the connecting member (32) and the limiting member (34) are spaced apart, and the time interval between the limiting member (34) and the connecting member (32) in the initial state is adjustable.

4. The pallet mechanism according to claim 1, characterized in that, The mounting bracket (22) includes: Mounting plate (222) is horizontally positioned and located on the outer side of one end of the shelf (1), and the drive assembly (21) is mounted on the mounting plate (222). A fixed rod (221) extends along the left-right direction and has both ends for connection to the robot body (200); Fastening unit (223), the fixing rod (221) and the mounting plate (222) are fastened together by the fastening unit (223).

5. The pallet mechanism according to claim 1, characterized in that, The limiting mechanism (2) further includes a detection component (26), which is used to detect the position of the limiting member (24) and can communicate with the control component. The control component can control the operation of the drive component (21) through the detection signal of the detection component (26).

6. The pallet mechanism according to claim 1, characterized in that, The shelf (1) has a crossbar (12) at its top or bottom, the crossbar (12) extends in the left and right direction, the crossbar (12) is connected to the robot body (200) through the buffer assembly (3), and the limiting mechanism (2) docks with the crossbar (12) in the limiting state.

7. The pallet mechanism according to claim 1, characterized in that, The pallet mechanism also includes mounting bases (41), two mounting bases (41) are spaced apart in the left and right directions, and the two mounting bases (41) are respectively used to connect to the inner walls of the left and right sides of the robot body (200); The mounting base (41) has an upper opening mounting groove (411). The limiting mechanism (2) and the buffer assembly (3) both have rod-shaped structures. The rod-shaped structures extend along the left and right directions, and the two ends of the rod-shaped structures are respectively accommodated in the mounting groove (411).

8. A delivery robot, characterized in that, Includes the pallet mechanism as described in any one of claims 1-7.

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