Fork-tooth and handling robot

Abstract

This invention provides a fork and a handling robot, relating to the field of cargo handling. The fork includes a fork body, a detection unit, and a collision detection mechanism. The detection unit is fixed to the fork body. The collision detection mechanism includes a collision plate, a blocking part, and a fixed base. The fixed base is fixed to the fork body, and the collision plate is movably connected to the fixed base. The collision plate has an opening, and the blocking part is hinged to the fixed base. The collision plate can move towards or away from the fork to drive the blocking part to move between a first position and a second position. When the blocking part is in the first position, the orthographic projection of the detection part on the collision plate is located inside the opening. When the blocking part is in the second position, the orthographic projection of the blocking part on the collision plate covers the opening. The fork of this invention solves the problem that the existing collision detection mechanisms in forks have a large number of sensors and complex sensor settings, which increases the cost of the fork.

Description

Technical Field

[0001] This application relates to the field of cargo handling, and in particular to a fork and a handling robot. Background Technology

[0002] With the development of society and economy and the improvement of industrialization, the handling of goods is increasingly being undertaken by handling robots. To avoid collisions with obstacles during movement, the forks of the handling robot are generally equipped with detection devices. Before the handling robot actually picks up the palletized goods, the detection device needs to detect in advance whether there are any obvious obstacles in front of the forks. If it determines that there are no obstacles, the robot can pick up the goods.

[0003] However, as the fork teeth extend into the pallet hole, the detection device may not be able to detect less obvious obstacles (such as loose straps), posing a risk of collision with these obstacles during the robot's movement. Additionally, the fork teeth may scrape against the side of the pallet hole due to the robot's trajectory not being parallel to the pallet.

[0004] To avoid the above phenomenon, a cargo collision detection mechanism can be installed on the fork tines. However, the number of sensors required on the fork tines is large and the sensor setup is complex, which increases the cost of the fork tines. Summary of the Invention

[0005] In view of this, this application provides a fork tooth to solve the problem that the existing collision detection mechanism equipped with a fork tooth has a large number of sensors and complex sensor settings, which increases the cost of the fork tooth.

[0006] According to one aspect of this application, a fork tooth is provided, the fork tooth including a fork tooth body, a detection part and a collision detection mechanism, wherein the detection part is fixed to the fork tooth body;

[0007] The collision detection mechanism includes a collision plate, a shielding part, and a fixed seat. The fixed seat is fixed to the fork tooth body. The collision plate is movably connected to the fixed seat. The collision plate has an opening. The shielding part is hinged to the fixed seat. The collision plate can move towards or away from the fork tooth to drive the shielding part to move between a first position and a second position.

[0008] When the blocking part is in the first position, the orthographic projection of the detection part on the collision plate is located inside the opening;

[0009] When the shielding part is in the second position, the orthographic projection of the shielding part on the collision plate covers the opening.

[0010] Preferably, the collision plate surrounds a mounting cavity, the fixing seat and the shielding part are both located inside the mounting cavity, and a portion of the detection part extends into the mounting cavity;

[0011] When the blocking part is in the first position or the second position, the collision plate abuts against the blocking part.

[0012] Preferably, the collision detection mechanism further includes a mounting part, which is connected to the side of the collision plate facing the mounting cavity. The fixing seat has a mounting hole, and a portion of the mounting part is located in the mounting hole, allowing the mounting part to slide within the mounting hole.

[0013] Preferably, the collision detection mechanism further includes a guide portion and a connecting portion. The fixed base has a guide hole, a portion of the guide portion is located in the guide hole, the connecting portion is located outside the mounting cavity, and the guide portion is connected to the mounting portion through the connecting portion. The guide portion can deflect relative to the guide hole.

[0014] Preferably, the collision detection mechanism further includes a first elastic part, which is sleeved on the mounting part. The two ends of the first elastic part abut against the fixed seat and the collision plate, respectively. The first elastic part can undergo elastic deformation along the extension direction of the mounting part.

[0015] Preferably, the diameter of the mounting hole is larger than the diameter of the mounting portion;

[0016] In the direction from the fixed base to the collision plate, the cross-sectional area of ​​the guide portion gradually decreases, the cross-sectional area of ​​the guide hole gradually decreases, and the length of the guide portion is greater than or equal to the length of the guide hole.

[0017] The maximum cross-sectional area of ​​the guide portion is equal to the maximum cross-sectional area of ​​the guide hole.

[0018] Preferably, the collision detection mechanism includes a second elastic part, one end of which abuts against the blocking part, and the other end of which abuts against the fixed seat. The second elastic part is capable of applying a force to the blocking part in a direction away from the fixed seat.

[0019] Preferably, the two ends of the collision plate extend toward the interior of the mounting cavity in the first direction, and the dimension of the collision plate in the first direction is larger than the dimension of the fork tooth in the first direction;

[0020] The collision plate includes a first arcuate portion located at the end of the collision plate in a second direction. The highest point of the first arcuate portion in the second direction is higher than the end of the fork tooth in the second direction. The second direction is perpendicular to the first direction.

[0021] Preferably, there are two blocking parts and two detection parts, with each detection part corresponding to one of the two blocking parts.

[0022] According to another aspect of this application, a transport robot is provided, the transport robot including the forked teeth described above.

[0023] During the use of the fork in this application, when the fork does not touch an obstacle, the blocking part is in the first position. At this time, the orthographic projection of the detection part on the collision plate is located inside the opening. At this time, the detection part can detect in advance whether there is an obvious obstacle in front of the fork through the opening. When the detection part detects an obstacle, the transport robot stops moving. When the detection part does not detect an obstacle, the transport robot continues to move. When the fork touches an obstacle, the collision plate collides with the obstacle, causing the collision object to move toward the fork. The blocking part moves to the second position. At this time, the orthographic projection of the blocking part on the collision plate covers the opening. At this time, the detection part can detect the blocking part, that is, the detection part detects an obstacle, and the transport robot stops moving.

[0024] In summary, this application achieves obstacle detection by using a detection unit for detecting whether there are obvious obstacles in front of the fork teeth in advance. As a result, there is no need to set up an additional detection unit, which simplifies the structure of the fork teeth and reduces their cost. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A three-dimensional structural schematic diagram of the fork teeth according to an embodiment of the present invention is shown;

[0027] Figure 2 A side view of the fork teeth according to an embodiment of the present invention is shown;

[0028] Figure 3 A top view of the fork teeth according to an embodiment of the present invention is shown;

[0029] Figure 4 A front view of the fork teeth according to an embodiment of the present invention is shown;

[0030] Figure 5 Show Figure 4 A cross-sectional view obtained by cutting the fork tooth along A-A';

[0031] Figure 6 A schematic diagram of the collision detection device according to an embodiment of the present invention is shown.

[0032] Icons: 1-Fork tooth body; 2-Detection unit; 3-Collision detection mechanism; 31-Collision plate; 311-First arc surface portion; 312-Planar portion; 313-Opening; 314-Second arc surface portion; 315-Third arc surface portion; 32-Shielding portion; 33-Fixing seat; 34-Connecting block; 35-Mounting part; 36-Guide part; 37-Connecting part; 38-First elastic part; 39-Second elastic part; L1-First direction; L2-Second direction; L3-Third direction. Detailed Implementation

[0033] The following detailed embodiments are provided to help the reader gain a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will be apparent after understanding the disclosure of this application. For example, the order of operations described herein is merely illustrative and is not limited to the order set forth herein; changes that will be apparent after understanding the disclosure of this application are possible, except for operations that must occur in a specific order. Furthermore, for clarity and brevity, descriptions of features known in the art may be omitted.

[0034] The features described herein may be implemented in different forms and should not be construed as being limited to the examples described herein. Rather, the examples described herein have been provided merely to illustrate some of the many feasible ways of implementing the methods, apparatus, and / or systems described herein that will be apparent upon understanding the disclosure of this application.

[0035] Throughout the specification, when an element (such as a layer, region, or substrate) is described as being "on" another element, "connected to" another element, "bonded to" another element, "on" another element, or "covering" another element, it may be directly "on" another element, "connected to" another element, "bonded to" another element, "on" another element, or "covering" another element, or there may be one or more other elements in between. In contrast, when an element is described as being "directly on" another element, "directly connected to" another element, "directly bonded to" another element, "directly on" another element, or "directly covering" another element, there may be no other elements in between.

[0036] As used herein, the term “and / or” includes any one of the relevant items listed and any combination of any two or more items.

[0037] Although terms such as “first,” “second,” and “third” may be used herein to describe individual components, assemblies, regions, layers, or parts, these components, assemblies, regions, layers, or parts are not limited by these terms. Rather, these terms are used only to distinguish one component, assembly, region, layer, or part from another. Therefore, without departing from the teachings of the examples described herein, the first component, assembly, region, layer, or part referred to as the second component, assembly, region, layer, or part may also be referred to as the second component, assembly, region, layer, or part.

[0038] For ease of description, spatial relation terms such as “above,” “upper,” “below,” and “lower” are used herein to describe the relationship between one element and another, as shown in the accompanying drawings. Such spatial relation terms are intended to include not only the orientation depicted in the drawings but also different orientations of the device during use or operation. For example, if the device in the drawings is flipped, an element described as being “above” or “upper” relative to another element will subsequently be “below” or “lower” relative to that other element. Therefore, the term “above” includes both “above” and “below” orientations depending on the spatial orientation of the device. The device may also be positioned in other ways (e.g., rotated 90 degrees or in other orientations), and the spatial relation terms used herein will be interpreted accordingly.

[0039] The terminology used herein is for the purpose of describing various examples only and is not intended to limit this disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms “comprising,” “including,” and “having” enumerate the stated features, quantities, operations, components, elements, and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0040] Variations in the shapes shown in the accompanying drawings may occur due to manufacturing techniques and / or tolerances. Therefore, the examples described herein are not limited to the specific shapes shown in the accompanying drawings, but include changes in shape that may occur during manufacturing.

[0041] The features of the examples described herein can be combined in various ways that will be apparent upon understanding the disclosure of this application. Furthermore, although the examples described herein have a wide variety of constructions, other constructions are possible, as will be apparent upon understanding the disclosure of this application.

[0042] The following will combine Figures 1 to 6 The fork teeth of the present invention will be described in detail below. Figures 1 to 6 In the middle, the first direction L1, the second direction L2, and the third direction L3 are perpendicular to each other.

[0043] According to one aspect of this application, a fork is provided, the fork including a fork body 1, a detection part 2, and a collision detection mechanism 3. The detection part 2 is fixed to the fork body 1. The collision detection mechanism 3 includes a collision plate 31, a blocking part 32, and a fixing seat 33. The fixing seat 33 is fixed to the fork body 1. The collision plate 31 is movably connected to the fixing seat 33. The collision plate 31 has an opening 313. The blocking part 32 is hinged to the fixing seat 33. The collision plate 31 can move towards or away from the fork to drive the blocking part 32 to move between a first position and a second position. When the blocking part 32 is in the first position, the orthographic projection of the detection part 2 on the collision plate 31 is located inside the opening 313. When the blocking part 32 is in the second position, the orthographic projection of the blocking part 32 on the collision plate 31 covers the opening 313.

[0044] During the use of the fork in this application, when the fork does not touch an obstacle, the blocking part 32 is in the first position. At this time, the orthographic projection of the detection part 2 on the collision plate 31 is located inside the opening 313. At this time, the detection part 2 can detect in advance whether there is an obvious obstacle in front of the fork through the opening 313. When the detection part detects an obstacle, the transport robot stops moving. When the detection part 2 does not detect an obstacle, the transport robot continues to move. When the fork touches an obstacle, the collision plate 31 collides with the obstacle, causing the colliding object to move toward the fork. The blocking part 32 moves to the second position. At this time, the orthographic projection of the blocking part 32 on the collision plate 31 covers the opening 313. At this time, the detection part 2 can detect the blocking part 32, that is, the detection part 2 detects an obstacle, and the transport robot stops moving.

[0045] In summary, this application achieves obstacle detection by using a detection unit 2 for detecting whether there are obvious obstacles in front of the fork teeth in advance. As a result, there is no need to set up an additional detection unit 2, which reduces the structure and cost of the fork teeth.

[0046] It should be noted that the first position mentioned above is the position of the collision plate 31 when the fork tooth does not collide with the obstacle, and the second position is the position of the collision plate 31 when the fork tooth collides with the obstacle.

[0047] In the embodiments of this application, such as Figure 1 and Figure 3As shown, the collision detection mechanism is located at the end of the fork tooth in the third direction L3, where the collision plate 31 surrounds a mounting cavity. The fixing seat 33 and the blocking part 32 are both located within the mounting cavity, and a portion of the detection part 2 extends into the mounting cavity. The blocking part 32 includes a straight section and an arc section connected to each other. The straight section is hinged to the fixing seat 33, and the arc section contacts the collision plate. When the blocking part 32 is in the first position, the collision plate 31 contacts the arc section of the blocking part 32. When the collision plate 31 collides with an obstacle, it moves towards the blocking part 32. After the collision plate 31 moves to abut against the blocking part 32, it continues to move, thereby driving the blocking part 32 to rotate. When the blocking part 32 rotates to the second position, the orthographic projection of the blocking part 32 on the collision plate 31 covers the opening 313. At this time, the collision plate 31 still abuts against the blocking part 32.

[0048] Furthermore, the collision detection mechanism 3 also includes a connecting block 34, which is connected to the side of the fixed seat 33 facing the fork tooth body 1. The connecting block 34 can be connected to the fork tooth body 1 by bolts, thereby fixing the collision detection mechanism 3.

[0049] In the embodiments of this application, such as Figure 2 and Figure 3 As shown, the collision plate 31 includes a flat portion 312, a first arcuate portion 311, a second arcuate portion 314, and a third arcuate portion 315. An opening 313 is located on the flat portion 312. The first arcuate portion 311 is located above the flat portion 312, and its highest point in the second direction L2 is higher than the end of the fork tooth in the second direction L2; that is, the upper end of the collision plate 31 is higher than the upper end of the fork tooth. The second arcuate portion 314 and the third arcuate portion 315 are located on opposite sides of the flat portion 312 in the first direction L1. When the handling robot handles a pallet, there may be situations such as the strapping below the pallet's insertion holes becoming loose or falling off. The highest point of the first arcuate portion 311 of the collision plate 31 is higher than the upper surface of the fork tooth, allowing the strapping to slide past the first arcuate portion 311 when the fork tooth rubs against it during its forward movement, preventing the strapping from getting caught under the fork tooth. Meanwhile, as the fork retracts from the insertion hole, the slack strapping can also smoothly glide through the first arc surface portion 311, the second arc surface portion 314 and the third arc surface portion 315 of the collision plate 31 without tearing the strapping.

[0050] In addition, such as Figure 3 and Figure 6As shown, the collision plate 31 extends towards the interior of the cavity at both ends in the first direction L1. The size of the collision plate 31 in the first direction L1 is larger than the size of the fork tooth in the first direction L1. The edges of the collision plate 31 are basically flush with the two opposite end faces of the fork tooth body 1 in the first direction L1. Thus, the size of the collision plate 31 is larger than the size of the fork tooth, so that neither the fork tooth body 1 nor the collision detection mechanism 3 will be caught by the loose packing strap during the forward or backward movement of the fork tooth, thereby improving the reliability of the fork tooth movement.

[0051] In the embodiments of this application, such as Figure 5 and Figure 6 As shown, the collision detection mechanism 3 also includes a mounting part 35, which is connected to the side of the collision plate 31 facing the mounting cavity. The mounting base 33 has a mounting hole, and part of the mounting part 35 is located in the mounting hole. During the movement of the collision plate 31, the mounting part 35 moves in the mounting hole.

[0052] Optionally, the mounting part 35 can be a pin.

[0053] Furthermore, the collision detection mechanism 3 also includes a first elastic part 38, which is sleeved on the mounting part 35. The two ends of the first elastic part 38 abut against the fixed base 33 and the collision plate 31, respectively. The first elastic part 38 is capable of elastic deformation along the extension direction of the mounting part 35. When the collision plate 31 collides with an obstacle, the first elastic part 38 is compressed. After the obstacle is removed (e.g., manually removed), under the action of the first elastic part 38, the collision plate 31 can move in a direction away from the fork tooth body 1 to facilitate subsequent obstacle detection.

[0054] Preferably, there are two mounting portions 35 and two first elastic portions 38, with the two first elastic portions 38 respectively fitted onto the two mounting portions 35. The first elastic portion 38 can be a spring.

[0055] like Figure 6 As shown, the shielding part 32 includes a straight part and a curved part. The straight part is connected to the fixed seat 33 via a rotating shaft, and the curved part is bent toward the end of the collision plate 31 in the first direction L1.

[0056] In the embodiments of this application, such as Figure 4 and Figure 6 As shown, there are two detection units 2 and two blocking units 32. The two detection units 2 are spaced apart at the end of the fork tooth body 1 along the first direction L1. The two blocking units 32 correspond to the two detection units 2 respectively. Two openings 313 are provided on the planar part 312. The two blocking units 32 can block the two openings 313 respectively.

[0057] like Figure 6As shown, the collision detection mechanism 3 also includes a guide portion 36 and a connecting portion 37. A guide hole is provided on the mounting base 33, with part of the guide portion 36 located within the guide hole. The connecting portion 37 is located outside the mounting cavity, and the guide portion 36 is connected to the mounting portion 35 through the guide hole. The guide portion 36 can deflect relative to the guide hole. Thus, when the end of the collision portion collides with an obstacle, the mounting portion 35 and the connecting portion 37 deflect simultaneously, thereby preventing jamming during the movement of the collision plate 31 and the blocking portion 32.

[0058] In the embodiments of this application, the diameter of the mounting hole is larger than the diameter of the mounting portion 35; in the direction from the fixed base 33 to the collision plate 31, the cross-sectional area of ​​the guide portion 36 gradually decreases, the cross-sectional area of ​​the guide hole gradually decreases, the length of the guide portion 36 is greater than or equal to the length of the guide hole, and the maximum cross-sectional area of ​​the guide portion 36 is equal to the maximum cross-sectional area of ​​the guide hole. Thus, in the absence of external force, the guide portion 36 fits against the wall of the guide hole on the fixed base 33, ensuring that the collision plate 31 does not wobble significantly during fork movement. When the collision plate 31 collides with an obstacle, the guide portion 36 moves relative to the guide hole, and a gap exists between the guide portion 36 and the wall of the guide hole.

[0059] Optionally, the guide portion 36 can be in the shape of a frustum, in which case the cross-section of the guide hole is rectangular. Alternatively, the guide portion 36 can be in the shape of a frustum of a cone, in which case the cross-section of the guide hole is circular.

[0060] Preferably, the guide portion 36 can be in the shape of a truncated quadrangular pyramid, in which case the guide portion 36 and the guide hole are in a tapered fit.

[0061] Furthermore, the collision detection mechanism 3 includes a second elastic portion 39. One end of the second elastic portion 39 abuts against the blocking portion 32, and the other end of the second elastic portion 39 abuts against the fixed base 33. The second elastic portion 39 can apply a force to the blocking portion 32 in a direction away from the fixed base 33. Thus, when the collision plate 31 does not collide with an obstacle, the blocking portion 32 will not cover the opening 313. At the same time, the provision of the second elastic portion 39 can ensure that the blocking portion 32 and the collision plate 31 are in strong contact when no collision occurs, preventing the blocking portion 32 from shaking during walking.

[0062] Preferably, the second elastic part 39 is a torsion spring, which is sleeved on the rotating shaft, and the two ends of the torsion spring abut against the mounting base and the collision plate 31, respectively.

[0063] In the embodiments of this application, the detection unit 2 can be a photoelectric sensor, a grating sensor, or the like.

[0064] During the use of the fork tines in this application, when the collision plate 31 does not collide with an obstacle and is not subjected to external force, the distance between the collision plate 31 and the fixed seat 33 is relatively large, and the angle between the two blocking parts 32 and the fixed seat 33 is relatively large under the action of the two second elastic parts 39. At this time, the orthographic projections of the two detection parts 2 on the collision plate 31 are respectively located in the two openings 313, and neither detection part 2 is blocked. At this time, during the forward movement of the fork tines, the two detection parts 2 can preliminarily determine that there are obvious obstacles in the area ahead through the two openings 313 on the collision plate 31, which can greatly reduce the probability of collision between the fork tines and obstacles (packing straps, pallets, or goods, etc.).

[0065] If neither of the two detection units 2 detects an obstacle due to its position or angle, the collision plate 31 may collide with the obstacle. If the collision occurs parallel to the front of the obstacle, the collision plate 31 will move relative to the fixed seat 33 along the third direction L3, causing the two blocking parts 32 to rotate. The orthographic projections of the two blocking parts 32 on the collision plate 31 will cover the two openings 313, thus blocking the two detection units 2 and generating a collision alarm signal. After manual fault handling, the collision plate 31 will be automatically reset by the conical guiding action between the guide part 36 and the guide hole under the action of the first elastic part 38.

[0066] If one side of the collision plate 31 collides with an obstacle, for example, in Figure 6 From the perspective of the collision plate 31, when the left side collides with an obstacle, due to the conical fit between the guide part 36 and the guide hole, the right side of the collision plate 31 rotates at a certain angle during the compression process on the left side, preventing jamming. During this process, the collision plate 31 can drive the left-side blocking part 32 to rotate, thereby blocking the left-side detection part 2 and generating a collision alarm signal. After manual fault handling, the collision plate 31 is automatically reset by the conical guiding action between the guide part 36 and the guide hole under the action of the first elastic part 38. When the right side of the collision plate 31 collides with an obstacle, the movement state of the collision detection mechanism 3 is roughly similar to that when the left side of the collision plate 31 collides with an obstacle, and will not be described in detail here.

[0067] When the upper or lower part of the collision plate 31 collides with an obstacle, the movement state of the collision detection mechanism 3 is roughly similar to the movement state of the front of the collision plate 31 when it collides with an obstacle, and will not be described in detail here.

[0068] According to another aspect of this application, a handling robot is provided, which includes the fork teeth described above and has the same technical effects as the fork teeth, which will not be described in detail here.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tine, characterized in that, The tine comprises a tine body, a detection part fixed to the tine body, and a collision detection mechanism; The collision detection mechanism comprises a collision plate, a shielding part, and a fixing seat fixed to the tine body, the collision plate is movably connected to the fixing seat, the collision plate is provided with an opening, the shielding part is hingedly connected to the fixing seat, the collision plate can move towards or away from the tine to drive the shielding part to move between a first position and a second position; When the shielding part is located at the first position, the orthographic projection of the detection part on the collision plate is located inside the opening; When the shielding part is located at the second position, the orthographic projection of the shielding part on the collision plate covers the opening.

2. The tine of claim 1, wherein, The collision plate surrounds an installation cavity, the fixing seat and the shielding part are located in the installation cavity, and part of the detection part extends into the installation cavity; When the shielding part is located at the first position or the second position, the collision plate abuts against the shielding part.

3. The tine of claim 2, wherein, The collision detection mechanism further comprises an installation part connected to one side of the collision plate facing the installation cavity, the fixing seat is provided with an installation hole, part of the installation part is located in the installation hole, and the installation part can slide in the installation hole.

4. The tine of claim 3, wherein, The collision detection mechanism further comprises a guide part and a connecting part, the fixing seat is provided with a guide hole, part of the guide part is located in the guide hole, the connecting part is located outside the installation cavity, the guide part is connected to the installation part through the connecting part, and the guide part can deflect relative to the guide hole.

5. The tine of claim 4, wherein, The collision detection mechanism further comprises a first elastic part sleeved on the installation part, two ends of the first elastic part abut against the fixing seat and the collision plate respectively, and the first elastic part can elastically deform along the extension direction of the installation part.

6. The tine of claim 4, wherein, The diameter of the installation hole is greater than the diameter of the installation part; In the direction in which the fixing seat points to the collision plate, the cross-sectional area of the guide part tapers, the cross-sectional area of the guide hole tapers, and the length of the guide part is greater than or the length of the guide hole; The maximum cross-sectional area of the guide part is equal to the maximum cross-sectional area of the guide hole.

7. The tine of claim 2, wherein, The collision detection mechanism comprises a second elastic part, one end of the second elastic part abuts against the shielding part, the other end of the second elastic part abuts against the fixing seat, and the second elastic part can apply a force to the shielding part in a direction away from the fixing seat.

8. The tine of claim 2, wherein, Both ends of the collision plate in a first direction extend towards the inside of the installation cavity, and the size of the collision plate in the first direction is greater than the size of the tine in the first direction; The collision plate comprises a first curved surface part, the first curved surface part is located at the end of the collision plate in a second direction, the highest point of the first curved surface part in the second direction is higher than the end of the tine in the second direction, and the second direction is perpendicular to the first direction.

9. The tine according to any one of claims 1-8, characterized in that, The number of the shielding parts is two, and the number of the detection parts is two, one-to-one correspondence exists between the two shielding parts and the two detection parts.

10. A transport robot characterized by The handling robot comprises the tine according to any one of claims 1-9.

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