Transportation robot for safety detection and safety detection system

Abstract

The invention provides a transportation robot for safety detection and a safety detection system. The transportation robot comprises a robot main body; the article loading device comprises a conveying mechanism, the conveying mechanism is installed on the robot body, and the supporting surface of the conveying mechanism is roughly flush with the conveying face of the safety detection device so that a target tray loaded with to-be-detected articles and conveyed on the safety detection device can be partially translated to the supporting surface. The conveying mechanism is configured to drive the target tray to enter or partially move out of the supporting surface; and a universal moving device installed at a lower portion of the robot body and configured to move the transport robot.

Description

Technical Field

[0001] The present invention relates to the technical field of security inspection equipment, and more specifically, to a transport robot and a security inspection system for security inspection. Background Art

[0002] Security check refers to the personal and luggage inspection that passengers must undergo before boarding civil aviation aircraft, high-speed trains and other public transportation. This is also a necessary measure to ensure the safety of passengers and civil aircraft in the air. Before boarding public transportation, you need to check in knife-like daily necessities in advance.

[0003] In the process of implementing the concept of the present invention, it is found that the open carry-on luggage needs to be transported to the entrance of the security inspection machine by the security inspector or transported there by a cart, which not only consumes a lot of manpower but also reduces the security inspection efficiency. Summary of the invention

[0004] In view of this, the present invention provides a transport robot and a safety detection system for safety detection.

[0005] One aspect of the present invention provides a transport robot for safety detection, comprising:

[0006] Robot body;

[0007] an article loading device, comprising a conveying mechanism, the conveying mechanism being mounted on the robot body, the supporting surface of the conveying mechanism being substantially flush with the transmission surface of the safety detection device, so as to allow a target tray loaded with articles to be inspected and being transported on the safety detection device to partially translate onto the supporting surface, and the conveying mechanism being configured to drive the target tray into or partially out of the supporting surface; and

[0008] The universal moving device is installed at the lower part of the robot body and is configured to move the transport robot.

[0009] According to an embodiment of the present invention, the article loading device further comprises:

[0010] Two limit baffles are installed on the robot body at both sides of the conveying mechanism and extend parallel to the conveying direction of the conveying mechanism. The limit baffles are configured to prevent the target tray from falling off the conveying mechanism.

[0011] According to an embodiment of the present invention, the target tray comprises:

[0012] a concave main body; and

[0013] The curling edge is formed by curling outward from the upper edge of the main body, and an inverted notch is provided on the curling edges on the two opposite side walls. The notch includes two opposite inclined edges and a groove between the two inclined edges.

[0014] According to an embodiment of the present invention, the article loading device further comprises:

[0015] At least two first photoelectric switches are respectively installed at two ends of the limit baffle, and the first photoelectric switches are configured to detect the state of the target tray on the article loading device;

[0016] The blocking mechanism is retractably mounted on the limit baffle or the robot body, and is configured to extend into or out of the groove from the limit baffle or the robot body when the first photoelectric switch detects that the target pallet has completely entered or moved out of the support surface, so as to prevent the target pallet from moving in the conveying direction of the conveying mechanism during the movement of the transport robot.

[0017] According to an embodiment of the present invention, the blocking mechanism comprises:

[0018] An external sleeve is rotatably mounted inside the above-mentioned limit baffle or the above-mentioned robot body, wherein the above-mentioned external sleeve has a threaded column through hole and a gear is installed at the bottom end of the above-mentioned external sleeve;

[0019] A threaded rod, threadedly engaged with the threaded column through hole;

[0020] A blocking motor is installed inside the robot body and is driven by the gear;

[0021] Wherein, when the first photoelectric switch determines that the target tray completely enters or moves out of the conveying mechanism, the motor is blocked from rotating so that part of the threaded rod is screwed out of or into the outer sleeve to be inserted into or out of the groove.

[0022] According to an embodiment of the present invention, the blocking mechanism comprises:

[0023] An ejector rod, part of which passes through the top surface of the robot body;

[0024] A magnetic ring, mounted on the ejector rod inside the robot body;

[0025] An electromagnet, installed in the robot body;

[0026] When the first photoelectric switch determines that the target tray has completely entered or moved out of the conveying mechanism, the electromagnet is energized to generate magnetic interaction with the magnetic ring, so that the ejector rod extends into or out of the groove.

[0027] According to an embodiment of the present invention, the transport robot further comprises:

[0028] at least one obstacle avoidance detection device mounted on at least one side surface of the robot body, wherein the obstacle avoidance detection device is configured to generate an obstacle avoidance detection signal indicating whether an obstacle exists;

[0029] The universal moving device is also configured to control the moving state of the transport robot according to the obstacle avoidance detection signal.

[0030] According to an embodiment of the present invention, the transmission mechanism comprises:

[0031] A first active roller is rotatably mounted on one side of the top surface of the robot body;

[0032] A first transmission motor is mounted on the robot body, and the first transmission motor is configured to drive the first active roller to rotate;

[0033] A first driven roller is rotatably mounted on the other side of the top surface of the robot body;

[0034] A transmission belt is wrapped around the outer sides of the first active roller and the first driven roller, wherein the transmission belt is constructed so that when the first active roller is driven by the transmission motor, the transmission belt rotates synchronously so that the target pallet enters or leaves the transport robot.

[0035] According to an embodiment of the present invention, the transmission mechanism comprises:

[0036] A second active roller is rotatably mounted on the top surface of the robot body;

[0037] A second transmission motor is mounted on the robot body, and the second transmission motor is configured to drive the second active roller to rotate;

[0038] A plurality of second driven rollers are rotatably mounted on the top surface of the robot body, and the second driven rollers are transmission-connected to the second driven rollers via belts, wherein the target pallet enters or leaves the transport robot when the second transmission motor drives the second active rollers to rotate.

[0039] According to an embodiment of the present invention, the transport robot further comprises:

[0040] A second photoelectric switch is mounted on a side surface of the article loading device, and the second photoelectric switch is configured to control the safety detection device to transfer the target pallet to the transport robot when receiving a first photoelectric signal transmitted by the safety detection device; and / or

[0041] The third photoelectric switch is installed on the side surface of the article loading device. The third photoelectric switch is configured to control the conveying mechanism to transfer the target pallet on the conveying mechanism to the safety detection device when the safety detection device receives the second photoelectric signal transmitted by the third photoelectric switch.

[0042] According to an embodiment of the present invention, the transport robot further comprises:

[0043] A safety anti-collision strip installed on the lower outer side of the robot body; and / or

[0044] A warning light strip installed on the outside of the robot body; and / or

[0045] At least one emergency stop control button is installed on different outer surfaces of the robot body, and the emergency stop control button is configured to control the moving state of the transport robot.

[0046] According to an embodiment of the present invention, the transport robot further comprises:

[0047] A controller, installed inside the robot body and electrically connected to the object loading device and the universal moving device;

[0048] A plurality of point control buttons are installed on the outside of the robot body and are electrically connected to the controller, wherein when any of the point control buttons is clicked, the controller controls the universal moving device to move so that the transport robot moves to a target point area corresponding to the point control button;

[0049] A control display screen is installed on the outside of the robot body and is electrically connected to the controller. The control display screen is configured to display the moving state of the transport robot and set the location information of the target point area.

[0050] According to an embodiment of the present invention, the universal mobile device comprises:

[0051] A plurality of first driving wheels and a plurality of driven wheels are all mounted on the bottom surface of the robot body;

[0052] A plurality of first drive motors are installed on the bottom surface of the robot body, and one of the first drive motors is drivingly connected to one of the first driving wheels;

[0053] Wherein, the moving state of the above-mentioned transport robot is controlled by controlling the working states of different above-mentioned first drive motors.

[0054] According to an embodiment of the present invention, the universal mobile device comprises:

[0055] A plurality of universal driven wheels and active drive mechanisms are evenly mounted on the bottom surface of the robot body.

[0056] According to an embodiment of the present invention, the active driving mechanism comprises:

[0057] A steering wheel is rotatably mounted on the bottom surface of the robot body, and the outer edge of the steering wheel is provided with meshing teeth;

[0058] A steering motor is meshed with the meshing teeth for transmission;

[0059] A second driving wheel and a second driving motor are mounted on a side of the steering wheel away from the robot body, and the second driving motor is drivingly connected to the second driving wheel;

[0060] The moving direction of the transport robot is controlled by controlling the working state of the steering motor, and the moving speed of the transport robot is controlled by controlling the working state of the second driving motor.

[0061] According to an embodiment of the present invention, the robot body comprises:

[0062] A robot base connected to the universal moving device;

[0063] The connecting column has two ends respectively connected to the article loading device and the robot base.

[0064] According to an embodiment of the present invention, the obstacle avoidance detection device comprises:

[0065] At least one radar sensor is installed on the side of the robot body, and the radar sensor is configured to generate the obstacle avoidance detection signal, wherein the radar sensor includes at least one of the following: laser radar, millimeter wave radar, ultrasonic radar and infrared radar.

[0066] According to an embodiment of the present invention, the robot base comprises:

[0067] case;

[0068] A battery installed inside the housing, the battery being configured to provide electrical energy to the transport robot;

[0069] A charging assembly, which passes through the side of the housing and is electrically connected to the battery;

[0070] A button operation groove is formed on the side of the shell, and a start-stop button is arranged in the button operation groove. The start-stop button is configured to control the working state of the transport robot.

[0071] Another aspect of the present invention provides a safety detection system, comprising:

[0072] A safety detection device is configured to perform safety detection on an article, wherein a plurality of detection points are arranged on one side of the safety detection device;

[0073] The transport robot moves between the plurality of detection points to transport a target pallet at one detection point to another detection point.

[0074] According to an embodiment of the present invention, the above-mentioned safety detection device includes:

[0075] At least two transmission belts;

[0076] A security inspection machine, wherein the article entry end and the article output end of the security inspection machine are respectively connected to at least one of the transmission belts;

[0077] The manual inspection mechanism is installed on the transmission belt on one side of the output end of the above-mentioned items. The above-mentioned manual inspection mechanism is used to conduct a secondary review of the items with potential safety hazards.

[0078] According to an embodiment of the present invention, the safety detection system further includes:

[0079] A charging device is installed on one side of the safety detection device, and the charging device is configured to charge the transport robot.

[0080] According to an embodiment of the present invention, a transport robot is arranged on the transmission surface of a safety inspection device in the security inspection process, and the transmission mechanism on the transport robot cooperates with the transmission surface of the safety inspection device to facilitate the safety inspection of a target pallet carrying items to be inspected in the security inspection process, which helps to reduce labor costs and improve security inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0082] Figure 1 A three-dimensional schematic diagram of a transport robot for safety inspection according to an embodiment of the present disclosure is schematically shown;

[0083] Figure 2 A three-dimensional schematic diagram of a transport robot for safety inspection according to another embodiment of the present disclosure is schematically shown;

[0084] Figure 3 A three-dimensional schematic diagram of a target tray according to an embodiment of the present disclosure is schematically shown;

[0085] Figure 4 A three-dimensional schematic diagram of a transport robot according to another embodiment of the present disclosure is schematically shown;

[0086] Figure 5 The structural diagram of the blocking mechanism of the embodiment of the present disclosure is schematically shown;

[0087] Figure 6 A schematic diagram of the structure of a blocking mechanism according to another embodiment of the present disclosure is shown;

[0088] Figure 7 A three-dimensional schematic diagram of a safety detection system according to an embodiment of the present disclosure is schematically shown;

[0089] Figure 8 The schematic diagram of the plan layout of the safety detection system of the embodiment of the present disclosure is shown schematically.

[0090] In the above drawings, the meanings of the reference numerals are as follows:

[0091] 1000-transport robot;

[0092] 100- robot body;

[0093] 110- robot base;

[0094] 111- Charging component;

[0095] 120-connecting column;

[0096] 200-Item loading device;

[0097] 210-transmission mechanism;

[0098] 220-limit baffle;

[0099] 230- blocking mechanism;

[0100] 231 - external sleeve;

[0101] 232-threaded rod;

[0102] 233-blocking motor;

[0103] 234- ejector rod;

[0104] 235-magnetic ring;

[0105] 236-electromagnet;

[0106] 240-first photoelectric switch;

[0107] 300-target pallet;

[0108] 310-main body;

[0109] 320-curling;

[0110] 330-notch;

[0111] 331 - inclined edge;

[0112] 332-groove;

[0113] 400-Universal moving device;

[0114] 500-Obstacle avoidance detection device;

[0115] 600-second photoelectric switch;

[0116] 700-third photoelectric switch;

[0117] 810-Safety anti-collision strip;

[0118] 820-Warning light strip;

[0119] 830-Emergency stop control button;

[0120] 840-point control button;

[0121] 850-Control display;

[0122] 2000-Safety detection device;

[0123] 2100-transmission belt;

[0124] 2200- Security inspection machine;

[0125] 2300-manual inspection agency;

[0126] 2400-Charging device. DETAILED DESCRIPTION

[0127] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0128] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0129] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0130] When using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, and C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc. When using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, or C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.

[0131] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present invention. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present invention.

[0132] Figure 1 A three-dimensional schematic diagram of a transport robot for safety inspection according to an embodiment of the present disclosure is schematically shown.

[0133] like Figure 1 As shown, the transport robot 1000 for safety detection includes:

[0134] Robot body 100;

[0135] The article loading device 200 includes a conveying mechanism 210, which is mounted on the robot body 100, and the supporting surface of the conveying mechanism 210 is substantially flush with the transmission surface of the safety detection device 2000, so as to allow the target tray 300 loaded with the articles to be inspected and transported on the safety detection device 2000 to partially translate onto the supporting surface, and the conveying mechanism 210 is configured to drive the target tray 300 to enter or partially move out of the supporting surface; and

[0136] The universal moving device 400 is installed at the lower portion of the robot body 100 and is configured to move the transport robot 1000 .

[0137] According to an embodiment of the present invention, the robot body 100 may be cylindrical or in other shapes, such as a swan neck shape with a larger cross-sectional area at both ends than in the middle, or a streamlined shape with a larger cross-sectional area at the bottom than at the top.

[0138] According to an embodiment of the present invention, the security detection device 2000 may refer to security inspection equipment such as a security inspection machine 2200 with a transmission function. After the items to be inspected are placed on the target pallet 300, they are placed on the security detection device 2000 for security inspection. If necessary, the transmission surface of the security detection device 2000 pushes part of the target pallet 300 onto the supporting surface of the conveying mechanism 210.

[0139] According to an embodiment of the present invention, after a portion of the target pallet 300 enters the support surface of the conveying mechanism 210, the target pallet 300 is completely translated onto the support surface of the conveying mechanism 210 by the conveying mechanism 210. After the target pallet 300 is transferred to the target point (e.g., the other side of the conveying surface of the safety detection device 2000) by the universal moving device 400, a portion of the target pallet 300 is transferred onto the conveying surface by the conveying mechanism 210, and the target pallet 300 is completely moved onto the conveying surface by the conveying surface.

[0140] According to an embodiment of the present invention, by setting a transport robot 1000 on the transmission surface of the safety detection device 2000 in the security inspection process, the transmission mechanism 210 on the transport robot 1000 cooperates with the transmission surface of the safety detection device 2000, so as to facilitate the safety inspection of the target pallet 300 carrying the items to be inspected in the security inspection process, which helps to reduce labor costs and improve security inspection efficiency.

[0141] Figure 2 A three-dimensional schematic diagram of a transport robot for safety inspection according to another embodiment of the present disclosure is schematically shown.

[0142] like Figure 2 As shown, the article loading device 200 further includes:

[0143] Two limit baffles 220 are installed on the robot body 100 at both sides of the conveying mechanism 210 and extend parallel to the conveying direction of the conveying mechanism 210 . The limit baffles 220 are configured to prevent the target tray 300 from falling off the conveying mechanism 210 .

[0144] According to an embodiment of the present invention, the limiting baffle 220 may be a sheet-shaped baffle, and chamfering may be performed on both sides of the limiting baffle 220 .

[0145] According to an embodiment of the present invention, a limit baffle 220 may also be set on one side of the conveying mechanism 210 parallel to the conveying direction of the conveying mechanism 210. In other words, only one direction among the four directions of the conveying mechanism 210 can be used for moving the target pallet 300 in or out, thereby preventing the target pallet 300 from slipping off the conveying mechanism 210 when the target pallet 300 enters the conveying mechanism 210.

[0146] According to the embodiment of the present invention, the setting of the limit baffle 220 can prevent the target tray 300 loaded with the objects to be inspected from falling off the transport robot 1000, thereby improving the integrity of the objects to be inspected and reducing the risk of safety inspection.

[0147] Figure 3 A three-dimensional schematic diagram of a target tray according to an embodiment of the present disclosure is schematically shown.

[0148] According to an embodiment of the present invention, Figure 3 As shown, the target tray 300 includes:

[0149] A concave main body portion 310; and

[0150] The curling edge 320 is formed by curling outward from the upper edge of the main body 310 . An inverted notch 330 is provided on the curling edges 320 on two opposite side walls. The notch 330 includes two opposite inclined edges 331 and a groove 332 between the two inclined edges 331 .

[0151] According to an embodiment of the present invention, the concave main body 310 is suitable for mounting objects to be inspected. When the target pallet 300 is transported manually, the rolled edge 320 on the target pallet 300 can be held by hand. Secondly, the setting of the rolled edge 320 also facilitates the stacking and storage of multiple target pallets 300.

[0152] Figure 4 A three-dimensional schematic diagram of a transport robot according to another embodiment of the present disclosure is schematically shown.

[0153] According to an embodiment of the present invention, Figure 4 As shown, the article loading device 200 further includes:

[0154] At least two first photoelectric switches 240 are respectively installed at two ends of the limit baffle 220, and the first photoelectric switches 240 are configured to detect the state of the target tray 300 on the article loading device 200;

[0155] The blocking mechanism 230 is retractably mounted on the limit baffle 220 or the robot body 100. The blocking mechanism 230 is configured to extend into or out of the groove 332 from the limit baffle 220 or the robot body 100 when the first photoelectric switch 240 detects that the target pallet 300 completely enters or moves out of the supporting surface, so as to prevent the target pallet 300 from moving in the conveying direction of the conveying mechanism 210 during the movement of the transport robot 1000.

[0156] According to an embodiment of the present invention, when the target pallet 300 enters the conveying mechanism 210 from the transmission surface of the safety detection device 2000, when part of the target pallet 300 enters the conveying mechanism 210, a first photoelectric switch 240 can detect a photoelectric signal. At this time, the transport robot 1000 controls the conveying mechanism 210 to work based on the photoelectric signal, so that the target pallet 300 is completely moved to the conveying mechanism 210. After another photoelectric switch detects the photoelectric signal, the transport robot 1000 controls the conveying mechanism 210 to stop working to prevent the target pallet 300 from falling from the conveying mechanism 210. At the same time, based on the photoelectric signal detected by another photoelectric switch, the blocking mechanism 230 is controlled to be inserted into the groove 332 of the target pallet 300 to fix the position of the target pallet 300, thereby further preventing the target pallet 300 from falling from the conveying mechanism 210.

[0157] According to an embodiment of the present invention, when it is necessary to transfer the target pallet 300 on the conveying mechanism 210 to the conveying surface of the safety detection device 2000, the blocking mechanism 230 can be controlled to work so that the blocking mechanism 230 is disengaged from the groove 332 of the target pallet 300. At this time, the conveying mechanism 210 is controlled to work to transfer part of the target pallet 300 to the conveying surface of the safety detection device 2000. Thereafter, the target pallet 300 is completely transferred to the conveying surface during transportation and descent on the conveying surface, thereby facilitating the safety detection device 2000 to perform safety detection on the target pallet 300.

[0158] It should be noted that at least one blocking mechanism 230 is provided, and preferably four blocking mechanisms 230 may be provided, which are respectively provided at two ends of each limiting baffle 220 .

[0159] Figure 5 The structural diagram of the blocking mechanism of the embodiment of the present disclosure is schematically shown.

[0160] According to an embodiment of the present invention, Figure 5 As shown, the blocking mechanism 230 includes:

[0161] The outer sleeve 231 is rotatably mounted inside the limit baffle 220 or the robot body 100, wherein the outer sleeve 231 has a threaded column through hole and a gear is mounted on the bottom end of the outer sleeve 231;

[0162] The threaded rod 232 is threadedly engaged with the threaded post through hole;

[0163] The blocking motor 233 is installed inside the robot body 100 and is connected to the gear transmission;

[0164] When the first photoelectric switch 240 determines that the target tray 300 completely enters or moves out of the conveying mechanism 210 , the blocking motor 233 rotates to allow the partial threaded rod 232 to be screwed out of or into the outer sleeve 231 to be inserted into or out of the groove 332 .

[0165] According to an embodiment of the present invention, after the target pallet 300 completely enters the conveying mechanism 210, based on the photoelectric signal detected by the photoelectric switch (i.e., the other photoelectric switch mentioned above), the blocking motor 233 is controlled to operate so that the outer sleeve 231 rotates. At this time, as the outer sleeve 231 rotates, the threaded rod 232 threadedly engaged with the outer sleeve 231 is screwed out of the outer sleeve 231, thereby allowing the threaded rod 232 to be inserted into the groove 332 of the target pallet 300.

[0166] According to an embodiment of the present invention, when it is necessary to transfer the target pallet 300 on the transport robot 1000 to the transmission surface of the safety detection device 2000, the threaded rod 232 is located in the groove 332 of the target pallet 300 to limit the target pallet 300, thereby controlling the blocking motor 233 to operate so that the external sleeve 231 rotates, and the threaded rod 232 threadedly engaged with it is screwed into the external sleeve 231, thereby allowing the threaded rod 232 to disengage from the groove 332 of the target pallet 300, thereby transferring the target pallet 300 to the transmission surface with the cooperation of the conveying mechanism 210 and the transmission surface.

[0167] Figure 6 A schematic structural diagram of a blocking mechanism according to another embodiment of the present disclosure is shown schematically.

[0168] According to an embodiment of the present invention, the blocking mechanism 230 includes:

[0169] An ejector rod 234 , a portion of which passes through the top surface of the robot body 100 ;

[0170] A magnetic ring 235 is mounted on the ejector rod 234 inside the robot body 100;

[0171] The electromagnet 236 is installed in the robot body 100;

[0172] When the first photoelectric switch 240 determines that the target tray 300 has completely entered or moved out of the conveying mechanism 210 , the electromagnet 236 is energized to generate magnetic interaction with the magnetic ring 235 , so that the ejection rod 234 extends into or out of the groove 332 .

[0173] In one embodiment, a limiting ring is further provided on the ejector rod 234 located outside the robot body 100. When the target tray 300 needs to be engaged, the electromagnet 236 can be controlled to work so that the electromagnet 236 generates magnetism. At this time, the electromagnet 236 and the magnetic ring 235 fit together under the effect of opposite attraction. Figure 6 As shown in (a), the ejector rod 234 rises and is then inserted into the groove 332. When the target tray 300 needs to be transferred to the transmission surface, the target tray 300 does not need to be engaged. At this time, the electromagnet 236 can be controlled not to work, so that the ejector rod 234 is separated from the groove 332 under the action of gravity, so that the target tray 300 can be transferred to the transmission surface under the cooperation of the conveying mechanism 210 and the transmission surface.

[0174] In another embodiment, when the electromagnet 236 is not energized, the magnetic ring 235 is attached to the electromagnet 236 under the action of gravity, and the ejector rod 234 is not engaged with the groove 332. When engagement is required, the electromagnet 236 can be controlled to work. At this time, the electromagnet 236 and the magnetic ring 235 repel each other, and the magnetic ring 235 rises, so that the ejector rod 234 is engaged with the groove 332. Figure 6 As shown in (b), when the target pallet 300 needs to be transferred to the transmission surface, that is, the target pallet 300 does not need to be engaged, the electromagnet 236 can be controlled not to work, so that the ejector rod 234 and the magnetic ring 235 are separated from the groove 332 under the action of gravity, and the magnetic ring 235 is engaged with the electromagnet 236, so that the target pallet 300 can be transferred to the transmission surface with the cooperation of the conveying mechanism 210 and the transmission surface.

[0175] According to an embodiment of the present invention, Figure 4 As shown, the transport robot 1000 also includes:

[0176] At least one obstacle avoidance detection device 500, mounted on at least one side surface of the robot body 100, wherein the obstacle avoidance detection device 500 is configured to generate an obstacle avoidance detection signal indicating whether an obstacle exists;

[0177] The universal mobile device 400 is also configured to control the moving state of the transport robot 1000 according to the obstacle avoidance detection signal.

[0178] According to an embodiment of the present invention, in order to avoid the transport robot 1000 from colliding with pedestrians or other equipment during the movement of the transport robot 1000, an obstacle avoidance detection device 500 can be provided on the transport robot 1000. When the obstacle avoidance detection device 500 detects an obstacle avoidance detection signal indicating whether there is an obstacle, the universal moving device 400 of the transport robot 1000 can be controlled to stop moving or re-plan the moving path to avoid the obstacle.

[0179] In a first embodiment, the transmission mechanism 210 includes:

[0180] A first active roller is rotatably mounted on one side of the top surface of the robot body 100;

[0181] A first transmission motor, mounted on the robot body 100, the first transmission motor is configured to drive the first active roller to rotate;

[0182] A first driven roller is rotatably mounted on the other side of the top surface of the robot body 100;

[0183] The transmission belt is wrapped around the outside of the first active roller and the first driven roller, wherein the transmission belt is configured such that the first active roller is driven by the transmission motor and the transmission belt rotates synchronously to allow the target pallet 300 to enter or leave the transport robot 1000 .

[0184] According to an embodiment of the present invention, when it is necessary to move the target pallet 300 into or out of the transport robot 1000, the first conveying motor can be controlled to rotate forward or reverse. At this time, the first driven roller and the conveying belt rotate synchronously driven by the first conveying motor, thereby moving the target pallet 300 into or out of the transport robot 1000.

[0185] In the second embodiment, the transmission mechanism 210 includes:

[0186] A second active roller is rotatably mounted on the top surface of the robot body 100;

[0187] A second transmission motor, mounted on the robot body 100, the second transmission motor is configured to drive the second active roller to rotate;

[0188] A plurality of second driven rollers are rotatably mounted on the top surface of the robot body 100, and the second driven rollers are transmission-connected to the second driven rollers via belts, wherein the target pallet 300 enters or leaves the transport robot 1000 when the second conveying motor drives the second active rollers to rotate.

[0189] According to an embodiment of the present invention, the belt may be a common belt, a synchronous toothed belt or a chain, etc.

[0190] According to an embodiment of the present invention, when it is necessary to move the target pallet 300 into or out of the transport robot 1000, the second conveying motor can be controlled to rotate forward or reverse. At this time, under the transmission action of the belt, a plurality of second driven rollers rotate synchronously driven by the second active roller, thereby moving the target pallet 300 into or out of the transport robot 1000.

[0191] According to an embodiment of the present invention, Figure 4As shown, the transport robot 1000 also includes:

[0192] a second photoelectric switch 600 mounted on a side surface of the article loading device 200, the second photoelectric switch 600 being configured to control the safety detection device 2000 to transfer the target pallet 300 to the transport robot 1000 upon receiving a first photoelectric signal transmitted by the safety detection device 2000; and / or

[0193] The third photoelectric switch 700 is installed on the side surface of the article loading device 200. The third photoelectric switch 700 is configured to control the conveying mechanism 210 to transfer the target pallet 300 on the conveying mechanism 210 to the safety detection device 2000 when the safety detection device 2000 receives the second photoelectric signal transmitted by the third photoelectric switch 700.

[0194] According to an embodiment of the present invention, when the second photoelectric switch 600 receives the first photoelectric signal transmitted by the safety detection device 2000, it indicates that the target pallet 300 on the safety detection device 2000 needs to be transferred to the transport robot 1000. At this time, the transmission surface and the conveying mechanism 210 start to work, thereby realizing the transfer of the target pallet 300.

[0195] According to an embodiment of the present invention, when it is necessary to transfer the target pallet 300 on the transport robot 1000 to the safety detection device 2000, a second photoelectric signal can be sent to the safety detection device 2000 through the third photoelectric switch 700. At this time, the safety detection device 2000 knows that the transport robot 1000 needs to transfer the target pallet 300 to the safety detection device 2000, thereby controlling the transmission surface and the conveying mechanism 210 to start working, thereby realizing the transfer of the target pallet 300.

[0196] According to an embodiment of the present invention, Figure 4 As shown, the transport robot 1000 also includes:

[0197] A safety anti-collision strip 810 is installed on the lower outer side of the robot body 100; and / or

[0198] A warning light strip 820 is installed on the outside of the robot body 100; and / or

[0199] At least one emergency stop control button 830 is installed on different outer surfaces of the robot body 100 , and the emergency stop control button 830 is configured to control the moving state of the transport robot 1000 .

[0200] According to an embodiment of the present invention, in order to further improve the transportation safety of the transport robot 1000, a safety anti-collision bar 810 can be set on the transport robot 1000 to protect pedestrians or other equipment in the event of a collision.

[0201] According to an embodiment of the present invention, the warning light strip 820 can emit light during the movement of the transport robot 1000, so that pedestrians can know that the transport robot 1000 is in working state. The setting of the emergency stop control button 830 can timely suspend the operation of the transport robot 1000 in an emergency.

[0202] According to an embodiment of the present invention, the transport robot 1000 further includes:

[0203] A controller, installed inside the robot body 100 and electrically connected to the object loading device 200 and the universal moving device 400;

[0204] Multiple point control buttons 840, such as Figure 4 As shown, it is installed on the outside of the robot body 100 and is electrically connected to the controller, wherein, when any point control button 840 is clicked, the controller controls the universal mobile device 400 to move so that the transport robot 1000 moves to the target point area corresponding to the point control button 840;

[0205] Control display screen 850, such as Figure 4 As shown, it is installed on the outside of the robot body 100 and is electrically connected to the controller. The control display screen 850 is configured to display the moving status of the transport robot 1000 and the location information of the set target point area.

[0206] According to the embodiment of the present invention, the controller is not only electrically connected to the article loading device 200 and the universal moving device 400 , but can also be connected to the various electronic devices described above, thereby achieving control of the transport robot 1000 .

[0207] According to an embodiment of the present invention, different target point areas are set at different positions of the safety detection device 2000, and each target point area corresponds to a point control button 840. When any point control button 840 is clicked, the transport robot 1000 controls the universal mobile device 400 to move so that the transport robot 1000 moves to the target point area corresponding to the point control button 840.

[0208] According to an embodiment of the present invention, the control display screen 850 can display the working status of the transport robot 1000 , and the staff can also set the location information of each target point area on the control display screen 850 .

[0209] According to an embodiment of the present invention, the universal mobile device 400 includes:

[0210] A plurality of first driving wheels and a plurality of driven wheels are all mounted on the bottom surface of the robot body 100;

[0211] A plurality of first driving motors are installed on the bottom surface of the robot body 100, and one first driving motor is drivingly connected to one first driving wheel;

[0212] The moving state of the transport robot 1000 is controlled by controlling the working states of different first driving motors.

[0213] In one embodiment, the universal moving device 400 may be two first driving wheels disposed on both sides and two or four driven wheels between the two first driving wheels.

[0214] According to an embodiment of the present invention, when the universal mobile device 400 is working, the moving direction of the transport robot 1000 can be changed by controlling the steering of different first driving wheels, and the moving speed of the transport robot 1000 can be changed by the rotation speed of the first driving wheels.

[0215] According to an embodiment of the present invention, the universal mobile device 400 includes:

[0216] A plurality of universal driven wheels and active drive mechanisms are evenly installed on the bottom surface of the robot body 100 .

[0217] According to an embodiment of the present invention, during the movement of the transport robot 1000, the active driving mechanism is controlled to control the moving direction and moving speed of the transport robot 1000, and the universal driven wheel changes synchronously with the change of the moving direction and moving speed of the active driving mechanism. At the same time, the universal driven wheel is also used to provide force support for the transport robot 1000.

[0218] According to an embodiment of the present invention, the active driving mechanism comprises:

[0219] A steering wheel is rotatably mounted on the bottom surface of the robot body 100, and meshing teeth are arranged on the outer edge of the steering wheel;

[0220] Steering motor, meshing with meshing gears for transmission;

[0221] The second driving wheel and the second driving motor are installed on the side of the steering wheel away from the robot body 100, and the second driving motor is drivingly connected to the second driving wheel;

[0222] The moving direction of the transport robot 1000 is controlled by controlling the working state of the steering motor, and the moving speed of the transport robot 1000 is controlled by controlling the working state of the second driving motor.

[0223] According to an embodiment of the present invention, when the moving direction of the transport robot 1000 needs to be changed, the steering motor can be controlled to rotate by a preset angle, and the steering wheel then rotates by a preset angle, thereby achieving a change in the moving direction of the transport robot 1000.

[0224] According to an embodiment of the present invention, the moving speed of the transport robot 1000 is controlled by controlling the rotation speed of the second driving motor to drive the second driving wheel.

[0225] According to an embodiment of the present invention, Figure 4 As shown, the robot body 100 includes:

[0226] The robot base 110 is connected to the universal mobile device 400;

[0227] The connecting column 120 has two ends connected to the article loading device 200 and the robot base 110 respectively.

[0228] According to an embodiment of the present invention, the robot base 110 may be a polygonal column, and its cross section may be streamlined by chamfering. The connecting body may be a column with a bottom cross-sectional area larger than a top cross-sectional area, and a streamlined longitudinal section.

[0229] According to an embodiment of the present invention, the obstacle avoidance detection device 500 includes:

[0230] At least one radar sensor is installed on a side of the robot body 100, and the radar sensor is configured to generate an obstacle avoidance detection signal, wherein the radar sensor includes at least one of the following: a laser radar, a millimeter wave radar, an ultrasonic radar, and an infrared radar.

[0231] According to an embodiment of the present invention, obstacles in front of the transport robot 1000 during its movement are detected in real time by a radar sensor, and an obstacle avoidance detection signal is generated when the existence of an obstacle is detected. The transport robot 1000 controls the moving state of the transport robot 1000 according to the obstacle avoidance detection signal.

[0232] According to an embodiment of the present invention, the robot base 110 includes:

[0233] case;

[0234] A battery, installed inside the housing, the battery being configured to provide electrical energy to the transport robot 1000;

[0235] Charging component 111, such as Figure 4 As shown, it penetrates the side of the shell and is electrically connected to the battery;

[0236] A button operation slot is formed on the side of the shell, and a start-stop button is arranged in the button operation slot. The start-stop button is configured to control the working state of the transport robot 1000.

[0237] According to an embodiment of the present invention, the battery provides power for the transport robot 1000, and when the battery power is low, the battery can be charged by the charging component 111. In an emergency, the staff can stop the operation of the transport robot 1000 by pressing the start / stop button in the button operation slot.

[0238] Figure 7 A three-dimensional schematic diagram of a safety detection system according to an embodiment of the present disclosure is schematically shown.

[0239] According to an embodiment of the present invention, Figure 7 As shown, the safety detection system includes:

[0240] The safety detection device 2000 is configured to perform safety detection on an article, wherein a plurality of detection points are arranged on one side of the safety detection device 2000;

[0241] The transport robot 1000 moves between a plurality of inspection points to transport the target pallet 300 at one inspection point to another inspection point.

[0242] According to an embodiment of the present invention, one side of the safety detection device 2000 is for pedestrians to pass through, and the other side is for the transport robot 1000 to move and the working area of ​​the staff.

[0243] In one embodiment, a pedestrian places the luggage he or she carries on a target pallet 300, and the target pallet 300 is placed on a first side of a safety detection device 2000 to undergo a safety detection process by the safety detection device 2000. The detected target pallet 300 is transferred to a second side of the safety detection device 2000. If a safety detection is required again, the transmission surface (i.e., a detection point) on the second side of the safety detection device 2000 transfers part of the target pallet 300 to the transport robot 1000, and the transport robot 1000 transfers the target pallet 300 completely to the transport mechanism 210 through its own transport mechanism 210.

[0244] According to an embodiment of the present invention, the transport robot 1000 moves to the transmission surface of the second side of the safety detection device 2000 (i.e., a detection point) while carrying the target pallet 300. At this time, the transport robot 1000 transfers part of the target pallet 300 to the transmission surface of the second side through its own conveying mechanism 210, and then completely transfers the target pallet 300 to the transmission surface through transmission on the transmission surface, so that the target pallet 300 can be subjected to a secondary inspection using the safety detection device 2000.

[0245] According to an embodiment of the present invention, by setting a transport robot 1000 on the transmission surface of the safety detection device 2000 in the security inspection process, the transmission mechanism 210 on the transport robot 1000 cooperates with the transmission surface of the safety detection device 2000, so as to facilitate the safety inspection of the target pallet 300 carrying the items to be inspected in the security inspection process, which helps to reduce labor costs and improve security inspection efficiency.

[0246] Figure 8 The schematic diagram of the plan layout of the safety detection system of the embodiment of the present disclosure is shown schematically.

[0247] According to an embodiment of the present invention, Figure 8 As shown, the safety detection device 2000 includes:

[0248] at least two transmission belts 2100;

[0249] A security inspection machine 2200, wherein an article entry end and an article output end of the security inspection machine 2200 are respectively connected to at least one transmission belt 2100;

[0250] The manual inspection mechanism 2300 is installed at the transmission belt 2100 on one side of the item output end. The manual inspection mechanism 2300 is used to perform a secondary review on items with potential safety hazards.

[0251] According to an embodiment of the present invention, the transmission belt 2100, i.e., the transmission surface mentioned above, the transmission belt 2100 at the item output end of the security inspection machine 2200 transmits the target pallet 300 to the transport robot 1000, and the transport robot 1000 transfers the target pallet 300 to the transmission belt 2100 at the item input end of the security inspection machine 2200, and transfers the target pallet 300 to the transmission belt 2100.

[0252] According to an embodiment of the present invention, after the manual inspection mechanism 2300 performs a safety inspection on the items to be inspected, some of the inspected items to be inspected can be placed on the target pallet 300, and the target pallet 300 can be placed on the transport robot 1000, so that the transport robot 1000 can transfer the target pallet 300 to the security inspection machine 2200 for another safety inspection.

[0253] According to an embodiment of the present invention, Figure 8 As shown, the safety detection system also includes:

[0254] The charging device 2400 is installed on one side of the safety detection device 2000 , and is configured to charge the transport robot 1000 .

[0255] According to an embodiment of the present invention, the charging device 2400 can be placed on the side where the staff works to avoid affecting the normal passage of pedestrians.

[0256] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although each embodiment is described above, it does not mean that the measures in each embodiment cannot be used in combination. The scope of the present invention is defined by the attached claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A transport robot for safety inspection, characterized in that: include: Robot body; An article loading device, comprising a conveying mechanism, the conveying mechanism being mounted on the robot body, the supporting surface of the conveying mechanism being substantially flush with the transmission surface of the safety detection device, so as to allow a target tray loaded with articles to be inspected and being transported on the safety detection device to partially translate onto the supporting surface, and the conveying mechanism being configured to drive the target tray into or partially out of the supporting surface; as well as The universal moving device is installed at the lower part of the robot body and is configured to move the transport robot.

2. The transport robot according to claim 1, characterized in that: The article loading device further comprises: Two limit baffles are installed on the robot body at both sides of the conveying mechanism and extend parallel to the conveying direction of the conveying mechanism. The limit baffles are configured to prevent the target tray from falling from the conveying mechanism.

3. The transport robot according to claim 2, characterized in that: The target tray comprises: a concave main body; and The curling edge is formed by curling outward from the upper edge of the main body, and an inverted notch is provided on the curling edges on two opposite side walls. The notch includes two opposite inclined edges and a groove between the two inclined edges.

4. The transport robot according to claim 3, characterized in that: The article loading device further comprises: At least two first photoelectric switches are respectively installed at two ends of the limit baffle, and the first photoelectric switches are configured to detect the state of the target tray on the article loading device; A blocking mechanism is retractably mounted on the limit baffle or the robot body, and is configured to extend into or out of the groove from the limit baffle or the robot body when the first photoelectric switch detects that the target pallet has completely entered or moved out of the supporting surface, so as to prevent the target pallet from moving in the conveying direction of the conveying mechanism during the movement of the transport robot.

5. The transport robot according to claim 4, characterized in that: The blocking mechanism comprises: An external sleeve is rotatably mounted inside the limit baffle or the robot body, wherein the external sleeve has a threaded column through hole and a gear is mounted on the bottom end of the external sleeve; A threaded rod, threadedly engaged with the threaded column through hole; A blocking motor is installed inside the robot body and is transmitted to the gear; Wherein, when the first photoelectric switch determines that the target tray completely enters or moves out of the conveying mechanism, the motor is blocked from rotating so that part of the threaded rod is screwed out of or into the outer sleeve to be inserted into or out of the groove.

6. The transport robot according to claim 4, characterized in that: The blocking mechanism comprises: An ejector rod, part of which passes through the top surface of the robot body; A magnetic ring, mounted on the ejector rod inside the robot body; An electromagnet, installed in the robot body; Wherein, when the first photoelectric switch determines that the target tray has completely entered or moved out of the conveying mechanism, the electromagnet is energized to generate magnetic interaction with the magnetic ring, so that the ejector rod extends into or out of the groove.

7. The transport robot according to claim 1, characterized in that: Also includes: at least one obstacle avoidance detection device mounted on at least one side surface of the robot body, wherein the obstacle avoidance detection device is configured to generate an obstacle avoidance detection signal indicating whether an obstacle exists; The universal mobile device is also configured to control the moving state of the transport robot according to the obstacle avoidance detection signal.

8. The transport robot according to any one of claims 1 to 7, characterized in that: The transmission mechanism comprises: A first active roller is rotatably mounted on one side of the top surface of the robot body; A first transmission motor is mounted on the robot body, wherein the first transmission motor is configured to drive the first active roller to rotate; A first driven roller rotatably mounted on the other side of the top surface of the robot body; A transmission belt is wrapped around the outside of the first active roller and the first driven roller, wherein the transmission belt is configured such that the first active roller is driven by the transmission motor and the transmission belt rotates synchronously to allow the target pallet to enter or leave the transport robot.

9. The transport robot according to any one of claims 1 to 7, characterized in that: The transmission mechanism comprises: A second active roller is rotatably mounted on the top surface of the robot body; A second transmission motor is mounted on the robot body, wherein the second transmission motor is configured to drive the second active roller to rotate; A plurality of second driven rollers are rotatably mounted on the top surface of the robot body, and the second driven rollers are transmission-connected to the second driven rollers via belts, wherein the target pallet enters or leaves the transport robot when the second conveying motor drives the second active rollers to rotate.

10. The transport robot according to claim 1, characterized in that: Also includes: a second photoelectric switch, mounted on a side surface of the article loading device, wherein the second photoelectric switch is configured to control the safety detection device to transfer the target pallet to the transport robot when receiving a first photoelectric signal transmitted by the safety detection device; and / or A third photoelectric switch is installed on the side surface of the article loading device, and is configured to control the conveying mechanism to transfer the target pallet on the conveying mechanism to the safety detection device when the safety detection device receives the second photoelectric signal transmitted by the third photoelectric switch.

11. The transport robot according to any one of claims 1 to 7, characterized in that: Also includes: A safety anti-collision strip installed on the lower outer side of the robot body; and / or A warning light strip, mounted on the outside of the robot body; and / or At least one emergency stop control button is installed on different outer surfaces of the robot body, and the emergency stop control button is configured to control the moving state of the transport robot.

12. The transport robot according to any one of claims 1 to 7, characterized in that: Also includes: A controller, installed inside the robot body and electrically connected to the object loading device and the universal moving device; a plurality of point control buttons, installed on the outside of the robot body and electrically connected to the controller, wherein when any of the point control buttons is clicked, the controller controls the universal moving device to move so that the transport robot moves to a target point area corresponding to the point control button; A control display screen is installed on the outside of the robot body and is electrically connected to the controller. The control display screen is configured to display the moving state of the transport robot and set the position information of the target point area.

13. The transport robot according to any one of claims 1 to 7, characterized in that: The universal mobile device comprises: A plurality of first driving wheels and a plurality of driven wheels are all mounted on the bottom surface of the robot body; A plurality of first driving motors are installed on the bottom surface of the robot body, and one of the first driving motors is drivingly connected to one of the first driving wheels; Wherein, the moving state of the transport robot is controlled by controlling the working state of different first drive motors.

14. The transport robot according to any one of claims 1 to 7, characterized in that: The universal mobile device comprises: A plurality of universal driven wheels and active drive mechanisms are evenly mounted on the bottom surface of the robot body.

15. The transport robot according to claim 14, characterized in that: The active driving mechanism comprises: A steering wheel is rotatably mounted on the bottom surface of the robot body, and the outer edge of the steering wheel is provided with meshing teeth; A steering motor meshing with the meshing teeth for transmission; A second driving wheel and a second driving motor are mounted on a side of the steering wheel away from the robot body, and the second driving motor is drivingly connected to the second driving wheel; The moving direction of the transport robot is controlled by controlling the working state of the steering motor, and the moving speed of the transport robot is controlled by controlling the working state of the second driving motor.

16. The transport robot according to claim 1, characterized in that: The robot body comprises: A robot base connected to the universal moving device; The connecting column has two ends respectively connected to the article loading device and the robot base.

17. The transport robot according to claim 7, characterized in that: The obstacle avoidance detection device comprises: At least one radar sensor is installed on a side of the robot body, and the radar sensor is configured to generate the obstacle avoidance detection signal, wherein the radar sensor includes at least one of the following: a laser radar, a millimeter wave radar, an ultrasonic radar, and an infrared radar.

18. The transport robot according to claim 16, characterized in that: The robot base comprises: case; a battery, mounted inside the housing, the battery being configured to provide electrical energy to the transport robot; A charging assembly, which passes through a side surface of the housing and is electrically connected to the battery; A button operation slot is formed on a side surface of the shell, and a start / stop button is arranged in the button operation slot. The start / stop button is configured to control the working state of the transport robot.

19. A safety detection system, characterized in that: include: A safety detection device is configured to perform safety detection on an article, wherein a plurality of detection points are arranged on one side of the safety detection device; The transport robot according to any one of claims 1 to 18, wherein the transport robot moves between the plurality of detection points to transport a target pallet at one detection point to another detection point.

20. The safety detection system according to claim 19, characterized in that: The safety detection device comprises: At least two transmission belts; A security inspection machine, wherein an article entry end and an article output end of the security inspection machine are respectively connected to at least one of the transmission belts; The manual inspection mechanism is installed on the transmission belt at one side of the article output end, and the manual inspection mechanism is used to conduct a secondary review of the articles with potential safety hazards.

21. The safety detection system according to claim 19 or 20, characterized in that: Also includes: A charging device is installed on one side of the safety detection device, and the charging device is configured to charge the transport robot.

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