Transport robot

Abstract

The utility model provides a conveying robot which comprises a cabin body, at least one containing chamber is formed in the cabin body, the cabin body comprises a front wall, a rear wall, a top wall and side walls, and a window is formed in the front wall and is suitable for allowing articles to enter and exit; the guide rail assembly comprises two guide rails which are arranged in parallel at an interval, and the two guide rails are arranged on the two opposite sides of the window and extend into the top wall or the side wall; the door body is mounted between the two guide rails in a sliding manner; the driving device is installed in the top wall or the side wall or the rear wall and connected with the driving end, opposite to the end, located on the window, of the door body, and the driving device is suitable for driving the door body to move along the sliding path provided by the guide rail assembly, so that the driving end of the door body moves between the closing position where the window is closed and the opening position where the window is at least partially opened.

Description

Technical Field

[0001] At least one embodiment of the utility model relates to the technical field of a transport robot for carrying articles, and in particular to a transport robot with an openable and closable door. Background Art

[0002] A delivery robot is a robot that provides delivery services. A storage chamber is formed inside the storage chamber to accommodate items. A window is opened on a side wall of the storage chamber, and a safety door is provided for opening or closing the window.

[0003] In the related art, a safety door of a self-service baggage check-in device is proposed, in which a door strip is installed on a chain, and both sides of the door strip move in a guide rail, and a motor drives a driving wheel to rotate, and a driven wheel is linked by a synchronous shaft, so that the door strip is driven to slide upward to close the storage chamber, and the door strip is driven to move downward to roll up the door strip at the lower end to open the storage chamber. However, in such a method, a chain drive is used to drive the door strip to move, and the door strip is rolled up at the lower end of the window, and a storage area needs to be set, resulting in a reduction in the space in the storage chamber for holding items, resulting in a waste of space, and in the process of rolling up or releasing the door strip, the door strips collide with each other, resulting in a large noise, and the structure is complex and the maintenance cost is high.

[0004] A robot with a hatch is also proposed, which has a storage box with an automatically openable door. The hatches located on both sides of the window are controlled by a control device so that the two hatches move toward each other or move away from each other at the same time to close or open the storage room. In such a scheme, the hatch slides along the outer side of the cabin under the control of the control device. During the movement of the hatch, if there is a foreign object on the moving path of the hatch, it is easy to get stuck in the hatch, causing the hatch to deform or even damage. Utility Model Content

[0005] To solve at least one of the technical problems in the prior art, an embodiment of the utility model provides a transport robot that can simplify the structure inside the front wall for installing a door body and reduce the noise when closing or opening a window.

[0006] One aspect of an embodiment of the utility model provides a transport robot, comprising: a cabin body, at least one accommodating chamber is formed inside the cabin body, and the cabin body comprises a front wall, a rear wall, a top wall and side walls, a window is formed on the front wall, and the window is suitable for allowing items to enter and exit; a guide rail assembly, comprising two guide rails installed in parallel and at intervals, the two guide rails are installed on opposite sides of the window, and extend into the top wall or the side wall; a door body, slidably installed between the two guide rails; and a driving device, installed in the top wall, the side wall or the rear wall, and connected to the driving end of the door body opposite to the end of the window, the driving device is suitable for driving the door body to move along the sliding path provided by the guide rail assembly, so that the driving end of the door body moves between a closed position for closing the window and an open position for at least partially opening the window.

[0007] According to an embodiment of the present invention, the door body comprises a plurality of strip plates extending in a direction perpendicular to the moving direction of the door body, and a flexible connector connected between adjacent strip plates.

[0008] According to an embodiment of the utility model, a guide groove is provided on the inner side of each of the guide rails, and both sides of the door body are partially inserted into the guide grooves to guide the sliding of the door body.

[0009] According to an embodiment of the utility model, two ends of each of the strip plates are provided with sliders, and the sliders are slidably accommodated in the guide grooves.

[0010] According to an embodiment of the utility model, the driving end of the door body is located in the upper part of the rear wall in the closed position; the guide rail assembly further extends into the rear wall to receive the portion of the door body moved into the rear wall.

[0011] According to an embodiment of the utility model, the driving device is arranged in the rear wall.

[0012] According to an embodiment of the utility model, the above-mentioned driving device includes: a driving motor, installed on the upper part of the rear wall of the above-mentioned cabin body; and two sets of transmission components, connected to the driving end of the above-mentioned door body, and the above-mentioned transmission components are configured to drag or push the above-mentioned driving end under the drive of the above-mentioned driving motor, so that the above-mentioned door body moves on the above-mentioned sliding path, thereby closing the above-mentioned window or at least partially opening it.

[0013] According to an embodiment of the utility model, each group of the above-mentioned transmission components includes: a driving wheel, installed in the above-mentioned rear wall near one of the above-mentioned closing position and the above-mentioned opening position, and configured to rotate under the drive of the above-mentioned driving motor; a driven wheel, installed near the other of the above-mentioned closing position and the above-mentioned opening position; and a transmission belt, which is wrapped around the above-mentioned driving wheel and the above-mentioned driven wheel, and the above-mentioned transmission belt is connected to the driving end of the above-mentioned door body to drive the above-mentioned door body to move along the above-mentioned sliding path under the drive of the above-mentioned driving wheel.

[0014] According to an embodiment of the utility model, the transmission assembly further comprises: a tensioning unit, which is installed on a side wall close to the transmission belt and is suitable for adjusting the tightness of the transmission belt.

[0015] According to an embodiment of the utility model, the tensioning unit includes: a mounting frame, mounted on a side wall close to the transmission belt, the mounting frame being provided with a long hole perpendicular to a plane where the axes of the driving wheel and the driven wheel are located; and a roller, mounted on the mounting frame and in contact with the surface of the transmission belt, the roller being configured to rotate under the movement of the transmission belt; wherein the long hole is suitable for mounting the roller on the mounting frame through a first connecting member or for mounting the mounting frame on a side wall close to the transmission belt through the first connecting member, and the tightness of the transmission belt is adjusted by changing the mounting position of the first connecting member in the long hole.

[0016] According to an embodiment of the utility model, the transmission assembly further comprises: a connection unit, adapted to connect the driving end of the door body to the transmission belt, so that the door body moves following the transmission belt.

[0017] According to an embodiment of the utility model, the connection unit comprises: a fixing block abutting between the transmission belt and the door body; and a second connecting member, mounting the driving end of the door body on the transmission belt through the fixing block.

[0018] According to an embodiment of the utility model, a side of the transmission belt opposite to the fixing block extends outward to form a plurality of protrusions; and the plurality of second connecting members respectively pass through the plurality of protrusions to install the transmission belt on the fixing block.

[0019] According to an embodiment of the utility model, the driving motor comprises two output shafts extending in opposite directions, and the two driving wheels of the two sets of the transmission assemblies are respectively mounted on the two output shafts.

[0020] According to an embodiment of the utility model, the above-mentioned transport robot also includes: two sensors, which are respectively installed on the side wall of the above-mentioned cabin and at least one of the two above-mentioned guide rails, and are located near the above-mentioned open position and the above-mentioned closed position to detect whether the above-mentioned driving end moves to the above-mentioned open position or the above-mentioned closed position.

[0021] According to an embodiment of the utility model, the transport robot further comprises: a safety light curtain installed on the front wall and located at opposite ends of the window to detect whether there are objects entering or exiting the window.

[0022] According to the transport robot of the embodiment of the utility model, the driving device is installed in the top wall, side wall or rear wall, which is far away from the window position, which can simplify the structure in the front wall for installing the door body and reduce the noise at the window position. Furthermore, by arranging guide rails on opposite sides of the window and extending the guide rails to the top wall or side wall, the door body is slidably installed between the two guide rails, and the driving end of the door body is driven by the driving device, so that the door body can smoothly move between the closed position of closing the window and the open position of at least partially opening the window, the structure is simple, easy to operate and maintain, and has high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and other purposes, 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:

[0024] Figure 1 A perspective view of a transport robot from a first perspective according to an embodiment of the present utility model is schematically shown;

[0025] Figure 2 A perspective view of a transport robot from a second perspective according to an embodiment of the present utility model is schematically shown;

[0026] Figure 3 A perspective view schematically shows the internal structure of a transport robot according to an embodiment of the utility model;

[0027] Figure 4 A perspective view of a guide rail assembly, a door body and a driving device of a transport robot according to an embodiment of the utility model is schematically shown from a first perspective;

[0028] Figure 5 Schematically shows Figure 4 A partial enlarged view of part A;

[0029] Figure 6 A perspective view of a guide rail assembly, a door body and a driving device of a transport robot according to an embodiment of the utility model is schematically shown from a second perspective;

[0030] Figure 7 A perspective view of a guide rail assembly, a door body and a driving device of a transport robot according to an embodiment of the utility model from a third perspective is schematically shown;

[0031] Figure 8 A partial cross-sectional view schematically shows the connection portion between the door body and the transmission belt according to an embodiment of the utility model;

[0032] Fig. 9 A schematic diagram of a working flow of a transport robot according to an embodiment of the utility model is shown; and

[0033] Fig.10 The working flow chart of the transport robot according to another embodiment of the utility model is schematically shown.

[0034] Description of reference numerals:

[0035] 1-cabin; 11-front wall; 12-top wall; 13-side wall; 14-frame; 15-baffle;

[0036] 2-guide rail assembly; 21-guide rail; 211-guide groove;

[0037] 3-door body; 31-strip board;

[0038] 4- Driving device;

[0039] 41- driving motor;

[0040] 42-transmission assembly; 421-driving wheel; 422-driven wheel; 423-transmission belt; 4231-protrusion; 424-tensioning unit; 4241-mounting frame; 4242-roller; 4243-long hole; 425-connecting unit; 4251-fixing block; 4252-second connecting member;

[0041] 5-Sensor; 6-Safety light curtain; 7-Switch; 8-Touch screen; 9-Lighting lamp. DETAILED DESCRIPTION

[0042] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention, and the various features described in the embodiments can be combined to form multiple optional solutions. It should also be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, rather than all structures.

[0043] Figure 1 A perspective view of a transport robot according to an embodiment of the present invention is schematically shown. Figure 2 A perspective view of a transport robot according to an embodiment of the present invention is schematically shown. Figure 3 A three-dimensional diagram schematically shows the internal structure of a transport robot according to an embodiment of the utility model.

[0044] As one aspect of the present invention, a transport robot is provided. Figures 1 to 3 As shown, the transport robot includes a cabin 1, a guide rail assembly 2, a door body 3 and a drive device 4. At least one accommodating chamber is formed inside the cabin body 1, and includes a front wall 11, a rear wall, a top wall 12 and a side wall 13. A window is provided on the front wall 11, and the window is suitable for allowing items to enter and exit. The guide rail assembly 2 includes two parallel and spaced guide rails 21, which are installed on opposite sides of the window and extend into the top wall 12 or the side wall 13. The door body 3 is slidably installed between the two guide rails 21, and the drive device 4 is installed in the top wall 12, the side wall 13 or the rear wall, and is connected to the end of the door body 3 located at the window (that is, Figure 1 The driving device 4 is suitable for driving the door body 3 to move along the sliding path provided by the guide rail assembly 2, so that the driving end of the door body 3 moves between a closed position to close the window and an open position to at least partially open the window.

[0045] According to the transport robot of the embodiment of the utility model, the driving device is installed in the top wall, side wall or rear wall of the cabin body, which is far away from the window position, which can simplify the structure in the front wall for installing the door body and reduce the noise at the window position. Furthermore, by arranging guide rails on opposite sides of the window and extending the guide rails to the top wall or side wall, the door body is slidably installed between the two guide rails, and the driving end of the door body is driven by the driving device, so that the door body can smoothly move between the closed position where the window is closed and the open position where the window is at least partially opened. The structure is simple, easy to operate and maintain, and highly reliable.

[0046] According to an embodiment of the present invention, the door body is a flexible door body.

[0047] According to the embodiments of the present utility model, Figure 3 As shown, a frame 14 is also provided in the cabin, which can provide stable support for the guide rail assembly 2 and the driving device 4.

[0048] According to an embodiment of the present invention, the shape of the cabin may include: Figure 1 to Figure 2 The substantially rectangular parallelepiped structure shown may also be other three-dimensional structures.

[0049] According to the embodiments of the present utility model, Figures 1 to 3 As shown, the door body 3 includes a plurality of strip plates 31 extending in a direction perpendicular to the moving direction of the door body 3, and flexible connecting members connected between adjacent strip plates.

[0050] According to an embodiment of the utility model, a plurality of strip plates 31 are connected in sequence through a plurality of flexible connectors, and the door body can be bent through the flexible connectors, so that the door body 3 can move along the curved path provided by the guide rail assembly 2 .

[0051] In an illustrative embodiment, Figure 1 and Figure 3 As shown, the guide rail assembly 2 extends from the bottom end of the window to the top wall 12 or the bottom wall, and each strip plate 31 can be parallel to the length direction of the cabin body 1.

[0052] In an alternative embodiment, when the guide rail assembly 2 extends from one side of the window to the side wall 13 away from the side, each strip plate 31 may be parallel to the height direction of the cabin body 1 .

[0053] Figure 4 The figure schematically shows a perspective view of a guide rail assembly, a door body and a driving device of a transport robot according to an embodiment of the present utility model from a first perspective. Figure 5 Schematically shows Figure 4 A partial enlarged view of part A.

[0054] According to the embodiments of the present utility model, Figure 4 and Figure 5 As shown, a guide groove 211 is provided on the inner side of each guide rail 21 , and both sides of the door body 3 are partially inserted into the guide groove 211 to guide the sliding of the door body 3 .

[0055] According to the embodiment of the utility model, two ends of each strip plate 31 are provided with sliders, and the sliders are slidably accommodated in the guide grooves 211 .

[0056] According to an embodiment of the utility model, one end of the guide groove 211 away from the groove bottom extends oppositely to form two flanges. A plurality of strip top plates 31 are located between the two flanges, and the slider is located in the guide groove 211 to prevent the slider from escaping from the guide groove 211.

[0057] According to the embodiments of the present utility model, Figure 3 and Figure 4 As shown, the driving end of the door body 3 is located inside the rear wall in the closed position, and the guide rail assembly 2 further extends into the rear wall to receive the portion of the door body 3 moved into the rear wall.

[0058] In an illustrative embodiment, Figure 3 and Figure 4 As shown, the driving end of the door body 3 is located in the upper part of the rear wall in the closed position, and the guide rail assembly 2 further extends into the rear wall to receive the part of the door body 3 moved into the rear wall.

[0059] In such an embodiment, Figure 4As shown, the drive device 4 can be arranged in the rear wall, so that the drive device 4 is away from the window and the structure in the front wall is simplified. In this way, when the driving end of the door body 3 is dragged by the drive device 4 to move to the open position, the door body is placed in the rear wall.

[0060] In an alternative embodiment, when the side wall or top wall of the cabin body 1 is long enough to accommodate the length of the door body moving to the open position, the guide rail can extend into the side wall or top wall. The driving device 4 can be arranged in the side wall or top wall.

[0061] According to an embodiment of the utility model, the driving device 4 includes a driving motor 41 and two sets of transmission components 42. The driving motor 41 is installed on the upper part of the rear wall of the cabin 1, and the two sets of transmission components 42 are connected to the driving end of the door body 3. The transmission component 42 is configured to drag or push the driving end under the drive of the driving motor 41, so that the door body 3 moves on the sliding path to close or at least partially open the window.

[0062] Furthermore, two sets of transmission components 41 may be connected to both ends of the strip plate 31 located at the driving end and close to the guide rail.

[0063] In an alternative embodiment, the drive motor 41 is installed on the side wall of the cabin 1 .

[0064] According to the embodiment of the utility model, the two transmission assemblies 42 rotate synchronously under the drive of the motor 41, driving the driving end of the door body 3 to move simultaneously, thereby avoiding the deflection of the door body 3 and enabling the door body 3 to translate along the guide groove 211.

[0065] According to an embodiment of the utility model, each transmission assembly 42 includes a driving wheel 421, a driven wheel 422 and a transmission belt 423. The driving wheel 421 is installed in the rear wall near one of the closed position and the open position, and is configured to rotate under the drive of the drive motor 41, the driven wheel 422 is installed near the other of the closed position and the open position, the transmission belt 423 is wrapped around the driving wheel 421 and the driven wheel 422, and the transmission belt 423 is connected to the driving end of the door body 3 to drive the door body 3 to move along the sliding path under the drive of the driving wheel 421.

[0066] According to an embodiment of the utility model, the transmission belt 43 meshes with the driving wheel and the driven wheel, so that the driven wheel can rotate along with the driving wheel under the action of the transmission belt. The transmission belt 43 can be a chain or a synchronous belt.

[0067] In an illustrative embodiment, Figure 5As shown, the driven wheel includes a shaft body, a rolling shaft, a shaft key and two retaining springs. The wheel body surrounds the rolling shaft, and one end of the rolling shaft is connected to the shaft body through the shaft key, so that the rolling shaft rotates with the wheel body. The other end of the rolling shaft is rotatably mounted on the bracket, and the position of the rolling shaft relative to the bracket is controlled by mounting two retaining springs on the bracket, so that the driven wheel can be mounted on the side wall or frame through the bracket.

[0068] According to the embodiments of the present utility model, Figure 3 As shown, a baffle 15 is further provided between the storage chamber and the shell of the cabin body, and an installation area is formed between the baffle 15 and the shell of the cabin body, and the installation area is used to install the guide rail assembly 2 and the drive device 4. By providing the baffle 15, the objects contained in the storage chamber are prevented from touching the drive device 4, thereby preventing the objects from affecting the drive device 4 from driving the door body 3, and ensuring the normal operation of the transport robot.

[0069] Figure 6 A perspective view of a guide rail assembly, a door body and a driving device of a transport robot according to an embodiment of the utility model is schematically shown from a second perspective. Figure 7 A stereoscopic diagram from a third perspective of the guide rail assembly, door body and drive device of the transport robot according to an embodiment of the utility model is schematically shown.

[0070] According to the embodiments of the present utility model, Figures 4 to 7 As shown, the transmission assembly 42 further includes a tensioning unit 424 , which is installed on a side wall close to the transmission belt 423 and is suitable for adjusting the tightness of the transmission belt 423 to prevent the transmission belt 423 from slipping.

[0071] According to the embodiments of the present utility model, Figure 6 and Figure 7 As shown, the tensioning unit 424 includes a mounting frame 4241 and a roller 4242. The mounting frame 4241 is mounted on the side wall close to the transmission belt 423, and a long hole 4243 perpendicular to the plane where the axes of the driving wheel and the driven wheel are located is opened on the mounting frame 4241. The roller 4242 is mounted on the mounting frame 4241 and contacts the surface of the transmission belt 423. The roller 4242 is configured to rotate under the movement of the transmission belt 423. Among them, the long hole 4243 is suitable for mounting the roller 4242 on the mounting frame 4241 through the first connecting member or for mounting the mounting frame 4241 on the side wall close to the transmission belt 423 through the first connecting member, and the tightness of the transmission belt 423 is adjusted by changing the installation position of the first connecting member in the long hole.

[0072] According to an embodiment of the present invention, the first connecting member may include a bolt.

[0073] Figure 8A partial cross-sectional view of the connection portion between the door body and the transmission belt according to an embodiment of the utility model is schematically shown.

[0074] According to the embodiments of the present utility model, Figure 8 As shown, the transmission assembly 42 further includes a connecting unit 425, which is suitable for connecting the driving end of the door body 3 to the transmission belt 423, so that the door body 3 moves following the transmission belt 423. Preferably, the strip plate 31 at the driving end can be connected to the transmission belt 423. The connection between the door body and the transmission belt 423 is achieved through the connecting unit 425.

[0075] According to the embodiments of the present utility model, Figure 8 As shown, the connection unit 425 includes a fixing block 4251 and a second connecting member 4252. The fixing block 4251 abuts between the transmission belt 423 and the door body 3, and the second connecting member 4252 mounts the driving end of the door body 3 on the transmission belt 423 through the fixing block 4251.

[0076] According to the embodiments of the present utility model, Figure 8 As shown, the side of the transmission belt 423 opposite to the fixing block 4251 extends outward to form a plurality of protrusions 4231 , and the plurality of second connecting members 4252 pass through the plurality of protrusions 4231 respectively to mount the transmission belt 423 on the fixing block 4251 .

[0077] According to an embodiment of the utility model, by placing a fixed block against between the transmission belt 423 and the door body 3 and extending outwardly on the side of the transmission belt 423 opposite to the fixed block 4251 to form a plurality of protrusions 4231, it is possible to prevent the emergency force from being too large.

[0078] In an exemplary embodiment, the driving path of the transmission belt 423 that moves the driving end of the door body 3 between the open position and the closed position is parallel to the guide rail close to the driving path. The thickness of the fixing block 4251 is approximately equal to the distance between the driving path and the guide groove to reduce the friction of the guide rail on the door body.

[0079] In an illustrative embodiment, Figure 8 As shown, the door body 3 can be installed on the fixed block 4251 through a plurality of second connecting members 4252, and the transmission belt 423 can be installed on the fixed block 4251 through the protrusions 4231 through the plurality of second connecting members 4252 respectively.

[0080] In a replaceable embodiment, the second connecting member 4252 can be a bolt, which passes through the protrusion 4231, the transmission belt 423, the fixing block 4251 and the door body 3 in sequence, and cooperates with the nut to connect the door body 3 and the transmission belt 423 through the connecting unit 425.

[0081] In an illustrative embodiment, Figure 7 As shown, the driving motor 41 includes two output shafts extending in opposite directions, and the two driving wheels 421 of the two transmission assemblies 42 are respectively mounted on the two output shafts. The driving motor can be a rod-type motor, which is mounted below the two guide rails 21 and located at the upper part of the rear wall, and the transmission wheel 422 is located at the lower part of the rear wall.

[0082] It is understandable that the drive motor 41 may also be a motor with only one output shaft, which can be driven by gears and a synchronization rod so that the two transmission components 42 rotate synchronously.

[0083] According to an embodiment of the utility model, the transport robot also includes two sensors 5, which are respectively installed on the side wall 13 of the cabin 1 and at least one of the two guide rails 21, and are located near the open position and the closed position to detect whether the driving end moves to the open position (that is, the door body is in the open position) or the closed position (that is, the door body is in the closed position).

[0084] According to an embodiment of the present invention, the sensor 5 may include any one of a limit switch, a proximity switch, a distance sensor, and the like.

[0085] In an illustrative embodiment, Figure 4 As shown, the sensor 5 is mounted on one of the two guide rails and is located in an open position and a closed position.

[0086] According to the embodiments of the present utility model, Figure 4 As shown, the transport robot also includes a safety light curtain 6, which is installed on the front wall 11 and located at opposite ends of the window to detect whether there are objects entering or exiting the window, effectively preventing the objects from being clamped by the door body.

[0087] According to an embodiment of the utility model, the light curtain 6 includes a light generator and a light receiver. The light generator is installed at one end of the window, and the light receiver is installed at the other end of the window opposite to the light generator. Through the cooperation of the light generator and the light receiver, detection of whether there is an object between the light generator and the light receiver is achieved.

[0088] According to an embodiment of the utility model, the transport robot further includes a switch 7 and a processor. The switch 7 is mounted on the outer surface of the cabin 1 and is configured to send instructions, including an opening instruction or a closing instruction. The processor is mounted in the side wall 13 of the cabin 1 and is configured to control the drive device 4 to drive the driving end of the door body 3 to move to the closed position or the open position according to the instruction, and control the drive device 4 to stop driving and send an alarm message when the driving end does not reach the closed position or the open position after a preset time.

[0089] According to an embodiment of the present invention, the processor may include any one of a single chip microcomputer, a programmable logic controller (PLC), and the like.

[0090] According to an embodiment of the utility model, the transport robot further includes a touch screen 8. The touch screen 8 is obliquely mounted on the upper portion of one of the two side walls. The touch screen 8 is configured to issue an opening or closing instruction to the controller, and the processor controls the drive device 4 to drive the door body 3 to move according to the instruction sent by the touch screen 8 or the switch 7. In the case where the touch screen and the switch send a designated instruction at the same time, the priority is set in the processor, for example, the instruction sent by the switch can be given priority.

[0091] According to an embodiment of the present invention, the touch screen 8 can also be configured to display the alarm information sent by the processor. It is understandable that the touch screen can also be installed at any suitable operation position on the transport robot.

[0092] According to an embodiment of the utility model, the transport robot further comprises an emergency stop button, which is mounted on the outer surface of the cabin body 1 and is suitable for cutting off the power supply of the control device to stop the door body 3 from moving.

[0093] According to an embodiment of the utility model, the transport robot further comprises a lighting lamp 9 mounted on the frame 14 for illuminating the accommodation room at least when the door is open.

[0094] According to an embodiment of the utility model, the transport robot may further include a plurality of status indicator lights, which are mounted on the outer surface of the cabin 1 and are respectively used to indicate the plurality of states of the transport robot, so as to facilitate the user to identify the current state of the transport robot. For example, one or more of the door opening, the door closing, the door fully opened, the door fully closed, emergency stop and failure, etc. It is understandable that the plurality of status indicator lights may respectively display different colors or flashing states. It is understandable that the plurality of states of the transport robot may also be displayed on the screen of the touch screen.

[0095] In an illustrative embodiment, a blue permanently lit indicator light can indicate that the door is fully closed, a green permanently lit indicator light indicates that the door is fully open, a red permanently lit indicator light indicates an emergency stop state, a flashing blue indicator light indicates that the door is closing, a flashing green indicator light indicates that the door is opening, and a flashing red indicator light indicates a fault state.

[0096] Fig. 9 The working flow chart of the transport robot according to one embodiment of the utility model is schematically shown.

[0097] According to the embodiments of the present utility model, Fig. 9As shown, the touch screen or switch sends an opening instruction to the processor. The current position of the door body is fed back by the sensor 5. If the sensor 5 detects that the door body is in the open position, the processor does not send an opening command to the drive device 4. If the sensor 5 detects that the door body 3 is not in the open position, the processor sends an opening command to the drive device 4. The drive device 4 receives and responds to the opening command and drives the door body 3 to move to the open position until the door body 3 is in the open position. If the door body 3 does not reach the open position within the preset time, the controller sends an alarm message to indicate that the conveying robot is in a fault state, and the drive device 4 stops driving.

[0098] like Fig. 9 As shown, the touch screen or switch sends a closing instruction to the processor. The current position of the door body is fed back by the sensor 5. If the sensor 5 detects that the door body is in the closed position, the processor does not send a closing command to the drive device 4. If the sensor 5 detects that the door body 3 is not in the closed position, the processor sends a closing command to the drive device 4. The drive device 4 receives and responds to the closing command and drives the door body 3 to move to the closed position until the door body 3 is in the closed position. If the door body 3 does not reach the closed position within the preset time, the controller sends an alarm message to indicate that the transport robot is in a fault state, and the drive device 4 stops driving. During the closing process of the door body, if there is an object in the safety light curtain, the door body stops moving.

[0099] When the transport robot is in an emergency stop state, the door body stops moving during the opening and closing processes, and the safety door enters a fault state.

[0100] Fig.10 The working flow chart of the transport robot according to another embodiment of the utility model is schematically shown.

[0101] In an illustrative embodiment, Fig.10 As shown, when the transport robot is in a fault state, the processor does not respond to the opening instruction or the closing instruction. After the fault is cleared, it is necessary to send a fault clearing command to the controller to reset the controller. After the processor receives the fault clearing command, the processor can respond to the opening or closing instruction and send an opening or closing command to the drive device to move the door body.

[0102] The transport robot provided according to the embodiment of the utility model can be used to transport the civil aviation passenger inspection checked luggage in a sealed manner to the customs baggage opening room.

[0103] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A transport robot, characterized in that: include: A cabin (1), wherein at least one storage chamber is formed inside the cabin (1), and comprises a front wall (11), a rear wall, a top wall (12), and side walls (13); a window is provided on the front wall (11), and the window is suitable for allowing articles to enter and exit; A guide rail assembly (2) comprising two guide rails (21) installed in parallel and at intervals, wherein the two guide rails (21) are installed on opposite sides of the window and extend into the top wall (12) or the side wall (13); A door body (3) slidably mounted between the two guide rails (21); and A driving device (4) is installed in the top wall (12), the side wall (13) or the rear wall and is connected to the driving end of the door body (3) located opposite to the end of the window. The driving device (4) is suitable for driving the door body (3) to move along the sliding path provided by the guide rail assembly (2), so that the driving end of the door body (3) moves between a closed position for closing the window and an open position for at least partially opening the window.

2. The transport robot according to claim 1, characterized in that: The door body (3) comprises a plurality of strip plates (31) extending in a direction perpendicular to the moving direction of the door body (3), and flexible connecting members connected between adjacent strip plates.

3. The transport robot according to claim 2, characterized in that: A guide groove (211) is provided on the inner side of each guide rail (21), and two sides of the door body (3) are partially inserted into the guide groove (211) to guide the sliding of the door body (3).

4. The transport robot according to claim 3, characterized in that: Slide blocks are provided at both ends of each strip plate (31), and the slide blocks are slidably accommodated in the guide groove (211).

5. The transport robot according to claim 2, characterized in that: The driving end of the door body (3) is located inside the upper part of the rear wall in the closed position; The guide rail assembly (2) further extends into the rear wall to receive a portion of the door body (3) moved into the rear wall.

6. The transport robot according to claim 3, characterized in that: The driving device (4) is arranged in the rear wall.

7. The transport robot according to claim 4, characterized in that: The driving device (4) comprises: A driving motor (41) mounted on the upper portion of the rear wall of the cabin (1); and Two sets of transmission components (42) are connected to the driving end of the door body (3), and the transmission components (42) are configured to drag or push the driving end under the drive of the driving motor (41) to move the door body (3) on the sliding path to close or at least partially open the window.

8. The transport robot according to claim 7, characterized in that: Each group of the transmission components (42) comprises: a driving wheel (421), mounted in the rear wall near one of the closed position and the open position, and configured to rotate under the drive of the driving motor (41); A driven wheel (422) mounted near the other of the closed position and the open position; and A transmission belt (423) is looped around the driving wheel (421) and the driven wheel (422), and the transmission belt (423) is connected to a driving end of the door body (3) so as to drive the door body (3) to move along the sliding path under the drive of the driving wheel (421).

9. The transport robot according to claim 8, characterized in that: The transmission assembly (42) further comprises: The tensioning unit (424) is installed on a side wall close to the transmission belt (423) and is suitable for adjusting the tightness of the transmission belt (423).

10. The transport robot according to claim 9, characterized in that: The tensioning unit (424) comprises: A mounting frame (4241) is mounted on a side wall close to the transmission belt (423), and the mounting frame (4241) is provided with a long hole (4243) perpendicular to the plane where the axes of the driving wheel and the driven wheel are located; and A roller (4242) mounted on the mounting frame (4241) and in contact with a surface of the transmission belt (423), wherein the roller (4242) is configured to rotate under the movement of the transmission belt (423); The long hole (4243) is suitable for mounting the roller (4242) on the mounting frame (4241) via a first connecting member, or is suitable for mounting the mounting frame (4241) on a side wall close to the transmission belt (423) via the first connecting member, and the tightness of the transmission belt (423) is adjusted by changing the installation position of the first connecting member in the long hole.

11. The transport robot according to claim 8, characterized in that: The transmission assembly (42) further comprises: The connection unit (425) is suitable for connecting the driving end of the door body (3) to the transmission belt (423), so that the door body (3) moves following the transmission belt (423).

12. The transport robot according to claim 11, characterized in that: The connecting unit comprises: a fixed block (4251) abutting between the transmission belt (423) and the door body (3); and The second connecting member (4252) mounts the driving end of the door body (3) on the transmission belt (423) via the fixing block (4251).

13. The transport robot according to claim 12, characterized in that: A side of the transmission belt (423) opposite to the fixing block (4251) extends outward to form a plurality of protrusions (4231); The plurality of second connecting members (4252) respectively pass through the plurality of protrusions (4231) to mount the transmission belt (423) on the fixing block (4251).

14. The transport robot according to claim 8, characterized in that: The driving motor (41) comprises two output shafts extending in opposite directions, and the two driving wheels (421) of the two sets of transmission assemblies (42) are respectively mounted on the two output shafts.

15. The transport robot according to claim 1, characterized in that: Also includes: Two sensors (5) are respectively mounted on the side wall (13) of the cabin (1) and at least one of the two guide rails (21), and are located near the open position and the closed position to detect whether the driving end moves to the open position or the closed position.

16. The transport robot according to claim 1, characterized in that: Also includes: A safety light curtain (6) is installed on the front wall (11) and is located at two opposite ends of the window to detect whether an object enters or exits the window.

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