Transportation robot for safety detection and safety detection system

Abstract

The utility model provides a transport robot for safety detection and a safety detection system. The transport 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 utility model relates to security check equipment technical field, more specifically, relate to a kind of transport robot and safety detection system for security detection. BACKGROUND

[0002] Security check refers to the passenger who rides civil aviation aircraft or high-speed train and other public transport must receive a personal and luggage inspection item before riding, and this is also a necessary measure to ensure passenger safety and civil aircraft in-flight safety. Before riding public transport, knife type daily necessities need to be handled in advance.

[0003] In the process of realizing the utility model concept, it is found that the carry-on open luggage is transported to the security check machine entrance, which needs to be carried by the security officer or transported by a trolley, not only consuming a lot of manpower, but also reducing the security check efficiency. UTILITY MODEL CONTENT

[0004] Therefore, the utility model provides a kind of transport robot and safety detection system for security detection.

[0005] One aspect of the utility model provides a kind of transport robot for security detection, comprising:

[0006] Robot main body;

[0007] Article loading device, including conveying mechanism, the conveying mechanism is installed on the robot main body, the support surface of the conveying mechanism is substantially flush with the transmission surface of the safety detection device, to allow the target tray loaded with the article to be inspected on the safety detection device Partially moved onto the support surface, and the conveying mechanism is configured to drive the target tray to enter or partially move out of the support surface;And

[0008] Universal movement device, installed in the lower part of the robot main body, and configured to move the transport robot.

[0009] According to the embodiment of the utility model, the article loading device further comprises:

[0010] Two limiting baffle plates are installed on the robot main body on both sides of the conveying mechanism and extend parallel to the conveying direction of the conveying mechanism, and the limiting baffle plate is configured to avoid the target tray from falling off the conveying mechanism.

[0011] According to the embodiment of the utility model, the target tray comprises:

[0012] Lower concave main body part;And

[0013] The edge of the main body part at the upper portion is rolled outward to form a rolled edge, and the rolled edges on the two opposite side walls are provided with inverted notches, which include two opposite inclined edges and a groove between the two inclined edges.

[0014] According to the embodiment of the utility model, the article loading device further comprises:

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

[0016] A blocking mechanism is telescopically installed on the limiting baffle or the robot body, and the blocking mechanism is configured to extend into or out of the groove from the limiting baffle or the robot body when the first photoelectric switches detect that the target tray completely enters or moves out of the support surface, so as to avoid the movement of the target tray in the conveying direction of the conveying mechanism during the movement of the transport robot.

[0017] According to the embodiment of the utility model, the blocking mechanism comprises:

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

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

[0020] A blocking motor is installed inside the robot body and is in transmission with the gear;

[0021] When the first photoelectric switches determine that the target tray completely enters or moves out of the conveying mechanism, the blocking motor is rotated to rotate part of the threaded rod out of or into the external sleeve to insert into or out of the groove.

[0022] According to the embodiment of the utility model, the blocking mechanism comprises:

[0023] An ejection rod, part of which penetrates the top surface of the robot body;

[0024] A magnetic ring is installed on the ejection rod inside the robot body;

[0025] An electromagnet is installed inside the robot body;

[0026] When the first photoelectric switches determine that the target tray completely enters or moves out of the conveying mechanism, the electromagnet is electrified to magnetically act on the magnetic ring to make the ejection rod extend into or out of the groove.

[0027] According to the embodiment of the utility model, the transport robot further comprises:

[0028] At least one obstacle detection device is installed on at least one side surface of the robot body, wherein the obstacle detection device is configured to generate an obstacle detection signal representing whether there is an obstacle;

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

[0030] According to the embodiment of the utility model, the conveying mechanism comprises:

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

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

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

[0034] A conveying belt is wrapped around the outside of the first driving roller and the first driven roller, wherein the conveying belt is configured to rotate synchronously with the first driving roller under the drive of the transmission motor to make the target tray enter or exit the transport robot.

[0035] According to the embodiment of the utility model, the conveying mechanism comprises:

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

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

[0038] A plurality of second driven rollers are rotatably installed on the top surface of the robot body, and the second driven rollers are in transmission connection with the second driving roller through a belt, wherein the target tray enters or exits the transport robot under the drive of the second transmission motor to rotate the second driving roller.

[0039] According to the embodiment of the utility model, the transport robot further comprises:

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

[0041] A third photoelectric switch is installed on the side surface of the article loading device, and the third photoelectric switch is configured to control the conveying mechanism to transmit the target tray on the conveying mechanism to the safety detection device when the safety detection device receives a second photoelectric signal transmitted by the third photoelectric switch.

[0042] According to the embodiment of the utility model, the transport robot further comprises:

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

[0044] A warning light strip is installed on the outer side 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 movement state of the transport robot.

[0046] According to the embodiment of the utility model, the transport robot further comprises:

[0047] A controller is installed inside the robot body and electrically connected to the article loading device and the universal movement device;

[0048] A plurality of point control buttons are installed on the outer side 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 movement 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 outer side of the robot body and electrically connected to the controller, and the control display screen is configured to display the movement state of the transport robot and the position information of the target point area.

[0050] According to the embodiment of the utility model, the universal movement device comprises:

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

[0052] A plurality of first driving motors are installed on the bottom surface of the robot body, and one first driving motor is in driving connection with one first driving wheel;

[0053] Wherein, the movement state of the transport robot is controlled by controlling the working state of different first driving motors.

[0054] According to the embodiment of the utility model, the universal movement device comprises:

[0055] A plurality of universal driven wheels and a driving mechanism are evenly installed on the bottom surface of the robot body.

[0056] According to the embodiment of the utility model, the driving mechanism comprises:

[0057] A steering disc is rotatably installed on the bottom surface of the robot body, and the outer edge of the steering disc is provided with engagement teeth.

[0058] A steering motor is in engagement transmission with the engagement teeth.

[0059] A second driving motor and a second driving wheel are installed on the side of the steering disc away from the robot body, and the second driving motor is in transmission connection with 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 the embodiment of the utility model, the robot body comprises:

[0062] A robot base is connected with the universal moving device.

[0063] A connecting column is connected with the article loading device and the robot base at both ends.

[0064] According to the embodiment of the utility model, the obstacle detection device comprises:

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

[0066] According to the embodiment of the utility model, the robot base comprises:

[0067] A shell;

[0068] A battery is installed inside the shell, and the battery is configured to provide electric energy for the transport robot.

[0069] A charging assembly penetrates the side surface of the shell and is electrically connected with the battery.

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

[0071] Another aspect of the utility model provides a safety detection system, comprising:

[0072] The security detection device is configured to perform security detection on the articles, wherein one side of the security detection device is provided with a plurality of detection points;

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

[0074] According to the embodiments of the present application, the security detection device comprises:

[0075] At least two transmission belts;

[0076] The security inspection machine, and the article entry end and the article output end of the security inspection machine are connected with at least one transmission belt respectively;

[0077] The manual detection mechanism is installed at the transmission belt on one side of the article output end, and the manual detection mechanism is used for secondary review of the articles with security risks.

[0078] According to the embodiments of the present application, the security detection system further comprises:

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

[0080] According to the embodiments of the present application, the transport robot is arranged on the transmission surface of the security detection device in the security inspection process, the transmission mechanism on the transport robot and the transmission surface of the security detection device are matched with each other, the target tray carrying the articles to be detected is facilitated to be detected in the security inspection process, the manual cost is reduced, and the security inspection efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

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

[0082] Figure 1 A perspective view schematically shows a transport robot for security detection according to an embodiment of the present disclosure;

[0083] Figure 2 A perspective view schematically shows a transport robot for security detection according to another embodiment of the present disclosure;

[0084] Figure 3 A perspective view schematically shows a target tray according to an embodiment of the present disclosure;

[0085] Figure 4Fig. 6 schematically shows a perspective view of a transport robot according to another embodiment of the present disclosure;

[0086] Figure 5 Fig. 7 schematically shows a structural view of a blocking mechanism according to an embodiment of the present disclosure;

[0087] Figure 6 Fig. 8 schematically shows a structural view of a blocking mechanism according to another embodiment of the present disclosure;

[0088] Figure 7 Fig. 9 schematically shows a perspective view of a safety detection system according to an embodiment of the present disclosure;

[0089] Figure 8 Fig. 10 schematically shows a plan layout view of a safety detection system according to an embodiment of the present disclosure.

[0090] In the above figures, the meanings of the reference signs are as follows:

[0091] 1000 - transport robot;

[0092] 100 - robot body;

[0093] 110 - robot base;

[0094] 111 - charging assembly;

[0095] 120 - connecting column;

[0096] 200 - article loading device;

[0097] 210 - conveying mechanism;

[0098] 220 - limiting baffle;

[0099] 230 - blocking mechanism;

[0100] 231 - outer sleeve;

[0101] 232 - threaded rod;

[0102] 233 - blocking motor;

[0103] 234 - ejecting rod;

[0104] 235 - magnetic ring;

[0105] 236 - electromagnet;

[0106] 240 - first photoelectric switch;

[0107] 300 - target tray;

[0108] 310 - body portion;

[0109] 320 - curled edge;

[0110] 330 - notch

[0111] 331 - inclined edge

[0112] 332 - groove

[0113] 400 - universal movement 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 screen

[0122] 2000 - safety detection device

[0123] 2100 - transmission belt

[0124] 2200 - security inspection machine

[0125] 2300 - manual detection mechanism

[0126] 2400 - charging device DETAILED DESCRIPTION

[0127] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to specific embodiments and drawings.

[0128] The terms used herein are merely used to describe specific embodiments, and are not intended to limit the present application. The terms "include", "contain" and the like used herein indicate the existence of the described 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 meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted to have meanings consistent with the context of the present specification, and should not be interpreted in an idealized or overly formal manner.

[0130] In the case where expressions such as "at least one of A, B, and C, etc." are used, it generally should be interpreted to include any of one, of two, or of three of these items, unless otherwise specifically stated. In the case where expressions such as "at least one of A, B, or C, etc." are used, it generally should be interpreted to include any of one, of two, or of three of these items, unless otherwise specifically stated.

[0131] It should also be noted that the directional phrases mentioned in the embodiments, such as "up", "down", "front", "back", "left", "right", etc., are only the directions of the drawings, and are not intended to limit the protection scope of the utility model. Throughout the drawings, the same elements are represented by the same or similar reference numerals. When it may cause confusion to the understanding of the utility model, the conventional structure or configuration will be omitted.

[0132] Figure 1 A perspective view of a transport robot for safety detection according to an embodiment of the present disclosure is schematically shown.

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

[0134] a robot body 100;

[0135] an article loading device 200 comprising a conveying mechanism 210 mounted on the robot body 100, a support surface of the conveying mechanism 210 being substantially flush with a transport surface of the safety detection device 2000 to allow a target tray 300 loaded with an article to be detected transported on the safety detection device 2000 to partially translate onto the support surface, and the conveying mechanism 210 being configured to drive the target tray 300 to enter or partially move out of the support surface; and

[0136] a universal movement device 400 mounted on a lower part of the robot body 100 and configured to move the transport robot 1000.

[0137] According to the embodiments of the utility model, the robot body 100 can be columnar or other shapes, such as swan neck shape with cross-sectional area of two ends larger than that of the middle or streamline shape with cross-sectional area of the bottom larger than that of the top.

[0138] According to the embodiment of the present application, the security detection device 2000 can be a security inspection device such as a security inspection machine 2200 having a transmission function, and after the target tray 300 on which the to-be-inspected article is placed is placed on the security detection device 2000, the security detection device 2000 performs security detection on the target tray 300, and in the case where security detection is needed, the transmission surface of the security detection device 2000 pushes part of the target tray 300 to the support surface of the conveying mechanism 210.

[0139] According to the embodiment of the present application, after part of the target tray 300 enters the support surface of the conveying mechanism 210, the conveying mechanism 210 is used to completely translate the target tray 300 to the support surface of the conveying mechanism 210. After the target tray 300 is moved to the target point (for example, the other side of the transmission surface of the security detection device 2000) by the universal moving device 400, part of the target tray 300 is moved to the transmission surface by the conveying mechanism 210, and the target tray 300 is completely moved to the transmission surface by the transmission surface.

[0140] According to the embodiment of the present application, the transport robot 1000 is arranged on the transmission surface of the security detection device 2000 in the security inspection process, the conveying mechanism 210 on the transport robot 1000 and the transmission surface of the security detection device 2000 are matched with each other, the target tray 300 carrying the to-be-inspected article is conveniently subjected to security detection in the security inspection process, the labor cost is reduced, and the security inspection efficiency is improved.

[0141] Figure 2 A perspective view schematically shows a transport robot for security detection according to another embodiment of the present application.

[0142] As shown in Figure 2 The article loading device 200 further comprises:

[0143] Two limiting baffle plates 220 are installed on the robot body 100 on both sides of the conveying mechanism 210 and extend parallel to the conveying direction of the conveying mechanism 210, and the limiting baffle plate 220 is configured to prevent the target tray 300 from falling off the conveying mechanism 210.

[0144] According to the embodiment of the present application, the limiting baffle plate 220 can be a sheet-shaped baffle plate, and the two sides of the limiting baffle plate 220 can also be chamfered.

[0145] According to the embodiment of the present application, one limiting baffle plate 220 can also be arranged on one side of the conveying mechanism 210 parallel to the conveying direction of the conveying mechanism 210, in other words, only one direction of the four directions of the conveying mechanism 210 can be used for moving the target tray 300 in or out, so as to prevent the target tray 300 from sliding off the conveying mechanism 210 when the target tray 300 enters the conveying mechanism 210.

[0146] According to the embodiment of the utility model, the setting of the limiting baffle 220 can avoid the target tray 300 loaded with the to-be-inspected article from falling off the transport robot 1000, improve the integrity of the to-be-inspected article, and reduce the safety detection risk.

[0147] Figure 3 The three-dimensional schematic view of the target tray is schematically shown.

[0148] According to the embodiment of the utility model, as shown in Figure 3 The target tray 300 comprises:

[0149] The recessed main body part 310; and

[0150] The rolled edge 320 is formed by rolling outward from the edge of the main body part 310 located at the upper part, the rolled edge 320 on the two opposite side walls is provided with an inverted notch 330, the notch 330 comprises two opposite inclined edges 331 and a groove 332 between the two inclined edges 331.

[0151] According to the embodiment of the utility model, the recessed main body part 310 is suitable for arranging the to-be-inspected article, when the target tray 300 is manually carried, the rolled edge 320 on the target tray 300 can be held by hand, secondly, the setting of the rolled edge 320 is also convenient for stacking and storing multiple target trays 300.

[0152] Figure 4 The three-dimensional schematic view of the transport robot is schematically shown.

[0153] According to the embodiment of the utility model, as shown in Figure 4 The article loading device 200 further comprises:

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

[0155] The blocking mechanism 230 is telescopically installed on the limiting baffle 220 or the robot main body 100, and the blocking mechanism 230 is configured to extend into or out of the groove 332 from the limiting baffle 220 or the robot main body 100 in the case that the first photoelectric switch 240 detects that the target tray 300 completely enters or moves out of the support surface, so as to avoid the target tray 300 moving in the conveying direction of the conveying mechanism 210 in the process of moving the transport robot 1000.

[0156] According to the embodiment of the utility model, when the target tray 300 enters the conveying mechanism 210 from the transmission surface of the safety detection device 2000, when part of the target tray 300 enters the conveying mechanism 210, at this time, 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 tray 300 is completely moved to the conveying mechanism 210, after another photoelectric switch detects a photoelectric signal, the transport robot 1000 controls the conveying mechanism 210 to stop working, so as to avoid the target tray 300 from falling off the conveying mechanism 210, and 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 tray 300, so as to fix the position of the target tray 300, thereby further avoiding the target tray 300 from falling off the conveying mechanism 210.

[0157] According to the embodiment of the utility model, when the target tray 300 on the conveying mechanism 210 needs to be moved to the transmission surface of the safety detection device 2000, the blocking mechanism 230 can be controlled to work so that the blocking mechanism 230 is separated from the groove 332 of the target tray 300, at this time, the conveying mechanism 210 is controlled to work to move part of the target tray 300 to the transmission surface of the safety detection device 2000, and then the target tray 300 is completely moved to the transmission surface under the transportation of the transmission surface, so that the safety detection device 2000 can safely detect the target tray 300.

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

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

[0160] According to the embodiment of the utility model, as Figure 5 shown, the blocking mechanism 230 comprises:

[0161] The outer sleeve 231 is rotatably installed in the limiting baffle 220 or the robot body 100, wherein the outer sleeve 231 has a threaded column through hole, and the bottom end of the outer sleeve 231 is provided with a gear;

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

[0163] The blocking motor 233 is installed in the robot body 100 and is in transmission with the gear;

[0164] Wherein, in the case that 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 make the partial threaded rod 232 rotate out of or into the external sleeve 231 to insert or disengage the groove 332.

[0165] According to the embodiment of the utility model, after the target tray 300 completely enters the conveying mechanism 210, based on the photoelectric signal detected by the photoelectric switch (i.e. another photoelectric switch in the above), the blocking motor 233 is controlled to work to make the external sleeve 231 rotate, at this time, with the rotation of the external sleeve 231, the threaded rod 232 in threaded engagement with it rotates out of the external sleeve 231, thereby the threaded rod 232 can be inserted into the groove 332 of the target tray 300.

[0166] According to the embodiment of the utility model, when the target tray 300 on the transport robot 1000 needs to be transported to the conveying surface of the safety detection device 2000, at this time, the threaded rod 232 is located in the groove 332 of the target tray 300 to limit the target tray 300, thereby the blocking motor 233 can be controlled to work to make the external sleeve 231 rotate, the threaded rod 232 in threaded engagement with it rotates into the external sleeve 231, thereby the threaded rod 232 can be disengaged from the groove 332 of the target tray 300, so that the target tray 300 is moved to the conveying surface under the cooperation of the conveying mechanism 210 and the conveying surface.

[0167] Figure 6 The structural schematic diagram of the blocking mechanism of another embodiment of the disclosure is schematically shown.

[0168] According to the embodiment of the utility model, the blocking mechanism 230 comprises:

[0169] The ejector rod 234, part of the ejector rod 234 penetrates the top surface of the robot body 100;

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

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

[0172] Wherein, in the case that the first photoelectric switch 240 determines that the target tray 300 completely enters or moves out of the conveying mechanism 210, the electromagnet 236 is energized to have magnetic action with the magnetic ring 235 to make the ejector rod 234 extend into or disengage the groove 332.

[0173] In one embodiment, a limiting ring is further arranged on the ejection rod 234 outside the robot body 100. When the target tray 300 needs to be clamped, the electromagnet 236 is controlled to work so that the electromagnet 236 generates magnetism. At this time, the electromagnet 236 and the magnetic ring 235 are attracted to each other and adhere to each other, as shown in Figure 6 (a), so that the ejection rod 234 rises, and then the ejection rod 234 is inserted into the groove 332. When the target tray 300 needs to be transferred to the conveying surface, i.e., the target tray 300 does not need to be clamped, the electromagnet 236 is controlled to not work, so that the ejection rod 234 is separated from the groove 332 under the action of gravity, and then the target tray 300 can be transferred to the conveying surface under the cooperation of the conveying mechanism 210 and the conveying surface.

[0174] In another embodiment, the magnetic ring 235 adheres to the electromagnet 236 under the action of gravity when the electromagnet 236 is not powered. At this time, the ejection rod 234 is not clamped with the groove 332. When clamping is needed, the electromagnet 236 is 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 ejection rod 234 is clamped with the groove 332, as shown in Figure 6 (b). When the target tray 300 needs to be transferred to the conveying surface, i.e., the target tray 300 does not need to be clamped, the electromagnet 236 is controlled to not work, so that the ejection rod 234 and the magnetic ring 235 are separated from the groove 332 under the action of gravity, and the magnetic ring 235 adheres to the electromagnet 236, and then the target tray 300 can be transferred to the conveying surface under the cooperation of the conveying mechanism 210 and the conveying surface.

[0175] According to the embodiment of the utility model, as shown in Figure 4 The transport robot 1000 further comprises:

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

[0177] The universal movement device 400 is further configured to control the movement state of the transport robot 1000 according to the obstacle detection signal.

[0178] According to the embodiment of the utility model, in order to avoid the collision between the transport robot 1000 and the pedestrian or other equipment in the moving process of the transport robot 1000, the obstacle detection device 500 can be arranged on the transport robot 1000, and 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 under the condition that the obstacle detection signal indicating whether there is an obstacle is detected by the obstacle detection device 500.

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

[0180] A first driving roller 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 being configured to drive the first driving roller to rotate;

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

[0183] A transmission belt wrapped around the outside of the first driving roller and the first driven roller, wherein the transmission belt is configured to rotate synchronously with the first driving roller under the drive of the transmission motor to allow the target tray 300 to enter or exit the transport robot 1000.

[0184] According to the embodiment of the utility model, in the case where the target tray 300 needs to be moved into or out of the transport robot 1000, the first transmission motor can be controlled to rotate forward or reverse, at this time, the first driven roller and the transmission belt are driven to rotate synchronously by the first transmission motor, thereby the target tray 300 can be moved into or out of the transport robot 1000.

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

[0186] A second driving roller 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 being configured to drive the second driving roller to rotate;

[0188] A plurality of second driven rollers rotatably mounted on the top surface of the robot body 100, the second driven rollers being in transmission connection with the second driving roller through a belt, wherein the target tray 300 enters or exits the transport robot 1000 under the drive of the second transmission motor to drive the second driving roller to rotate.

[0189] According to the embodiment of the utility model, the belt can be a common belt, a synchronous toothed belt or a chain, etc.

[0190] According to the embodiment of the utility model, in the case that the target tray 300 needs to be moved into or out of the transport robot 1000, the second transmission motor can be controlled to rotate forward or reversely, at this time, under the transmission effect of the belt, the plurality of second driven rollers rotate synchronously under the driving of the second driving roller, thereby the target tray 300 can be moved into or out of the transport robot 1000.

[0191] According to the embodiment of the utility model, as shown in Figure 4 The transport robot 1000 further comprises:

[0192] The second photoelectric switch 600 is installed on the side surface of the article loading device 200, and the second photoelectric switch 600 is configured to control the safety detection device 2000 to transmit the target tray 300 onto the transport robot 1000 in the case that the first photoelectric signal transmitted by the safety detection device 2000 is received; and / or

[0193] The third photoelectric switch 700 is installed on the side surface of the article loading device 200, and the third photoelectric switch 700 is configured to control the transmission mechanism 210 to transmit the target tray 300 on the transmission mechanism 210 onto the safety detection device 2000 in the case that the second photoelectric signal transmitted by the third photoelectric switch 700 is received by the safety detection device 2000.

[0194] According to the embodiment of the utility model, in the case that the target tray 300 on the safety detection device 2000 needs to be transmitted onto the transport robot 1000, the first photoelectric signal transmitted by the safety detection device 2000 is received by the second photoelectric switch 600, at this time, the transmission surface and the transmission mechanism 210 start to work, thereby the transmission of the target tray 300 is realized.

[0195] According to the embodiment of the utility model, in the case that the target tray 300 on the transport robot 1000 needs to be transmitted to the safety detection device 2000, the second photoelectric signal can be sent to the safety detection device 2000 by the third photoelectric switch 700, at this time, the safety detection device 2000 knows that the target tray 300 on the transport robot 1000 needs to be transmitted onto the safety detection device 2000, thereby the transmission surface and the transmission mechanism 210 can be controlled to start to work, thereby the transmission of the target tray 300 is realized.

[0196] According to the embodiment of the utility model, as shown in Figure 4 The transport robot 1000 further comprises:

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

[0198] The warning light strip 820 is installed on the outer side of the robot main 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 movement state of the transport robot 1000.

[0200] According to the embodiment of the present application, in order to further improve the transport safety of the transport robot 1000, a safety anti-collision strip 810 can be arranged on the transport robot 1000, which can protect pedestrians or other equipment in the case of collision.

[0201] According to the embodiment of the present application, the warning light strip 820 can emit light during the movement of the transport robot 1000, thereby facilitating pedestrians to know that the transport robot 1000 is in a working state. The setting of the emergency stop control button 830 can pause the operation of the transport robot 1000 in time in the case of emergency.

[0202] According to the embodiment of the present application, the transport robot 1000 further comprises:

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

[0204] A plurality of point control buttons 840 are installed on the outer side of the robot body 100 and are electrically connected to the controller, wherein in the case of clicking any point control button 840, the controller controls the universal moving device 400 to move so that the transport robot 1000 moves to the target point area corresponding to the point control button 840; Figure 4

[0205] A control display screen 850 is installed on the outer side of the robot body 100 and is electrically connected to the controller, and the control display screen 850 is configured to display the movement state of the transport robot 1000 and the position information of the set target point area. Figure 4 According to the embodiment of the present application, the controller is not only electrically connected to the article loading device 200 and the universal moving device 400, but also can be connected to a variety of electronic devices as described above, thereby realizing the control of the transport robot 1000.

[0206] According to the embodiment of the present application, different target point areas are arranged at different positions of the safety detection device 2000, each target point area corresponds to one point control button 840, and in the case of clicking any one point control button 840, the transport robot 1000 controls the universal moving device 400 to move so that the transport robot 1000 moves to the target point area corresponding to the point control button 840.

[0207]

[0208] ​​According to the embodiment of the utility model, control display screen 850 can display the working state of transport robot 1000, and the working personnel can also set the position information of each target point area on control display screen 850.

[0209] According to the embodiment of the utility model, universal moving device 400 comprises:

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

[0211] A plurality of first driving motors are mounted on the bottom surface of robot body 100, and one first driving motor is in transmission connection with one first driving wheel.

[0212] Among them, the working state of different first driving motors is controlled to control the moving state of transport robot 1000.

[0213] In an embodiment, universal moving device 400 can be two first driving wheels arranged on two sides and two or four driven wheels between the two first driving wheels.

[0214] According to the embodiment of the utility model, under the working condition of universal moving device 400, the change of the moving direction of transport robot 1000 can be realized by controlling the steering of different first driving wheels, and the change of the moving speed of transport robot 1000 can be realized by the rotating speed of the first driving wheel.

[0215] According to the embodiment of the utility model, universal moving device 400 comprises:

[0216] A plurality of universal driven wheels and active driving mechanisms are uniformly mounted on the bottom surface of robot body 100.

[0217] According to the embodiment of the utility model, during the movement of transport robot 1000, the active driving mechanism is controlled to control the moving direction and moving speed of transport robot 1000, the universal driven wheel changes synchronously with the change of the moving direction and moving speed of the active driving mechanism, and the universal driven wheel is also used for providing force support for transport robot 1000.

[0218] According to the embodiment of the utility model, the active driving mechanism comprises:

[0219] Steering wheel, rotatably mounted on the bottom surface of robot body 100, the outer edge of the steering wheel is provided with meshing teeth;

[0220] Steering motor, in meshing transmission with meshing teeth;

[0221] Second driving wheel and second driving motor, mounted on the side of steering wheel away from robot body 100, second driving motor is in transmission connection with second driving wheel.

[0222] Wherein, by controlling the working state of the steering motor to control the moving direction of the transport robot 1000, by controlling the working state of the second drive motor to control the moving speed of the transport robot 1000.

[0223] According to the embodiment of the utility model, in the case of needing to change the moving direction of the transport robot 1000, the steering motor can be controlled to rotate by a preset angle, at this time the steering wheel rotates by a preset angle, thereby realizing the change of the moving direction of the transport robot 1000.

[0224] According to the embodiment of the utility model, by controlling the rotating speed of the second drive motor to drive the second driving wheel, the control of the moving speed of the transport robot 1000 is realized.

[0225] According to the embodiment of the utility model, as shown in Figure 4 The robot main body 100 comprises:

[0226] The robot base 110 is connected with the universal moving device 400;

[0227] The connecting column 120 is connected with the article loading device 200 and the robot base 110 respectively at both ends.

[0228] According to the embodiment of the utility model, the robot base 110 can be a polygonal column, and the cross section thereof can be streamlined by chamfering. The connecting main body can be a column with the bottom cross section area being larger than the top cross section area, and the longitudinal section being streamlined.

[0229] According to the embodiment of the utility model, the obstacle avoidance detection device 500 comprises:

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

[0231] According to the embodiment of the utility model, the radar sensor is used to detect the obstacle in front of the moving direction of the transport robot 1000 in real time, and the obstacle avoidance detection signal is generated in the case of detecting the existence of the obstacle, and the transport robot 1000 controls the moving state of the transport robot 1000 according to the obstacle avoidance detection signal.

[0232] According to the embodiment of the utility model, the robot base 110 comprises:

[0233] The shell;

[0234] The battery is installed inside the shell, and the battery is configured to provide electric energy for the transport robot 1000;

[0235] The charging assembly 111, as Figure 4 shown, penetrates the side of the shell and is electrically connected with the battery;

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

[0237] According to the embodiment of the utility model, the battery provides electric energy for the transport robot 1000, and the charging assembly 111 can charge the battery in the case that the battery has low power. In the case of emergency, the working personnel can stop the work of the transport robot 1000 through the start-stop button in the button operation groove.

[0238] Figure 7 The safety detection system of the embodiment of the present disclosure is schematically shown.

[0239] According to the embodiment of the utility model, as Figure 7 shown, the safety detection system comprises:

[0240] The safety detection device 2000 is configured to perform safety detection on the articles, wherein one side of the safety detection device 2000 is provided with a plurality of detection points;

[0241] The transport robot 1000 moves between the plurality of detection points to transport the target tray 300 on one detection point to another detection point.

[0242] According to the embodiment of the utility model, 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 for the working area of the working personnel.

[0243] In one embodiment, the pedestrian places the luggage articles carried by himself in the target tray 300, and the target tray 300 is placed on the first side of the safety detection device 2000 to pass through the safety detection device 2000 for safety detection processing. The target tray 300 after detection is transferred to the second side of the safety detection device 2000, and if it is necessary to re-perform safety detection, at this time, the conveying surface (i.e. one detection point) of the second side of the safety detection device 2000 will transfer part of the target tray 300 to the transport robot 1000, and the transport robot 1000 will completely transfer the target tray 300 to the conveying mechanism 210 through the conveying mechanism 210.

[0244] According to the embodiment of the utility model, transport robot 1000 moves to the transmission surface of the second side (namely one detection point) of safety detection device 2000 under the condition of bearing target tray 300, at this time, transport robot 1000 removes part of target tray 300 to the transmission surface of the second side through the conveying mechanism 210 of itself, after that, target tray 300 is completely removed to the transmission surface through the transmission of transmission surface, so that the target tray 300 can be checked twice by safety detection device 2000.

[0245] According to the embodiment of the utility model, by setting transport robot 1000 on the transmission surface of safety detection device 2000 in the security check process, the conveying mechanism 210 on transport robot 1000 and the transmission surface of safety detection device 2000 are matched with each other, which is convenient for the safety detection of target tray 300 bearing the to-be-inspected articles in the security check process, helps to reduce the labor cost, and can improve the security check efficiency.

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

[0247] According to the embodiment of the utility model, as Figure 8 As shown in the figure, safety detection device 2000 comprises:

[0248] At least two transmission belts 2100;

[0249] Security check machine 2200, the article entry end and the article output end of security check machine 2200 are connected with at least one transmission belt 2100 respectively;

[0250] Manual detection mechanism 2300, which is installed at the transmission belt 2100 on the side of the article output end, is used for twice rechecking the articles with safety hazards.

[0251] According to the embodiment of the utility model, the transmission belt 2100 is the transmission surface, the transmission belt 2100 at the article output end of security check machine 2200 transmits target tray 300 to transport robot 1000, transport robot 1000 removes target tray 300 to the transmission belt 2100 at the article entry end of security check machine 2200 and removes target tray 300 to the transmission belt 2100.

[0252] According to the embodiment of the utility model, after manual detection mechanism 2300 detects the to-be-inspected articles, part of the to-be-inspected articles after detection can be placed on the target tray 300, and the target tray 300 is placed on transport robot 1000, so that transport robot 1000 removes target tray 300 to security check machine 2200 again for safety detection.

[0253] According to the embodiment of the utility model, the charging device 2400 can be placed on the side where the staff works, so as to avoid affecting the normal passing of pedestrians. Figure 8 As shown in the figure, the safety detection system further comprises:

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

[0255] According to the embodiment of the utility model, the charging device 2400 can be placed on the side where the staff works, so as to avoid affecting the normal passing of pedestrians.

[0256] The above describes the embodiments of the utility model. However, these embodiments are only for the purpose of illustration, and not for the purpose of limiting the scope of the utility model. Although each embodiment is described above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. The scope of the utility model is defined by the appended claims and their equivalents. Without departing from the scope of the utility model, those skilled in the art can make various substitutions and modifications, and these substitutions and modifications shall fall within the scope of the utility model.

Claims

1. A transport robot for security detection, characterized in that, The application relates to a transport robot, which comprises: a robot body; an article loading device, which comprises a conveying mechanism mounted on the robot body, a support surface of the conveying mechanism being substantially flush with a conveying surface of a security detection device to allow a target tray loaded with an article to be detected to be partially moved onto the support surface on the conveying surface of the security detection device, and the conveying mechanism being configured to drive the target tray to enter or partially move out of the support surface; and a universal moving device mounted on a lower part of the robot body and configured to move the transport robot.

2. The transport robot of claim 1, wherein, The article loading device further comprises: two limiting baffle plates mounted on the robot body on both sides of the conveying mechanism and extending in parallel to a conveying direction of the conveying mechanism, the limiting baffle plates being configured to prevent the target tray from falling off the conveying mechanism.

3. The transport robot of claim 2, wherein, The target tray comprises: a concave main body part; and a rolled edge formed by rolling outward from an upper edge of the main body part, and an inverted notch provided on the rolled edge of each of two opposite side walls, the notch comprising two opposite inclined edges and a groove between the two inclined edges.

4. The transport robot of claim 3, wherein, The article loading device further comprises: at least two first photoelectric switches respectively mounted at two ends of the limiting baffle plates, the first photoelectric switches being configured to detect a state of the target tray on the article loading device; a blocking mechanism telescopically mounted on the limiting baffle plates or the robot body, the blocking mechanism being configured to extend into or out of the groove from the limiting baffle plates or the robot body when the first photoelectric switches detect that the target tray completely enters or moves out of the support surface, so as to prevent the target tray from moving in the conveying direction of the conveying mechanism during movement of the transport robot.

5. The transport robot of claim 4, wherein, The blocking mechanism comprises: an outer sleeve rotatably mounted inside the limiting baffle plates or the robot body, wherein the outer sleeve has a threaded column through hole and a gear is mounted at a bottom end of the outer sleeve; a threaded rod in threaded engagement with the threaded column through hole; a blocking motor mounted inside the robot body and in transmission with the gear; wherein, when the first photoelectric switches determine that the target tray completely enters or moves out of the conveying mechanism, the blocking motor is rotated to rotate part of the threaded rod out of or into the outer sleeve to insert into or out of the groove.

6. The transport robot of claim 4, wherein, The blocking mechanism comprises: an ejection rod, part of the ejection rod penetrating a top surface of the robot body; a magnetic ring mounted on the ejection rod inside the robot body; an electromagnet mounted in the robot body; wherein, when the first photoelectric switches determine that the target tray completely enters or moves out of the conveying mechanism, the electromagnet is powered to magnetically interact with the magnetic ring to extend the ejection rod into or out of the groove.

7. The transport robot of claim 1, wherein, Further comprising: 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 representing whether there is an obstacle. The universal movement device is further configured to control the movement 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 conveying mechanism comprises: a first driving roller rotatably mounted on one side of the top surface of the robot body; a first conveying motor mounted on the robot body, the first conveying motor being configured to drive the first driving roller to rotate; a first driven roller rotatably mounted on the other side of the top surface of the robot body; a conveying belt wrapped around the outside of the first driving roller and the first driven roller, wherein the conveying belt is configured to rotate synchronously with the first driving roller under the drive of the first conveying motor to enable the target tray to enter or exit the transport robot.

9. The transport robot according to any one of claims 1 to 7, characterized in that, The conveying mechanism comprises: a second driving roller rotatably mounted on the top surface of the robot body; a second conveying motor mounted on the robot body, the second conveying motor being configured to drive the second driving roller to rotate; a plurality of second driven rollers rotatably mounted on the top surface of the robot body, the second driven rollers being drivingly connected to the second driving roller through a belt, wherein the target tray enters or exits the transport robot under the drive of the second conveying motor to rotate the second driving roller.

10. The transport robot of claim 1, wherein, Further comprising: a second photoelectric switch mounted on the side surface of the article loading device, the second photoelectric switch being configured to control the safety detection device to transmit the target tray onto the transport robot upon receiving a first photoelectric signal transmitted by the safety detection device; and / or a third photoelectric switch mounted on the side surface of the article loading device, the third photoelectric switch being configured to control the conveying mechanism to transmit the target tray on the conveying mechanism onto the safety detection device upon the safety detection device receiving a second photoelectric signal transmitted by the third photoelectric switch.

11. The transport robot according to any one of claims 1 to 7, wherein, Further comprising: a safety bumper strip mounted on the lower outer side of the robot body; and / or a warning light strip mounted on the outer side of the robot body; and / or at least one emergency stop control button mounted on different outer surfaces of the robot body, the emergency stop control button being configured to control the movement state of the transport robot.

12. The transport robot of any one of claims 1-7, wherein, Further comprising: a controller mounted inside the robot body and electrically connected to the article loading device and the universal movement device; a plurality of point control buttons mounted on the outer side of the robot body and electrically connected to the controller, wherein the controller controls the universal movement device to move to enable the transport robot to move to a target point area corresponding to the point control button upon clicking any of the point control buttons; a control display screen mounted on the outer side of the robot body and electrically connected to the controller, the control display screen being configured to display the movement state of the transport robot and set the position information of the target point area.

13. The transport robot of any one of claims 1-7, wherein, The universal movement device comprises: a plurality of first driving wheels and a plurality of driven wheels, all of which are 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 in driving connection with one of the first driving wheels. The movement state of the transport robot is controlled by controlling the working states of the different first driving motors.

14. The transport robot of any one of claims 1-7, wherein, The universal movement device comprises: A plurality of universal driven wheels and active driving mechanisms are uniformly installed on the bottom surface of the robot body.

15. The transport robot of claim 14, wherein, The active driving mechanism comprises: A steering disc is rotatably installed on the bottom surface of the robot body, and the outer edge of the steering disc is provided with engagement teeth. A steering motor is in driving engagement with the engagement teeth. A second driving motor and a second driving wheel are installed on the side of the steering disc away from the robot body, and the second driving motor is in driving connection with the second driving wheel. The movement direction of the transport robot is controlled by controlling the working state of the steering motor, and the movement speed of the transport robot is controlled by controlling the working state of the second driving motor.

16. The transport robot of claim 1, wherein, The robot body comprises: A robot base connected with the universal movement device; A connecting column body connected with the article loading device and the robot base at both ends.

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

18. The transport robot of claim 16, wherein, The robot base comprises: A shell; A battery installed inside the shell, the battery is configured to provide power for the transport robot; A charging assembly penetrating the side surface of the shell and electrically connected with the battery; A button operation slot is formed on the side surface of the shell, and a start-stop button is arranged in the button operation slot, and the start-stop button is configured to control the working state of the transport robot.

19. A security detection system comprising: It comprises: A security detection device configured to detect the security of the articles, wherein one side of the security detection device is provided with a plurality of detection points; The transport robot according to any one of claims 1 to 18 moves between a plurality of detection points to transport a target tray on one detection point to another detection point.

20. The safety detection system of claim 19, wherein, The security detection device comprises: At least two transmission belts; A security inspection machine, the article entry end and the article output end of the security inspection machine are connected with at least one of the transmission belts; A manual detection mechanism is installed at the transmission belt on one side of the article output end, and the manual detection mechanism is used for secondary review of the articles with security risks.

21. The safety detection system of claim 19 or 20, wherein, It also comprises: A charging device is installed on one side of the security detection device, and the charging device is configured to charge the transport robot.

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