Transfer robot

Abstract

A transfer robot, comprising a movable chassis. The movable chassis comprises a base frame (1) and a load-carrying platform (2) arranged on the base frame (1); the load-carrying platform (2) is provided with a carrying surface (20) used for carrying goods; the transfer robot further comprises a detection assembly mounted on the movable chassis; the detection assembly comprises a movable member (3), a trigger member (4) and a detection sensor (5); the trigger member (4) and the detection sensor (5) are arranged movably with respect to each other; the movable member (3) is provided with a pressure-receiving part (300) that protrudes from the carrying surface (20) when the movable member (3) is located in an initial position; when an external pressure is applied to the pressure-receiving part (300), the movable member (3) is configured to be able to operate and to drive the trigger member (4) to move with respect to the detection sensor (5), so as to trigger the detection sensor (5) to send a signal. The movable member (3) is provided with the pressure-receiving part (300) that protrudes from the carrying surface (20), so that when a load is placed onto the carrying surface (20), the pressure-receiving part (300) will be stressed to drive the movable member (3) to operate, and thus the movable member (3) will drive the trigger member (4) to move with respect to the detection sensor (5), so as to trigger the detection sensor (5) to send a signal, thereby improving the accuracy of the transfer robot determining whether a load has been carried thereon.

Description

A transport robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on March 8, 2024, with application number 202420458098.4 and invention name “A Transport Robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of handling equipment, and in particular to a handling robot. Background Art

[0003] With the development of intelligent warehousing, more and more warehousing systems are using handling robots. The handling robots can automatically drive according to the set program and carry the goods to the designated location. In actual use scenarios, the handling robots generally do not require human intervention, and can automatically pick up and place goods and carry and walk. However, in some scenarios, the handling robot may judge the actual situation of being loaded as not being loaded, so it will perform a second picking and carrying operation. The second picking and carrying operation will cause the second picking of goods to interfere with the already loaded goods, causing the goods to collide with each other or even cause the goods to fall. For this reason, in the related art, an infrared sensor is generally set on the handling robot (with a transmitting end and a receiving end, and the initial state is generally designed so that the receiving end can receive the infrared rays emitted by the transmitting end). After the handling robot picks up the goods, the goods will block the infrared rays, making it impossible for the receiving end to receive them normally, thereby triggering the infrared sensor to send a signal to the control unit, and the control unit can then determine that the handling robot is already carrying a load.

[0004] However, in actual applications, the above-mentioned detection scheme of detecting whether the transport robot is carrying a load by setting an infrared sensor has a small detection range, especially when the cargo carried by the transport robot is of an irregular shape, there may be a situation where the cargo cannot block the infrared rays. In this case, the receiving end of the infrared sensor can still receive infrared rays, and cannot trigger the infrared sensor to send a signal to the control unit indicating that the load is detected, resulting in the control unit being unable to correctly determine whether the transport robot is carrying a load. Summary of the Invention

[0005] The present application aims to solve one of the technical problems in the related art to a certain extent. To this end, the present application provides a transport robot.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical solution: a transport robot, comprising a movable chassis, the movable chassis comprising a base frame and a loading platform arranged on the base frame, the loading platform having a loading surface for carrying goods, the transport robot also comprising a detection component installed on the movable chassis, the detection component comprising a movable part, a trigger part and a detection sensor, the trigger part and the detection sensor being arranged to move relative to each other; the movable part is formed with a pressure-bearing part protruding from the loading surface when it is in an initial position, the movable part is configured to be able to move when the pressure-bearing part is subjected to external pressure and drive the trigger part and the detection sensor to move relative to each other, so as to trigger the detection sensor to send a signal.

[0007] The application of this application has the following beneficial effects: the handling robot provided by this application adopts a mechanical contact detection component, which, in addition to the detection sensor, is also provided with a movable part and a triggering part. The movable part is formed with a pressure-bearing portion that protrudes from the load-bearing surface when it is in the initial position. In this way, when the load is placed on the load-bearing surface, the load will press against the pressure-bearing portion, and the pressure-bearing portion will drive the movable part to move under the pressure. Correspondingly, the movable part will drive the triggering part to move relative to the detection sensor, thereby triggering the detection sensor to send a signal. Compared with the handling robot using a non-contact detection component in the related art, the handling robot using the mechanical contact detection component of this application can more accurately determine whether it is carrying a load.

[0008] Optionally, the detection sensor is fixedly mounted on the movable chassis, the movable member is movably mounted on the chassis, and the trigger member is connected to the movable member and can follow the movement of the movable member. By fixing the detection sensor and designing the trigger member to be driven by the movable member and to follow its movement, this achieves the purpose of relative movement between the detection sensor and the trigger member while avoiding frequent movement of the detection sensor. This can reduce the difficulty of assembly design for detection sensors using wiring.

[0009] Optionally, the detection assembly further comprises a mounting frame, the mounting frame being fixedly mounted to the base frame, the detection sensor being fixedly disposed on the mounting frame, the movable member being movably disposed on the mounting frame, and the trigger member and the movable member forming an integral structure. By providing the mounting frame, the detection sensor and the movable member are both disposed on the mounting frame, and the trigger member and the movable member forming an integral structure, the entire detection assembly can be pre-assembled as a single unitary structure and then mounted on the base frame, simplifying assembly and disassembly operations.

[0010] Optionally, the detection assembly further comprises an elastic member disposed between the movable member and the mounting bracket, the elastic member applying pressure to the movable member so as to cause the movable member to move toward the initial position. After the movable member moves from the initial position to another position, the elastic member can be used to drive the movable member to reset.

[0011] Optionally, the mounting frame includes a bottom plate, a first side plate located on one side of the bottom plate, and a second side plate located on the other side of the bottom plate, and the movable part includes a top plate, a third side plate located on one side of the top plate, and a fourth side plate located on the other side of the top plate; the first side plate and the third side plate are located on the same side, and the second side plate and the fourth side plate are located on the same side, and the movable part is swingably connected to the mounting frame by a pin shaft passing through the first side plate, the second side plate, the third side plate and the fourth side plate, and the elastic part is a torsion spring arranged outside the pin shaft, the first leg of the torsion spring abuts against the top plate, and the second leg of the torsion spring abuts against the bottom plate.

[0012] Optionally, the first side plate and the second side plate are located between the third side plate and the fourth side plate, the detection sensor is fixedly mounted on the first side plate, and the detection sensor extends into the cavity formed by the mounting frame and the movable part; the pressure portion is formed at one end of the top plate away from the pin shaft, and the plate-shaped trigger member is formed at one end of the third side plate away from the pin shaft, and the trigger member is located at the other end of the third side plate relative to the top plate.

[0013] Optionally, a protrusion is formed on the end of the second side plate away from the pin shaft, and a limit plate is formed on the end of the fourth side plate away from the pin shaft, which is adapted to the protrusion, and the limit plate abuts against the protrusion when the movable member is in the initial position. By providing the adapted protrusion and limit plate, the trigger member can be prevented from excessively pressing against the contact of the detection sensor.

[0014] Optionally, the trigger member presses against a contact of the detection sensor when the movable member is in the initial position, and the trigger member separates from the contact when the movable member leaves the initial position;

[0015] or,

[0016] The triggering member is separated from the contact of the detection sensor when the movable member is in the initial position, and the triggering member is pressed against the contact when the movable member leaves the initial position.

[0017] Optionally, the base frame forms an installation space located below the loading platform, the loading platform is provided with an opening connected to the installation space, the detection component is located in the installation space and the pressure-bearing portion extends from the opening to protrude from the bearing surface.

[0018] Optionally, the opening is located in the middle of the loading platform.

[0019] Optionally, the transport robot also includes two telescopic arms arranged at intervals on the movable chassis, the telescopic arms are configured to be able to move forward and backward along their own length direction, and to be able to rise and fall in a direction perpendicular to the carrying surface, and the detection component is arranged in the area on the movable chassis between the two telescopic arms.

[0020] These features and advantages of this application will be disclosed in detail in the following detailed description and accompanying drawings. The best embodiments or means of this application will be fully illustrated in conjunction with the accompanying drawings, but this does not limit the technical solutions of this application. Furthermore, although there may be multiple features, elements, and components in each of the following text and accompanying drawings, different symbols or numbers may be used for convenience, but all represent components with the same or similar structure or function. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0022] FIG1 is a schematic structural diagram of a transport robot provided in an embodiment of the present application;

[0023] FIG2 is an enlarged schematic diagram of part A in FIG1 ;

[0024] FIG3 is a partial cross-sectional view of the transport robot at part A in FIG1 ;

[0025] FIG4 is a schematic structural diagram of a detection component in a handling robot provided in an embodiment of the present application;

[0026] FIG5 is a schematic structural diagram of a detection component in a handling robot provided by an embodiment of the present application from another perspective;

[0027] FIG6 is an exploded view of a detection component in a handling robot provided in an embodiment of the present application;

[0028] FIG7 is a side view of a detection component in a handling robot provided in an embodiment of the present application;

[0029] FIG8 is a schematic diagram of an application of a transport robot provided in an embodiment of the present application when transporting a load;

[0030] FIG9 is a schematic diagram of a detection component in a transport robot provided in an embodiment of the present application being pressed by a load.

[0031] Among them, 1. base frame; 2. loading platform; 20. load-bearing surface; 21. opening; 3. movable part; 30. top plate; 300. pressure-bearing part; 31. third side plate; 32. fourth side plate; 320. limit plate; 4. trigger part; 5. detection sensor; 50. contact; 6. mounting frame; 60. bottom plate; 61. first side plate; 62. second side plate; 620. bump; 63. pin; 7. elastic part; 8. telescopic arm; 9. load. DETAILED DESCRIPTION

[0032] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to be used to explain the present application and should not be construed as limiting the present application.

[0033] References in this specification to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0034] The present embodiment provides a transport robot, as shown in Figures 1, 2 and 3, which includes a movable chassis and a detection assembly mounted on the movable chassis. The movable chassis includes a base frame 1 and a loading platform 2 arranged on the base frame 1, and the loading platform 2 has a bearing surface 20 for carrying goods. As shown in Figures 4, 5 and 6, the detection assembly includes a movable part 3, a trigger part 4 and a detection sensor 5. The trigger part 4 and the detection sensor 5 are relatively movable, that is, the trigger part 4 and the detection sensor 5 can move relative to each other. The movable part 3 is formed with a pressure-bearing part 300 protruding from the bearing surface 20 when it is in its initial position. The movable part 3 is configured to be able to move when the pressure-bearing part 300 is subjected to external pressure and drive the trigger part 4 and the detection sensor 5 to move relative to each other, so as to trigger the detection sensor 5 to send a signal.

[0035] The handling robot provided in this embodiment adopts a mechanical contact detection component, which includes a detection sensor 5 and a movable part 3 and a trigger part 4. When the movable part 3 is in the initial position, the movable part 3 is formed with a pressure-bearing portion 300 protruding from the bearing surface 20, so that when the load (cargo) is placed on the bearing surface 20, the load will press the pressure-bearing portion 300, and the pressure-bearing portion 300 will drive the movable part 3 to move under the pressure. Correspondingly, the movable part 3 will drive the trigger part 4 to move relative to the detection sensor 5, thereby triggering the detection sensor 5 to send a signal. Compared with the handling robot using a non-contact detection component in the related art, the handling robot using the mechanical contact detection component of the present application can more accurately determine whether it is carrying a load.

[0036] As previously mentioned, the trigger member 4 and detection sensor 5 in the detection assembly are arranged to move relative to each other. In this embodiment, as shown in Figures 4, 5, and 6, the detection sensor 5 is fixed to the movable chassis, while the trigger member 4 is connected to the movable member 3 and can move with the movable member 3. This ensures the relative movement of the detection sensor 5 and the trigger member 4 while avoiding frequent movement of the detection sensor 5. This reduces the difficulty of assembly design for the detection sensor 5, which is a wiring-type detection sensor 5.

[0037] Furthermore, the detection assembly in the present embodiment also includes a mounting frame 6, which is fixedly mounted on the chassis 1, the detection sensor 5 is fixedly arranged on the mounting frame 6, the movable part 3 is movably arranged on the mounting frame 6, and the trigger part 4 and the movable part 3 form an integrated structure. By providing the mounting frame 6, the detection sensor 5 and the movable part 3 are both provided on the mounting frame 6, and the trigger part 4 and the movable part 3 form an integrated structure, so that the detection assembly as a whole can be pre-assembled into an integral structure and then installed on the chassis 1, simplifying the assembly and disassembly operation. In an optional embodiment, the mounting frame may also be omitted, and the various components such as the detection sensor, the trigger part and the movable part can be directly installed on the chassis. As previously mentioned, the detection sensor in the present embodiment is fixedly mounted to the movable chassis, so in addition to the solution of fixing the detection sensor to the chassis via the mounting frame, it is also possible to choose to fix the detection sensor to the stage.

[0038] In addition, the detection assembly of this embodiment further includes an elastic member 7 disposed between the movable member 3 and the mounting bracket 6. The elastic member 7 applies pressure to the movable member 3, causing the movable member 3 to move toward its initial position. After the movable member 3 moves from its initial position to another position, the elastic member 7 can be used to drive the movable member 3 back to its original position. In this embodiment, the movable member 3 is designed to swing relative to the mounting bracket 6, and the elastic member 7 is a torsion spring. Specifically, the mounting frame 6 in this embodiment includes a bottom plate 60, a first side plate 61 located on one side of the bottom plate 60, and a second side plate 62 located on the other side of the bottom plate 60. The movable member 3 includes a top plate 30, a third side plate 31 located on one side of the top plate 30, and a fourth side plate 32 located on the other side of the top plate 30. The first side plate 61 and the third side plate 31 are located on the same side, and the second side plate 62 and the fourth side plate 32 are located on the same side. The movable member 3 is swingably connected to the mounting frame 6 via a pin 63 that passes through the first side plate 61, the second side plate 62, the third side plate 31, and the fourth side plate 32. The elastic member 7 is a torsion spring sleeved outside the pin 63, with a first leg of the torsion spring abutting the top plate 30 and a second leg of the torsion spring abutting the bottom plate 60. In this embodiment, two pins 63 are selected, one of which passes through the first side plate 61 and the third side plate 31, and the other passes through the second side plate 62 and the fourth side plate 32. In an optional solution, a whole pin shaft may be used to pass through the first side plate 61 , the second side plate 62 , the third side plate 31 and the fourth side plate 32 .

[0039] The structural design of the mounting frame 6 and the movable part 3 described above can simplify the assembly operation of the movable part 3 and the mounting frame 6, and facilitate the swing connection of the movable part 3 and the mounting frame 6. Furthermore, in this embodiment, the first side plate 61 and the second side plate 62 are located between the third side plate 31 and the fourth side plate 32, and the detection sensor 5 is fixedly mounted on the first side plate 61, and the detection sensor 5 extends into the cavity formed by the mounting frame 6 and the movable part 3; the end of the top plate 30 away from the pin 63 forms a pressure portion 300, and the end of the third side plate 31 away from the pin 63 forms a plate-shaped trigger member 4, which is located at the other end of the third side plate 31 relative to the top plate 30. Through the above-mentioned further structural design of the mounting frame 6 and the movable part 3, the detection sensor 5 is partially extended into the formed cavity, which can reduce the overall size of the detection assembly.

[0040] 1 , 7 , 8 , and 9 , when the transport robot provided by this embodiment is used, when no load 9 is placed on the load-bearing surface 20 of the loading platform, the detection assembly in the transport robot is in the state shown in FIG7 , where the movable member 3 is in the initial position, the pressure-bearing portion 300 formed on the movable member 3 protrudes from the load-bearing surface 20, and the trigger member 4 presses against the contact 50 of the detection sensor 5. When the load 9 is placed on the loading platform, the pressure-bearing portion 300 protruding from the load-bearing surface 20 is pressed by the load 9, causing the movable member 3 to swing relative to the mounting frame 6. At this time, the movable member 3 drives the trigger member 4, which is integrally formed with the movable member 3, to swing, causing the trigger member 4 to separate from the contact 50 of the detection sensor 5. The state of the detection sensor 5 changes, that is, the detection sensor 5 is triggered by the trigger member 4, and the detection sensor 5 sends a signal to the outside, indicating that a load 9 has been placed on the loading platform, thereby preventing the transport robot from performing a secondary handling operation.

[0041] It is easy to understand that when the load 9 is moved away, the movable part 3 can be driven to reset under the deformation action of the elastic part 7, so that the pressure-bearing part 300 protrudes from the bearing surface 20 again, and drives the trigger part 4 to press against the contact 50 of the detection sensor 5 again, so that the state of the detection sensor 5 changes again. The detection sensor 5 will send a signal to the outside, indicating that there is no load 9 placed on the loading platform, and the transport robot can continue to place the load 9 on its loading platform.

[0042] As described above, the design scheme of this embodiment is to select that when the movable part 3 is in the initial position, the trigger part 4 is pressed against the contact 50 of the detection sensor 5, and accordingly, when the movable part 3 leaves the initial position, the trigger part 4 is separated from the contact 50 of the detection sensor 5. In an optional embodiment, another different design scheme can also be adopted: when the movable part 3 is in the initial position, the trigger part 4 is separated from the contact 50 of the detection sensor 5, and accordingly, when the movable part 3 leaves the initial position, the trigger part 4 is pressed against the contact 50 of the detection sensor 5. It can be understood that in the above case, when the trigger part 4 is pressed against the contact 50 of the detection sensor 5, the detection sensor 5 can generate a first signal (such as a high / low level signal) indicating that the cargo is currently carried, so that the processing module of the transport robot can determine that the transport robot is currently carrying cargo after receiving the first signal. When the trigger member 4 is separated from the contact 50 of the detection sensor 5, the detection sensor 5 can generate a second signal (for example, a low / high level signal) indicating that no cargo is currently being carried, so that the processing module of the transport robot can determine that the transport robot is not currently carrying cargo after receiving the second signal.

[0043] Furthermore, when the load 9 is removed, the deformation of the elastic member 7 drives the movable member 3 to reset, driving the trigger member 4 to swing and re-press against the contact 50 of the detection sensor 5. During this process, the trigger member 4 presses against the contact 50 of the detection sensor 5. To prevent damage to the contact 50 of the detection sensor 5 due to excessive pressing, a limiting structure is also designed between the mounting bracket 6 and the movable member 3. Specifically, as shown in FIG6 , in this embodiment, a protrusion 620 is formed on the end of the second side plate 62 away from the pin 63, and a limiting plate 320 is formed on the end of the fourth side plate 32 away from the pin 63, which is compatible with the protrusion 620. The limiting plate 320 abuts against the protrusion 620 when the movable member 3 is in the initial position. By providing the compatible protrusion 620 and limiting plate 320, the trigger member 4 is prevented from excessively pressing against the contact 50 of the detection sensor 5.

[0044] As shown in Figures 1, 2 and 3, the chassis 1 in this embodiment is formed with an installation space located below the loading platform, and the loading platform is provided with an opening 21 connected to the installation space. The detection component is located in the installation space and the pressure-bearing portion 300 extends from the opening 21 to protrude from the load-bearing surface 20. Furthermore, in this embodiment, the opening 21 is designed so that it is located in the middle of the loading platform, so that the pressure-bearing portion 300 extending from the opening 21 will be more likely to be pressurized by the load 9 placed on the loading platform. In addition, the middle of the loading platform mentioned here does not specifically refer to the geometric center of the loading platform, but rather to the range roughly in the center of the loading platform. For example, the middle of the loading platform can be a circular area with the geometric center of the loading platform as the center and a preset length as the radius, wherein the preset length can be 1 / 4, 1 / 5, 1 / 6 or 1 / 8 of the length of the long side of the loading platform, etc.

[0045] As shown in FIG1 , the transport robot provided in this embodiment further includes two telescopic arms 8, which are spaced apart and arranged on a movable chassis. The telescopic arms 8 are configured to move forward and backward along their own length and to be able to be raised and lowered in a direction perpendicular to the carrying surface 20. Through the forward and backward movement of the telescopic arms 8 (i.e., the telescopic movement along the length of the telescopic arms 8 relative to the movable chassis) and the up and down movement, cargo can be automatically loaded onto the loading platform 2 and automatically unloaded from the loading platform 2, thereby realizing automatic cargo loading and unloading operations. The detection component is disposed in the area between the two telescopic arms 8 on the movable chassis. Since cargo is loaded and unloaded by the two telescopic arms 8, it is inevitable that the cargo is placed across the two telescopic arms 8. In this way, when cargo is placed on the loading platform 2, it will act on the area between the two telescopic arms 8 on the loading platform 2, thereby ensuring that the cargo acts on the detection component located in this area. Therefore, using this type of transport robot with telescopic arms 8 can improve the accuracy of the detection component in detecting whether the transport robot is carrying cargo.

[0046] Specifically, the movable chassis is provided with two receiving slots adapted for the telescopic arms 8, and the two telescopic arms 8 are correspondingly installed in the two receiving slots. The movable chassis is also provided with a telescopic mechanism (not shown) and a lifting mechanism (not shown). The telescopic mechanism drives the telescopic arms 8 to telescope relative to the movable chassis, and the lifting mechanism drives the telescopic arms 8 to elevate relative to the movable chassis. When cargo is being transported, the telescopic arms 8 are located in the receiving slots, and the corresponding telescopic and lifting movements are performed when cargo is to be loaded and unloaded.

[0047] It should be noted that the handling robot provided in this embodiment illustrates a preferred detection component solution. In this embodiment, the detection sensor 5 is fixedly mounted on the base frame 1. However, in an alternative embodiment, the trigger member 4 can also be fixedly mounted on the base frame 1, and the detection sensor 5 is connected to the movable member 3 so that the detection sensor 5 can be driven by the movable member 3 and follow the movement of the movable member 3.

[0048] In addition, in this embodiment, the movable part 3 and the trigger part 4 in the detection assembly swing relative to the detection sensor 5, and in an optional embodiment, the movable part 3 can also be designed to perform a linear motion under the pressure of the load 9. For example, the trigger part 4 and the movable part 3 are still designed as an integrated structure, and the movable part 3 is slidably set on the mounting frame 6 in a direction perpendicular to the bearing surface 20 through a sleeve, and a compression spring is set between the bottom of the movable part 3 and the mounting frame 6 as an elastic member. When the movable part 3 is in the initial position, the trigger part 4 abuts against the contact 50 of the detection sensor 5; when the movable part 3 is pressed by the load 9 and moves in a straight line, the movable part 3 drives the trigger part 4 to move and disengage from the contact 50 of the detection sensor 5. After the load 9 is removed, the movable part 3 and the trigger part 4 can be reset under the elastic action of the compression spring. In addition, in an optional embodiment, the elastic member may not be provided. For example, a bent spring structure may be directly used as the movable member 3. The two sections of the spring structure that are bent relative to each other can undergo relative elastic deformation. One section serves as the movable member 3 and its end protrudes from the bearing surface as the pressure-bearing section, and the other section is fixed on the mounting frame 6. In this way, when the section of the spring structure that serves as the movable member is pressurized by the load 9, it can move relative to the mounting frame 6. When the load 9 is removed, the section that serves as the movable member can return to its original position through deformation.

[0049] Furthermore, in this embodiment, the trigger member 4 and the movable member 3 form an integral structure. In other alternative embodiments, the trigger member 4 can also be designed separately from the movable member 3, that is, the two can be two separate components. The two can be connected by contact pressure or a movable hinge, and the trigger member 4 can also be driven by the movable member to move relative to the detection sensor 5. For example, in an alternative solution, the trigger member 4 can be a pressure block that is slidably mounted on the mounting frame 6 (optionally, a slide rail can be formed on the inner wall of the mounting frame 6, and a slider that extends into the slide rail can be formed on the pressure block). A spring in a compressed state is disposed between the mounting frame 6 and the pressure block. When the movable member 3 is in the initial state, the spring applies pressure to the pressure block so that the pressure block presses against the contact 50 of the detection sensor 5. When the movable member 3 moves, it applies pressure to the pressure block, causing the pressure block to slide and separate from the contact 50 of the detection sensor 5. When the movable member 3 is reset, the pressure block can also be reset under the elastic deformation of the spring.

[0050] The above examples illustrate that, in various schemes, as long as the trigger member 4 and the detection sensor 5 can respond to the action of the movable member 3 and undergo relative movement, and the relative movement causes the detection sensor 5 to be triggered by the trigger member 4 and send a signal, the purpose of this application can be achieved.

[0051] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present application are included in the scope of protection of the present application.

Claims

1. A transport robot, comprising a movable chassis, the movable chassis comprising a base frame (1) and a loading platform (2) arranged on the base frame (1), the loading platform (2) having a loading surface (20) for loading goods, the transport robot further comprising a detection assembly mounted on the movable chassis, the detection assembly comprising a movable member (3), a trigger member (4) and a detection sensor (5), the trigger member (4) and the detection sensor (5) being arranged to move relative to each other; The movable member (3) is formed with a pressure-receiving portion (300) protruding from the bearing surface (20) when the movable member is in an initial position. The movable member (3) is configured to be able to move when the pressure-receiving portion (300) is subjected to external pressure and drive the trigger member (4) and the detection sensor (5) to move relative to each other, thereby triggering the detection sensor (5) to send a signal.

2. The handling robot as described in claim 1, wherein the detection sensor (5) is fixedly arranged on the movable chassis, the movable part (3) is movably arranged on the base frame (1), and the trigger part (4) is connected to the movable part (3) and can follow the movement of the movable part (3).

3. The handling robot according to claim 2, wherein the detection component further comprises a mounting frame (6), the mounting frame (6) is fixedly mounted on the base frame (1), the detection sensor (5) is fixedly arranged on the mounting frame (6), the movable part (3) is movably arranged on the mounting frame (6), and the trigger part (4) and the movable part (3) form an integrated structure.

4. The handling robot according to claim 3, wherein the detection component further comprises an elastic member (7) arranged between the movable member (3) and the mounting frame (6), and the elastic member (7) applies pressure on the movable member (3) so that the movable member (3) has a tendency to move toward the initial position.

5. The transport robot according to claim 4, wherein the mounting frame (6) comprises a bottom plate (60), a first side plate (61) located on one side of the bottom plate (60), and a second side plate (62) located on the other side of the bottom plate (60); and the movable member (3) comprises a top plate (30), a third side plate (31) located on one side of the top plate (30), and a fourth side plate (32) located on the other side of the top plate (30); The first side plate (61) and the third side plate (31) are located on the same side, the second side plate (62) and the fourth side plate (32) are located on the same side, the movable member (3) is swingably connected to the mounting frame (6) via a pin shaft (63) passing through the first side plate (61), the second side plate (62), the third side plate (31) and the fourth side plate (32), and the elastic member (7) is a torsion spring sleeved outside the pin shaft (63), the first leg of the torsion spring abuts against the top plate (30), and the second leg of the torsion spring abuts against the bottom plate (60).

6. The transport robot according to claim 5, wherein the first side plate (61) and the second side plate (62) are located between the third side plate (31) and the fourth side plate (32), the detection sensor (5) is fixedly mounted on the first side plate (61), and the detection sensor (5) extends into a cavity formed by the mounting frame (6) and the movable member (3); The pressure-bearing portion (300) is formed at one end of the top plate (30) away from the pin shaft (63), and the plate-shaped triggering member (4) is formed at one end of the third side plate (31) away from the pin shaft (63). The triggering member (4) is located at the other end of the third side plate (31) relative to the top plate (30).

7. The handling robot as described in claim 6, wherein a protrusion (620) is formed at one end of the second side plate (62) away from the pin shaft (63), and a limiting plate (320) adapted to the protrusion (620) is formed at one end of the fourth side plate (32) away from the pin shaft (63), and the limiting plate (320) abuts against the protrusion (620) when the movable part (3) is in the initial position.

8. The handling robot according to any one of claims 1 to 7, wherein the trigger member (4) presses against the contact (50) of the detection sensor (5) when the movable member (3) is in the initial position, and the trigger member (4) separates from the contact (50) when the movable member (3) leaves the initial position; or, The trigger member (4) is separated from the contact (50) of the detection sensor (5) when the movable member (3) is in the initial position, and the trigger member (4) is pressed against the contact (50) when the movable member (3) leaves the initial position.

9. The handling robot according to any one of claims 1 to 7, wherein the base frame (1) is formed with an installation space located below the loading platform (2), the loading platform (2) is provided with an opening (21) connected to the installation space, the detection component is located in the installation space and the pressure-bearing portion (300) extends from the opening (21) to protrude from the bearing surface (20).

10. The transport robot according to claim 9, wherein the opening (21) is located in the middle of the loading platform (2).

11. The transport robot according to any one of claims 1 to 7, further comprising two telescopic arms (8) spaced apart on the movable chassis, the telescopic arms (8) being configured to be able to move forward and backward along their own length direction, and to be able to be raised and lowered in a direction perpendicular to the bearing surface, and the detection component being arranged in an area on the movable chassis between the two telescopic arms (8).

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