Transfer robot avoiding opening and closing storage structure and transfer robot

Abstract

The invention relates to a transfer robot avoiding opening and closing storage structure and a transfer robot, and discloses a rotary opening and closing structure which enables a cabinet door to be opened and closed in an up-down rotating mode through a hinge and a handle and facilitates storage and taking of stored objects. The storage box is characterized by being composed of a limiting ring, a handle, a box body, a connecting column, a hinge, a fixing plate, a cabinet door and a connecting groove, one end of the connecting column is arranged in the middle of the fixing plate, the fixing plate is of a regular polygon structure, the connecting groove is formed in the side face of the other end of the connecting column, and the connecting column is formed by splicing a plurality of splicing short columns end to end; a splicing groove is formed in one end of each splicing short column, a splicing block corresponding to the splicing groove is arranged at the other end of each splicing short column, the connecting groove is formed in the side face of the other end of the uppermost connecting column, the bottom face of a box body is arranged on the fixing plate, and the box body is of a triangular structure with an opening in one side face. And one side surface of the opening of the box body is flush with the edge of the fixing plate.

Description

Technical Field

[0001] The present invention discloses a handling robot avoidance opening and closing storage structure and a handling robot, which relate to a avoidance opening and closing storage structure installed on a handling robot, and belong to the field of intelligent logistics technology, and in particular to a avoidance opening and closing storage structure that enables a cabinet door to be rotated up and down to open and close through hinges and handles, thereby facilitating the storage and retrieval of stored items. Background Art

[0002] The handling robot, also known as AGV intelligent handling vehicle, is an important equipment for intelligent warehousing. It replaces manual labor to perform repetitive and tedious handling work, effectively improves handling efficiency, and reduces labor costs. AGV vehicles generally include a walking base and a supporting mechanism. The walking base is responsible for the movement of the vehicle, and the supporting mechanism is responsible for the handling of goods. Under the guidance of the navigation system, the goods are transported to the designated location. However, the existing AGV vehicles have high requirements for the ground. The flatness of the ground must reach more than 95% to ensure the normal operation of the vehicle. Otherwise, the vehicle will move to an uneven position and be located in a concave position. The wheels on the sunken road lose traction and slip, while the wheels on the raised road keep turning, and the overall travel force of the walking base changes, which can easily cause the cart to move unsteadily or even tip over, affecting the safe handling of goods. In addition, the supporting mechanisms of existing AGV handling robots are mostly flat supports. For batch handling and stacking of more valuable precision storage items such as smart phones, tablets, digital cameras, and precision industrial parts, the stability during operation is poor, and the items are easily damaged after falling. For single handling, the utilization rate of the cart is insufficient, and the overall handling time is long.

[0003] CN220701007U discloses an intelligent handling robot, comprising a walking mechanism, a tracking and navigation mechanism and a material handling mechanism arranged on the walking mechanism; the walking mechanism comprises a frame, walking wheels and a walking drive mechanism, the walking wheels are rotatably connected to the frame and connected to the walking drive mechanism; the tracking and navigation mechanism comprises a multifunctional camera, which is electrically connected to a controller of the robot; the material handling mechanism comprises a storage bucket, a grabbing fixture for grabbing materials and a mobile driving mechanism for driving the grabbing fixture to move in space; the storage bucket is arranged on the frame; the grabbing fixture is connected to the driving end of the mobile driving mechanism; the multifunctional camera is arranged on the grabbing fixture; the mobile driving mechanism is electrically connected to the controller of the robot. CN220298379U discloses an AGV transport trolley, including a mobile base, a support base, a fixed structure and a driving structure arranged on the surface of the support base; an adjustment structure, arranged on the surface of the fixed structure; the fixed structure includes a fixed plate; by setting the fixed structure and the driving structure, when the operator uses the transport trolley, after placing the goods on the surface of the support base, the operator adjusts the first motor, and when the first motor drives the two first threaded rods to rotate, it drives the two push plates to move closer to each other, and the two push plates drive the two fixed plates to move closer to each other through the two mobile plates. When the two fixed plates are tightly fitted with the goods on the surface of the support base, the limited fixation is completed. The above-mentioned AGV trolley has high requirements for the ground. When the trolley travels to an uneven position, the wheels on the concave road surface lose traction and slip, and the wheels on the convex road surface keep rotating, and the overall travel force of the walking base changes, which easily causes the trolley to travel unstably or even roll over, affecting the safe transportation of goods.

[0004] CN116750110A discloses an obstacle avoidance AGV transport trolley for storage logistics, including a trolley body, infrared probes are arranged at the front and rear ends of the trolley body, multiple lifting components with the same structure are symmetrically arranged on both sides of the trolley body, and running wheels are arranged at the bottom of the lifting components; the lifting components include a movable frame, a positioning member, a lifting plate, a connecting plate and a driving mechanism. During the upward lifting of the running wheel, the movable frame and the counterweight block slide toward the middle of the trolley body, so that the center of gravity of the trolley body is away from the lifting end of the running wheel, thereby improving the adaptability and reliability of the AGV trolley body in complex environments. CN219636828U discloses an AGV transport trolley, including a chassis system, a gantry system and a distance measuring system. A first distance measuring sensor and a second distance measuring sensor are arranged at the rear end of the transport trolley, wherein the first distance measuring sensor is located in the rear end of the chassis, and can monitor obstacles at the bottom of the rear end of the transport trolley; the second distance measuring sensor is located on the top frame, and the measuring head of the second distance measuring sensor is tilted downward toward the rear of the transport trolley, so as to realize monitoring of the middle and upper part of the rear end of the transport trolley; meanwhile, the third distance measuring sensor and the fourth distance measuring sensor are respectively located directly above the first driven wheel and the second driven wheel, so as to avoid blind spots in front monitoring and make monitoring more comprehensive; and the third distance measuring sensor and the fourth distance measuring sensor do not rise and fall with the rise and fall of the fork, so as to ensure a good measurement field of view. The supporting mechanism of the above-mentioned AGV handling robot is a flat support. For batch handling and stacking of more valuable precision storage items such as smart phones, tablet computers, digital cameras and precision industrial parts, the stability during operation is poor. The items are easily broken after falling. For single single handling, the utilization rate of the trolley is insufficient and the overall handling time is long.

[0005] In order to improve the above problems, the applicant filed a Chinese invention patent application entitled "A Transport Robot", in which an arc-shaped cabinet door is placed between two adjacent side panels, one end of the arc-shaped cabinet door is hingedly placed on one side of one of the two adjacent side panels, and a locking buckle is placed on one side of the other of the two adjacent side panels. The other end of the arc-shaped cabinet door is connected to the other side of the other side panel through the locking buckle. The arc-shaped cabinet door of the above-mentioned transport robot opens to the side, and when storing and taking out stored items, the body of the staff or the stored items will hit the arc-shaped cabinet door, causing injury to the staff or damage to the stored items, making it inconvenient to store and retrieve the stored items, and the arc-shaped cabinet door will block part of the line of sight when opened, affecting the staff's observation and management of the stored items in the storage box. Summary of the invention

[0006] In order to improve the above situation, the present invention provides a handling robot avoidance opening and closing storage structure and a handling robot that provides a cabinet door that can be rotated up and down to open and close through hinges and handles, thereby facilitating the storage and retrieval of stored items.

[0007] The present invention provides a handling robot avoidance opening and closing storage structure and a handling robot as follows: The present invention provides a handling robot avoidance opening and closing storage structure comprising a limit ring, a handle, a box body, a connecting column, a hinge, a fixing plate, a cabinet door and a connecting groove. One end of the connecting column is placed in the middle of the fixing plate, and the fixing plate is a regular polygonal structure. The other end of the connecting column is provided with a connecting groove. Preferably, the connecting column is formed by connecting a plurality of short columns end to end, one end of the short column is provided with a connecting groove, the other end of the short column is provided with a connecting block corresponding to the connecting groove, and the other end of the top connecting column is provided with the connecting groove. Preferably, there are a plurality of connecting grooves, and the plurality of connecting grooves are arranged equidistantly along the side surface of the other end of the connecting column. Preferably, the connecting groove is built with a rubber pad. Preferably, the connecting groove has a structure with a wide groove bottom and a narrow groove mouth. The bottom surface of the box is placed on the fixed plate. The box is a triangular structure with an open side. One side of the box opening is flush with the edge of the fixed plate. Preferably, there are multiple boxes, the number of which is the same as the number of sides of the fixing plate, and the multiple boxes are arranged without spacing along the circumference of the fixing plate with the connecting column as the center; A limiting ring is disposed on the top surface of the box body, the edge of the limiting ring is connected to the edge of the top surface of the box body, two side surfaces of the limiting ring are connected to each other with connecting protrusions, and the connecting protrusions and the connecting grooves of the two side surfaces of the plurality of limiting rings are connected to each other in a one-to-one correspondence. One side of the hinge is placed on the side of the fixed plate, A cabinet door is arranged on one side of the box body, and an edge of the cabinet door contacts an edge of a side of the box body. The other side of the hinge is hingedly arranged on one side of the cabinet door. A locking buckle is arranged on one side of the limiting ring. The other side of the cabinet door is opened and closed by the locking buckle and one side of the limiting ring. Preferably, there are multiple hinges, and the multiple hinges correspond to the multiple boxes one by one; A handle is disposed in the middle of the cabinet door, and the handle is close to the limiting ring. Preferably, a limit baffle is disposed on the inner bottom surface of the box body, and there are multiple limit baffles, and the multiple limit baffles correspond to the multiple boxes one by one, and the limit baffles are located at the edge of the inner bottom surface of the box body. Furthermore, a rubber gasket is disposed on the inner bottom surface of the box body, and there are multiple rubber gaskets, and the multiple rubber gaskets correspond to the multiple boxes one by one; Furthermore, a magnetic suction piece is disposed on the side of the limiting ring, and the edge of the magnetic suction piece is connected to the side edge of the limiting ring. There are multiple magnetic suction pieces, and the multiple magnetic suction pieces correspond to the multiple limiting rings one by one.

[0008] The present invention also relates to a transport robot, which comprises a walking mechanism, a shock absorbing mechanism and a batch transport mechanism. The invention is characterized in that the shock absorbing mechanism is placed on the walking mechanism, the batch handling mechanism is placed on the shock absorbing mechanism, the walking mechanism drives the shock absorbing mechanism and the batch handling mechanism to move, the walking mechanism is provided with a differential, a traveling wheel connected to the differential, a steering assembly and a steering wheel connected to the steering assembly, the differential drives the traveling wheel to perform pure rolling motion, the steering assembly controls the steering of the steering wheel, the batch handling mechanism comprises a plurality of storage boxes, the plurality of storage boxes are stacked vertically, and two adjacent storage boxes can rotate relative to each other, Preferably, the number of the batch transport mechanisms is greater than or equal to 1, and the damping mechanisms correspond to the batch transport mechanisms one by one. The walking mechanism is composed of a steering wheel, a vehicle body, a rotating shaft, a transmission shaft, a driving motor, a vehicle bottom plate, a steering motor, a rotating shaft, a connecting block, a rotating rod, a rotating shaft sleeve, a steering fixing part, a connecting shaft, a connecting plate, a rotating connecting part, a connecting strip, a differential and a traveling wheel. The vehicle box is placed in the middle of the vehicle floor, the driving motor is placed in the middle of the vehicle floor, and is located inside the vehicle box. The differential is placed in the middle of one end of the vehicle floor, one end of the transmission shaft is connected to the motor shaft of the drive motor, the other end of the transmission shaft is connected to the differential, and rotating shafts are arranged on both sides of the differential, one end of the rotating shaft is connected to the differential, and the other end of the rotating shaft is connected to the traveling wheel. Preferably, first avoidance grooves for avoiding the traveling wheel are respectively opened on both sides of one end of the vehicle bottom plate, and the traveling wheel is rotatably located in the first avoidance grooves; first arc-shaped grooves for avoiding the traveling wheel are correspondingly opened on both sides of one end of the vehicle box body, and the traveling wheel is rotatably located in the first arc-shaped grooves. The steering motor is placed in the middle of the vehicle floor and close to the other end of the vehicle floor. One end of the rotating shaft is connected to the motor shaft of the steering motor, and the other end of the rotating shaft is connected to one end of the connecting bar. Preferably, the width of the connecting strip gradually decreases from one end connected to the rotating shaft to the other end, and the other end of the connecting strip is a ring structure. One end of the connecting shaft is rotatably connected to the other end of the connecting bar through a bearing, and the other end of the connecting shaft is rotatably connected to the connecting block through a bearing. The steering fixing part is placed at the other end of the vehicle bottom plate, and the two ends of the steering fixing part are hollowed out. Two shaft sleeves are rotatably placed at the hollow positions at the two ends of the steering fixing part. Preferably, the middle part of the side surface of the shaft sleeve is rotatably connected with the hollow part of the steering fixing part through the vertical shaft, one end of the shaft sleeve is located in the hollow part of the steering fixing part, the other end of the shaft sleeve extends out of the hollow part of the steering fixing part, and the steering wheel is placed at the other end of the shaft sleeve. Preferably, the other end of the vehicle floor is provided with second avoidance grooves corresponding to the steering wheel on both sides, and the steering wheel is located in the second avoidance grooves; the other end of the vehicle box is provided with second arc grooves corresponding to the steering wheel on both sides, and the steering wheel is located in the second arc grooves. One end of the rotating rod is connected to the side of one end of the rotating shaft sleeve. The connecting block is placed in the middle of the connecting plate, and the two ends of the connecting plate are connected to each other by a rotating connecting piece and the other ends of the two rotating rods. The steering motor, the rotating shaft, the connecting block, the rotating rod, the rotating shaft sleeve, the steering fixing part, the connecting shaft, the connecting plate, the rotating connecting part and the connecting strip together constitute a steering assembly. The shock absorbing mechanism is composed of a damper, a buffer spring, a fixing member, a fixing rod, a connecting member, a fixing base plate, a support plate and fixing bolts. The fixed bottom plate is placed on the vehicle body, and the connecting parts are placed on the fixed bottom plate through fixing bolts. Preferably, there are multiple connecting members, and the multiple connecting members are arranged equidistantly along the circumference of the fixing plate. One end of the fixing rod is placed on the connecting piece, the fixing piece is placed on the other end of the fixing rod, one end of the damper is placed on the fixing piece, and the other end is provided with a supporting plate, and the buffer spring sleeve is placed on the damper. The batch handling mechanism is composed of a handle, a side panel, a curved cabinet door, a lower box panel, an upper box panel, a locking buckle, a bearing, a receiving shaft, a supporting protrusion, a limiting groove, a pulley, a connecting rod, an upper groove and a lower groove. The batch transport mechanism is placed on the support plate through the lower base plate. Preferably, a display screen is provided on the batch transport mechanism. The upper box plate is located directly above the lower box plate, and a side plate is placed between the upper box plate and the lower box plate. One side of the side plate is connected to the lower box plate, and the other side of the side plate is connected to the upper box plate. One end of the side plate is flush with the edges of the upper box plate and the lower box plate, and the other end of the side plate extends toward the center of the upper box plate and the lower box plate. The centers of the upper box plate and the lower box plate are connected by a connecting rod, and the other ends of the side plates are connected to the side surfaces of the connecting rods. Preferably, there are multiple side panels, and the multiple side panels are arranged at non-equidistant intervals along the circumference of the upper box plate. An arc-shaped cabinet door is arranged between two adjacent side panels, one end of the arc-shaped cabinet door is hingedly arranged on one side of one of the two adjacent side panels, a locking buckle is arranged on one side of the other of the two adjacent side panels, and the other end of the arc-shaped cabinet door is connected to one side of the other side panel through the locking buckle. A handle is provided at the other end of the arc-shaped cabinet door. The side panels, upper box panels, lower box panels, curved cabinet doors, locking buckles and connecting rods together constitute a storage box. Preferably, the storage box includes a plurality of storage compartments of different sizes. An upper groove is formed in the middle of the upper box plate of the storage box, and a lower groove corresponding to the upper groove is formed in the middle of the lower box plate of the storage box. A limiting groove is provided on the edge of the upper box plate of the storage box, and the limiting groove is an annular structure. A supporting protrusion corresponding to the limiting groove is provided on the edge of the lower box plate of the storage box. One end of the supporting protrusion is connected to the lower box plate, and a pulley is rotatably provided on the other end. Preferably, the number of the supporting protrusions is greater than or equal to 2. A plurality of the storage boxes are stacked up and down, and the lower groove of the upper storage box and the upper groove of the lower storage box of two adjacent storage boxes are aligned, and the support protrusion of the upper storage box can be slidably placed in the limiting groove of the lower storage box through a pulley. There are two adjacent storage boxes, and a receiving shaft is placed between the lower groove of the upper storage box and the upper groove of the lower storage box. One end of the receiving shaft is connected to the upper groove of the lower storage box, and the other end of the receiving shaft is in contact with the lower groove of the upper storage box. A bearing is sleeved on the receiving shaft, and the bearing is located in the lower groove of the upper storage box. The inner side of the bearing is fixedly connected to the receiving shaft, and the outer side of the bearing is fixedly connected to the groove wall of the lower groove of the upper storage box. Preferably, the batch handling mechanism is further provided with a monitoring mechanism, which is composed of a camera probe, a rotating fixed seat and a rotating motor. The monitoring mechanism is placed on the batch handling mechanism through the top plate, the rotating motor is placed in the middle of the top plate, the rotating fixed seat is placed on the rotating motor and connected to the motor shaft, and the camera probe is placed on the rotating fixed seat. The batch transport mechanism is provided with a signal converter, a data processor, and a controller. The camera probe is connected to the signal converter via a data line. The rotating motor is connected to the controller via a data transmission line. The steering motor is connected to the controller via a data transmission line. The signal converter is connected to the data processor via a data transmission line, and the data processor is connected to the controller via a data transmission line. The signal converter can convert the electrical signal of the image data collected by the camera probe into a digital signal. The controller can be implemented by one or at least two application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing instructions of the data processing device. The data processor and the signal converter perform information exchange, and a computer-readable storage medium is stored in the data processor, and the following steps are implemented when the computer-readable storage medium is executed: Processing the digital signal of the image data collected by the camera probe, identifying whether there is an obstacle in the image data, and when there is an obstacle, starting the steering motor, the steering motor drives the steering assembly to rotate, and the steering assembly drives the steering wheel to rotate, so that the handling robot can avoid the obstacle in advance; Furthermore, an anti-skid pad is placed on the upper box plate of the storage box, and there are multiple anti-skid pads, and the multiple anti-skid pads correspond to the multiple side plates one by one, and the anti-skid pad is located between two adjacent side plates; Furthermore, a baffle is disposed on the upper box plate of the storage box, there are multiple baffles, the multiple baffles correspond to the multiple side plates one by one, the baffle is located between two adjacent side plates, the baffle is located at the edge of the upper box plate, and the baffle is an arc-shaped plate. Beneficial Effects

[0009] Batch transport of warehouse items using multiple boxes can improve the efficiency of single transport.

[0010] The cabinet door can be rotated up and down to open and close through hinges and handles, which is convenient for storing and retrieving stored items. It will not block the view when opened, making it easy for staff to observe and manage the stored items in the box. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a three-dimensional structural diagram of a transport robot of the present invention; Figure 2 This is a three-dimensional structural diagram of a transport robot of the present invention, which only shows the structure of the walking mechanism; Figure 3 This is a three-dimensional structural diagram of a transport robot of the present invention, which only shows the structure of the storage box; Figure 4 This is a three-dimensional structural diagram of a handling robot of the present invention, which only shows the structure of the shock absorbing mechanism; Figure 5 This is a three-dimensional structural diagram of a transport robot of the present invention, which only shows the connection structure of two adjacent storage boxes; Figure 6 It is a three-dimensional structural diagram of a second embodiment of a transport robot of the present invention; Figure 7 It is a three-dimensional structural diagram of embodiment 3 of a transport robot of the present invention; Figure 8 A three-dimensional structural diagram of a handling robot avoidance opening and closing storage structure of the present invention; Fig. 9 This is a three-dimensional structural diagram of a handling robot avoidance opening and closing storage structure of the present invention, in which only the structure of the connecting groove is shown; Fig.10 It is a structural schematic diagram of Embodiment 2 of a transport robot avoidance opening and closing storage structure of the present invention; Fig.11 It is a three-dimensional structural diagram of Example 3 of a transport robot avoidance opening and closing storage structure of the present invention. Attached photos

[0012] The components include: a camera head (1), a rotating fixed seat (2), a rotating motor (3), a top plate (4), a handle (5), a side plate (6), a curved cabinet door (7), a display screen (8), a lower box plate (9), an upper box plate (10), a damper (11), a buffer spring (12), a fixing member (13), a fixing rod (14), a connecting member (15), a fixing bottom plate (16), a steering wheel (17), a lower bottom plate (18), a vehicle box body (19), a rotating shaft (20), a transmission shaft (21), a driving motor (22), a vehicle bottom plate (23), a steering motor (24), a rotating shaft (25), a connecting block (26), a rotating rod (27), a rotating shaft sleeve (28), and a steering fixing member (29). , a connecting shaft (30), a connecting plate (31), a rotating connecting member (32), a connecting strip (33), a differential (34), a traveling wheel (35), a locking buckle (36), a support plate (37), a fixing bolt (38), a bearing (39), a receiving shaft (40), a supporting protrusion (41), a limiting groove (42), a pulley (43), a connecting rod (44), an upper groove (45), a lower groove (46), an anti-slip pad (47), a baffle (48), a limiting ring (49), a box body (50), a connecting column (51), a handle (52), a hinge (53), a fixing plate (54), a cabinet door (55), a connecting groove (56), a rubber gasket (57), and a magnetic suction sheet (58). DETAILED DESCRIPTION Example 1

[0013] The present invention discloses a transport robot avoidance opening and closing storage structure, which comprises a limit ring (49), a handle (52), a box body (50), a connecting column (51), a hinge (53), a fixing plate (54), a cabinet door (55) and a connecting groove (56). One end of the connecting column (51) is placed in the middle of the fixing plate (54), and the fixing plate (54) is a regular polygonal structure. A connecting groove is formed on the side surface of the other end of the connecting column (51). Preferably, the connecting column (51) is formed by connecting a plurality of short columns end to end, one end of the short column is provided with a connecting groove, the other end of the short column is provided with a connecting block corresponding to the connecting groove, and the other end side surface of the topmost connecting column (51) is provided with the connecting groove. Preferably, there are a plurality of connecting grooves, and the plurality of connecting grooves are arranged equidistantly along the side surface of the other end of the connecting column (51). Preferably, the connecting groove is built with a rubber pad. Preferably, the connecting groove has a structure with a wide groove bottom and a narrow groove mouth. The bottom surface of the box body (50) is placed on the fixing plate (54); the box body (50) is a triangular structure with an open side; the open side of the box body (50) is flush with the edge of the fixing plate (54). Preferably, there are a plurality of the boxes (50), the number of the boxes (50) is the same as the number of sides of the fixing plate (54), and the plurality of boxes (50) are arranged without spacing along the circumference of the fixing plate (54) with the connecting column (51) as the center; A limiting ring (49) is disposed on the top surface of the box body (50), the edge of the limiting ring (49) is connected to the edge of the top surface of the box body (50), two side surfaces of the limiting ring (49) are connected to each other and are provided with connecting protrusions, and the connecting protrusions and the connecting grooves of the two side surfaces of the plurality of limiting rings (49) are in one-to-one correspondence. One side of the hinge (53) is placed on the side of the fixing plate (54). A cabinet door (55) is disposed on one side of the box body (50), an edge of the cabinet door (55) contacts an edge of one side of the box body (50), the other side of the hinge (53) is hingedly disposed on one side of the cabinet door (55), a locking buckle (36) is disposed on one side of the limiting ring (49), and the other side of the cabinet door (55) is connected to the one side of the limiting ring (49) through the locking buckle (36), Preferably, there are a plurality of hinges (53), and the plurality of hinges (53) correspond one to one with the plurality of boxes (50); A handle (52) is disposed in the middle of the cabinet door (55), and the handle (52) is close to the limiting ring (49). Preferably, a limit baffle (48) is disposed on the inner bottom surface of the box body (50), and there are a plurality of limit baffles (48), and the plurality of limit baffles (48) correspond to the plurality of box bodies (50) in a one-to-one manner, and the limit baffles (48) are located at the edge of the inner bottom surface of the box body (50). When in use, the rotating opening and closing structure is installed on the handling robot, and a plurality of fixed plates (54) are evenly placed in a single layer on the top surface of the vehicle box (19). The plurality of fixed plates (54) can also be stacked together in groups. The cabinet door (55) is rotated downward to open by the handle (52), and the bottom of the cabinet door (55) can be turned downward by the hinge (53). The stored items are stored in each box (50). After the storage is completed, the cabinet door (55) is turned upward by the handle (52) and the hinge (53), and is fixed to the limit ring (49) by the locking buckle (36), so as to close the stored items in the box (50). The drive motor (22) is started, the drive motor (22) transmits torque to the transmission shaft (21), the transmission shaft (21) transmits power to the rotating shaft (20) through the differential (34), the rotating shaft (20) drives the traveling wheels (35) on both sides to perform pure rolling motion, so that the transport robot starts to travel in a straight line according to a preset travel route; when the transport robot needs to turn, the steering motor (24) is started, the steering motor (24) drives the steering assembly to rotate, and the steering assembly drives the steering wheel (17) to rotate, so that the transport robot can turn, and the storage items can be transported to the destination according to the preset travel route. Example 2

[0014] The difference between this embodiment and the first embodiment is that: a rubber air cushion (57) is disposed on the inner bottom surface of the box body (50), and there are a plurality of the rubber air cushions (57), and the plurality of the rubber air cushions (57) correspond one to one to the plurality of the boxes (50); when in use, the rubber air cushions (57) can increase the friction between the stored items and the inner bottom surface of the box body (50), reduce the sliding of the stored items during the driving process of the transport robot, reduce the hard collision with the cabinet door (55), and can reduce the damage to the stored items; Example 3

[0015] The difference between this embodiment and embodiment 1 is that: a magnetic suction piece (58) is arranged on the side of the limiting ring (49), the edge of the magnetic suction piece (58) is connected to the side edge of the limiting ring (49), there are a plurality of magnetic suction pieces (58), and the plurality of magnetic suction pieces (58) and the plurality of limiting rings (49) correspond one to one; when in use, two adjacent limiting rings (49) can attract each other through the magnetic force between the magnetic suction pieces (58), and the magnetic suction pieces (58) cooperate with the connecting protrusions and the connecting grooves to reduce the sliding of the box body (50) during the driving process of the transport robot, and the stability of the box body (50) on the fixing plate (54) is better, which can reduce the damage of the stored items; The connecting column (51) is formed by connecting a plurality of short columns end to end, one end of the short column is provided with a connecting groove, the other end of the short column is provided with a connecting block corresponding to the connecting groove, and the other end of the top connecting column (51) is provided with the connecting groove on the side surface, so that the length of the connecting column (51) can be adjusted according to the height of the box body (50), and the connecting column (51) is more flexible; The connection groove is designed with a rubber pad built in, and the rubber pad is used to play a sealing role when the connection protrusion is inserted into the connection groove, so that the joint between the box body (50) and the connection column (51) is tighter, thereby improving the stability of the box body (50); The connection groove is designed with a structure in which the bottom of the groove is wide and the groove mouth is narrow, so that the joint between the box body (50) and the connection column (51) is tighter, which can improve the stability and firmness of the connection and reduce the risk of loosening and falling off; The inner bottom surface of the box (50) is provided with a limit baffle (48), and there are a plurality of limit baffles (48), and the plurality of limit baffles (48) correspond to the plurality of boxes (50) one by one. The limit baffle (48) is designed to be located at the edge of the inner bottom surface of the box (50), and the limit baffle (48) can limit the position of the stored items, so as to prevent the stored items from sliding to the edge of the inner bottom surface of the box (50) during the driving process of the transport robot, and from having a hard collision with the cabinet door (55). When the staff opens the cabinet door (55), the stored items slide out of the inner bottom surface of the box (50) and fall on the ground, causing damage to the stored items; The hinge (53) cooperates with the design of the handle (52) so that the cabinet door (55) can be rotated up and down to open and close, thereby reducing injuries caused by collision between the cabinet door (55) and the cabinet door (55) when storing and retrieving stored items, or damage caused by collision between the stored items and the cabinet door (55), thereby facilitating the storage and retrieval of stored items. The connection protrusions are designed to cooperate with the connection grooves. When a transport robot is used to transport stored items, multiple boxes (50) can be connected to the connection columns (51) through the connection protrusions and the connection grooves to transport the stored items. When the transport is completed, the multiple boxes (50) can be separated from the connection columns (51) through the connection protrusions and the connection grooves, thereby facilitating storage and saving space.

[0016] The purpose of enabling the cabinet door (55) to be rotated up and down to open and close by means of the hinge (53) and the handle (52) is achieved, thereby facilitating the storage and retrieval of stored items.

[0017] It should be noted that the avoidance opening and closing storage structure is applicable to the following transport robots: A handling robot of the present invention is implemented as follows: A handling robot of the present invention comprises a walking mechanism, a shock absorbing mechanism and a batch handling mechanism. The invention is characterized in that the shock absorbing mechanism is placed on the walking mechanism, the batch handling mechanism is placed on the shock absorbing mechanism, the walking mechanism drives the shock absorbing mechanism and the batch handling mechanism to move, the walking mechanism is provided with a differential (34), a traveling wheel (35) connected to the differential (34), a steering assembly, and a steering wheel (17) connected to the steering assembly, the differential (34) drives the traveling wheel (35) to perform pure rolling motion, the steering assembly controls the steering wheel (17) to turn, the batch handling mechanism comprises a plurality of storage boxes, the plurality of storage boxes are stacked vertically, and two adjacent storage boxes can rotate relative to each other, Preferably, the number of the batch transport mechanisms is greater than or equal to 1, and the damping mechanisms correspond to the batch transport mechanisms one by one. The traveling mechanism comprises a steering wheel (17), a vehicle body (19), a rotating shaft (20), a transmission shaft (21), a driving motor (22), a vehicle bottom plate (23), a steering motor (24), a rotating shaft (25), a connecting block (26), a rotating rod (27), a rotating shaft sleeve (28), a steering fixing member (29), a connecting shaft (30), a connecting plate (31), a rotating connecting member (32), a connecting strip (33), a differential (34) and a traveling wheel (35). The vehicle box (19) is placed in the middle of the vehicle bottom plate (23), and the drive motor (22) is placed in the middle of the vehicle bottom plate (23) and is located inside the vehicle box (19). The differential (34) is disposed in the middle of one end of the vehicle bottom plate (23); one end of the transmission shaft (21) is connected to the motor shaft of the driving motor (22); the other end of the transmission shaft (21) is connected to the differential (34); rotating shafts (20) are disposed on both sides of the differential (34) respectively; one end of the rotating shaft (20) is connected to the differential (34); and the other end of the rotating shaft (20) is connected to the traveling wheel (35). Preferably, first avoidance grooves for avoiding the traveling wheel (35) are respectively opened on both sides of one end of the vehicle bottom plate (23), and the traveling wheel (35) is rotatably located in the first avoidance groove; first arc-shaped grooves for avoiding the traveling wheel (35) are respectively opened on both sides of one end of the vehicle box (19), and the traveling wheel (35) is rotatably located in the first arc-shaped groove; The steering motor (24) is placed in the middle of the vehicle bottom plate (23) and close to the other end of the vehicle bottom plate (23). One end of the rotating shaft (25) is connected to the motor shaft of the steering motor (24), and the other end of the rotating shaft (25) is connected to one end of the connecting bar (33). Preferably, the width of the connecting strip (33) gradually decreases from one end connected to the rotating shaft (25) to the other end, and the other end of the connecting strip (33) is a ring structure. One end of the connecting shaft (30) is rotatably connected to the other end of the connecting bar (33) via a bearing (39), and the other end of the connecting shaft (30) is rotatably connected to the connecting block (26) via a bearing (39). The steering fixing member (29) is disposed at the other end of the vehicle bottom plate (23), and both ends of the steering fixing member (29) are hollowed out. Two rotating shaft sleeves (28) are rotatably disposed at corresponding positions at both ends of the steering fixing member (29). Preferably, the middle portion of the side surface of the rotating shaft sleeve (28) is rotatably connected to the hollow portion of the steering fixing member (29) via a vertical axis, one end of the rotating shaft sleeve (28) is located in the hollow portion of the steering fixing member (29), the other end of the rotating shaft sleeve (28) extends out of the hollow portion of the steering fixing member (29), and the steering wheel (17) is placed at the other end of the rotating shaft sleeve (28). Preferably, the other end of the vehicle bottom plate (23) is provided with second avoidance grooves corresponding to the steering wheel (17) on both sides, and the steering wheel (17) is located in the second avoidance groove; the other end of the vehicle box (19) is provided with second arc grooves corresponding to the steering wheel (17) on both sides, and the steering wheel (17) is located in the second arc groove. One end of the rotating rod (27) is connected to the side surface of one end of the rotating shaft sleeve (28). The connecting block (26) is placed in the middle of the connecting plate (31), and the two ends of the connecting plate (31) are connected to each other by a rotating connecting piece (32) and the other ends of the two rotating rods (27). The steering motor (24), the rotating shaft (25), the connecting block (26), the rotating rod (27), the rotating shaft sleeve (28), the steering fixing member (29), the connecting shaft (30), the connecting plate (31), the rotating connecting member (32) and the connecting strip (33) together constitute a steering assembly. The shock absorbing mechanism is composed of a damper (11), a buffer spring (12), a fixing member (13), a fixing rod (14), a connecting member (15), a fixing base plate (16), a support plate (37) and a fixing bolt (38). The fixed bottom plate (16) is placed on the vehicle box body (19), and the connecting member (15) is placed on the fixed bottom plate (16) via fixing bolts (38). Preferably, there are a plurality of the connecting members (15), and the plurality of the connecting members (15) are arranged equidistantly along the circumference of the fixing plate (54). One end of the fixing rod (14) is placed on the connecting member (15), the fixing member (13) is placed on the other end of the fixing rod (14), one end of the damper (11) is placed on the fixing member (13), and the other end is provided with a support plate (37), and the buffer spring (12) is sleeved on the damper (11). The batch handling mechanism is composed of a handle (5), a side plate (6), a curved cabinet door (7), a lower box plate (9), an upper box plate (10), a locking buckle (36), a bearing (39), a receiving shaft (40), a supporting protrusion (41), a limiting groove (42), a pulley (43), a connecting rod (44), an upper groove (45) and a lower groove (46). The batch transport mechanism is placed on the support plate (37) via a lower base plate (18). Preferably, a display screen (8) is provided on the batch transport mechanism. The upper box plate (10) is located directly above the lower box plate (9), and a side plate (6) is disposed between the upper box plate (10) and the lower box plate (9). One side of the side plate (6) is connected to the lower box plate (9), and the other side of the side plate (6) is connected to the upper box plate (10). One end of the side plate (6) is flush with the edges of the upper box plate (10) and the lower box plate (9), and the other end of the side plate (6) extends toward the center of the upper box plate (10) and the lower box plate (9). The centers of the upper box plate (10) and the lower box plate (9) are connected via a connecting rod (44), and the other ends of the side plates (6) are connected to the side surfaces of the connecting rod (44). Preferably, there are a plurality of side panels (6), and the plurality of side panels (6) are arranged at non-equidistant intervals along the circumference of the upper box plate (10). An arc-shaped cabinet door (7) is arranged between two adjacent side panels (6), one end of the arc-shaped cabinet door (7) is hingedly arranged on one side of one of the two adjacent side panels (6), a locking buckle (36) is arranged on one side of the other side panel (6) of the two adjacent side panels (6), and the other end of the arc-shaped cabinet door (7) is connected to one side of the other side panel (6) through the locking buckle (36). The other end of the curved cabinet door (7) is provided with a handle (5). The side panels (6), the upper box panel (10), the lower box panel (9), the curved cabinet door (7), the locking buckle (36) and the connecting rod (44) together constitute a storage box. Preferably, the storage box includes a plurality of storage compartments of different sizes. An upper groove (45) is formed in the middle of the upper box plate (10) of the storage box, and a lower groove (46) corresponding to the upper groove (45) is formed in the middle of the lower box plate (9) of the storage box. A limiting groove (42) is formed on the edge of the upper box plate (10) of the storage box. The limiting groove (42) is an annular structure. A supporting protrusion (41) corresponding to the limiting groove (42) is formed on the edge of the lower box plate (9) of the storage box. One end of the supporting protrusion (41) is connected to the lower box plate (9), and a pulley (43) is rotatably formed on the other end. Preferably, the number of the supporting protrusions (41) is greater than or equal to 2. A plurality of the storage boxes are stacked up and down, and the lower groove (46) of the upper storage box and the upper groove (45) of the lower storage box are aligned with each other between two adjacent storage boxes, and the support protrusion (41) of the upper storage box is slidably placed in the limiting groove (42) of the lower storage box via a pulley (43). A receiving shaft (40) is disposed between the lower groove (46) of the upper storage box and the upper groove (45) of the lower storage box between two adjacent storage boxes. One end of the receiving shaft (40) is connected to the upper groove (45) of the lower storage box, and the other end of the receiving shaft (40) is in contact with the lower groove (46) of the upper storage box. A bearing (39) is sleeved on the receiving shaft (40), and the bearing (39) is located in a lower groove (46) of the upper storage box. The inner side of the bearing (39) is fixedly connected to the receiving shaft (40), and the outer side of the bearing (39) is fixedly connected to the groove wall of the lower groove (46) of the upper storage box. Preferably, the batch handling mechanism is further provided with a monitoring mechanism, the monitoring mechanism comprising a camera probe (1), a rotating fixed seat (2) and a rotating motor (3). The monitoring mechanism is placed on the batch handling mechanism via a top plate (4); the rotating motor (3) is placed in the middle of the top plate (4); the rotating fixed seat (2) is placed on the rotating motor (3) and connected to the motor shaft; and the camera probe (1) is placed on the rotating fixed seat (2); Preferably, the transport robot uses a QR code navigation system for walking guidance; The batch transport mechanism is provided with a signal converter, a data processor, and a controller. The camera probe (1) is connected to the signal converter via a data line. The rotating motor (3) is connected to the controller via a data transmission line. The steering motor (24) is connected to the controller via a data transmission line. The signal converter is connected to the data processor via a data transmission line, and the data processor is connected to the controller via a data transmission line. The signal converter is capable of converting the electrical signal of the image data collected by the camera probe (1) into a digital signal. The controller can be implemented by one or at least two application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing instructions of the data processing device. The data processor and the signal converter perform information exchange, and a computer-readable storage medium is stored in the data processor, and the following steps are implemented when the computer-readable storage medium is executed: Processing the digital signal of the image data collected by the camera probe (1) to identify whether there is an obstacle in the image data, and when there is an obstacle, starting the steering motor (24), the steering motor (24) drives the steering component to rotate, and the steering component drives the steering wheel (17) to rotate, so that the transport robot can avoid the obstacle in advance; When in use, relatively valuable and precise storage items are placed in the storage box. Since the storage box is divided into a plurality of small compartments by the side plate (6), the storage box can be rotated through the bearing (39) to place the valuable and precise storage items in different small compartments. The valuable and precise storage items are transported in batches through the plurality of storage boxes, and the single transport efficiency is higher. After the storage is completed, the drive motor (22) is started, the drive motor (22) transmits the torque to the transmission shaft (21), the transmission shaft (21) transmits the power to the rotating shaft (20) through the differential (34), and the rotating shaft (20) drives the traveling wheels (35) on both sides to perform pure rolling motion, so that the transport robot moves according to a preset travel path. The robot starts to travel in a straight line, and the travel is relatively stable, with low requirements on the road surface; when the handling robot needs to turn, the steering motor (24) is started, the steering motor (24) drives the steering assembly to rotate, and the steering assembly drives the steering wheel (17) to rotate, so as to realize the steering of the handling robot, and the driving motor (22) and the steering motor (24) can make the handling robot travel freely according to the preset travel route; during the travel of the handling robot, the shock absorbing mechanism performs shock absorption on the multiple storage boxes, so as to reduce the damage of the valuable precision storage items in the multiple storage boxes caused by direct hard collision during the handling process, and can effectively protect the safety of the valuable precision storage items; Example 2

[0018] The difference between this embodiment and embodiment 1 is that: an anti-skid pad (47) is arranged on the upper box plate (10) of the storage box, and there are a plurality of anti-skid pads (47), and the plurality of anti-skid pads (47) correspond to the plurality of side plates (6) one by one, and the anti-skid pad (47) is located between two adjacent side plates (6); when in use, the anti-skid pad (47) can increase the friction between the valuable precision storage items and the upper box plate (10), reduce the sliding of the valuable precision storage items during the driving process of the handling robot, reduce the hard collision between the valuable precision storage items and the storage box, and can effectively protect the safety of the valuable precision storage items; Example 3

[0019] The difference between this embodiment and embodiment 1 is that: a baffle (48) is arranged on the upper box plate (10) of the storage box, there are a plurality of baffles (48), the plurality of baffles (48) and the plurality of side plates (6) correspond one to one, the baffle (48) is located between two adjacent side plates (6), the baffle (48) is located at the edge of the upper box plate (10), and the baffle (48) is an arc-shaped plate; when in use, the baffle (48) can limit the position of the precious and precise storage items, and prevent the precious and precise storage items from sliding onto the edge of the upper box plate (10) and colliding with the arc-shaped cabinet door (7) during the driving process of the handling robot, and sliding out of the upper box plate (10) and falling onto the ground when the staff opens the arc-shaped cabinet door (7), causing damage to the precious and precise storage items; The number of the batch handling mechanisms is greater than or equal to 1, and the damping mechanism and the batch handling mechanism are designed to correspond one to one. The multiple batch handling mechanisms are used to carry out batch handling of precious and precise storage items, which has a higher efficiency for single handling, can improve the single utilization rate of the handling robot, and reduce the handling time. The vehicle bottom plate (23) has first avoidance grooves for avoiding the traveling wheel (35) on both sides of one end, and the traveling wheel (35) is rotatably located in the first avoidance groove. The vehicle box (19) has first arc-shaped grooves for avoiding the traveling wheel (35) on both sides of one end, and the traveling wheel (35) is rotatably located in the first arc-shaped groove. The traveling wheel (35) rolls in the first avoidance groove, thereby avoiding friction between the traveling wheel (35) and the vehicle box (19). The first arc-shaped groove can effectively utilize space, provide better rolling space for the traveling wheel (35), and enable the traveling wheel (35) to roll more flexibly. The other end of the vehicle bottom plate (23) is provided with second avoidance grooves corresponding to the steering wheel (17) on both sides, and the steering wheel (17) is located in the second avoidance grooves. The other end of the vehicle box (19) is provided with second arc grooves corresponding to the steering wheel (17) on both sides, and the steering wheel (17) is located in the second arc groove. The steering wheel (17) rotates in the second avoidance groove, which can avoid friction between the steering wheel (17) and the vehicle box (19), so that the steering wheel (17) can rotate freely. The second arc groove can effectively utilize space, provide better rotation space for the steering wheel (17), and make the steering wheel (17) rotate more flexibly. There are a plurality of side panels (6), and the plurality of side panels (6) are arranged in a non-equidistant manner along the circumference of the upper box plate (10), so that the storage box can be divided into a plurality of small compartments of different sizes through the side panels (6), thereby realizing the storage of valuable and precise storage items of different sizes; The batch handling mechanism is provided with a display screen (8), through which buttons for storing and taking out can be set, and whether each small compartment of the storage box has items stored can be displayed, which is more convenient for storing valuable and precision storage items; The supporting protrusion (41) of the upper storage box is slidably placed in the limiting groove (42) of the lower storage box via a pulley (43); the inner side of the bearing (39) is fixedly connected to the receiving shaft (40); the outer side of the bearing (39) is fixedly connected to the groove wall of the lower groove (46) of the upper storage box, so that each storage box can be rotated, which is convenient for the staff to store or take out valuable storage items from each small compartment in the storage box; The batch handling mechanism is also provided with a monitoring mechanism, which is designed by a camera probe (1), a rotating fixed seat (2) and a rotating motor (3). When the handling robot starts to move, the controller controls the rotating motor (3) to start, and the rotating motor (3) drives the camera probe (1) to rotate. The camera probe (1) collects images in real time in front of the handling robot's travel route, and sends the collected image data to the signal converter. The signal converter converts the electrical signal of the image data into a digital signal and sends it to the data processor. The data processor processes the digital signal of the image data collected by the camera probe (1) to identify whether there is an obstacle in the image data. When there is an obstacle, the controller starts the steering motor (24), and the steering motor (24) drives the steering component to rotate, and the steering component drives the steering wheel (17) to rotate, so that the handling robot can avoid the obstacle in advance. The transport robot adopts a design of a two-dimensional code navigation system for walking guidance, which can realize autonomous navigation of the transport robot by identifying a specific two-dimensional code logo, has strong flexibility, and can provide high-precision position information, so that the transport robot can accurately locate and navigate, thereby realizing precise driving; The design of the batch handling mechanism and the shock absorbing mechanism can realize the batch handling of valuable and precise storage items, reduce the damage of the valuable and precise storage items in multiple storage boxes caused by direct hard collision during the handling process, and can effectively protect the safety of valuable and precise storage items; The differential (34) cooperates with the walking wheel, and the steering motor (24) cooperates with the steering wheel (17) to realize the straight-line driving and steering driving of the transport robot, so that the transport robot can freely drive along a preset route; The purpose is to effectively transmit power and torque to the traveling wheels (35) through the differential (34), drive the traveling wheels (35) to perform pure rolling motion, reduce the requirements on the road surface, and carry out batch transportation of precious and precise storage items through multiple storage spaces composed of multiple groups of rotating upper bottom plates, rotating lower bottom plates (18) and side plates (6) in conjunction with the shock absorbing mechanism.

[0020] It should be noted that, unless otherwise clearly specified and limited, the terms "placed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection method such as a folding connection, a rivet connection, a pin connection, an adhesive connection and a welding connection, or a detachable connection method such as a threaded connection, a snap connection and a hinge connection, or an integral connection, or an electrical connection, or a direct connection, or an indirect connection through an intermediate medium, or the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] It should be further pointed out that, when describing the above specific embodiment, for the sake of simplicity and clarity, only the differences between the above specific embodiment and other embodiments are described, but those skilled in the art should know that the above specific embodiment itself is also an independent technical solution.

[0022] It should be noted that the “front”, “rear”, “left” and “right” in the present invention shall be based on the “front”, “rear”, “left” and “right” in the drawings.

Claims

1. A handling robot avoidance opening and closing storage structure, characterized by: The cabinet is composed of a limiting ring, a handle, a box body, a connecting column, a hinge, a fixing plate, a cabinet door and a connecting groove. One end of the connecting column is placed in the middle of the fixing plate. The fixing plate is a regular polygonal structure. A connecting groove is opened on the side of the other end of the connecting column. The bottom surface of the box body is placed on the fixing plate. The box body is a triangular structure with an open side. One side of the box body opening is flush with the edge of the fixing plate. A limiting ring is set on the top surface of the box body. The edge of the limiting ring is connected to the edge of the top surface of the box body. Two side surfaces of the limiting ring are connected to each other. A connecting protrusion is disposed at two side surfaces of the plurality of limiting rings and the connecting protrusions and the plurality of connecting grooves are connected one by one. One side of the hinge is placed on the side surface of the fixing plate. A cabinet door is placed on one side of the box body. The edge of the cabinet door contacts the edge of one side surface of the box body. The other side of the hinge is hingedly placed on one side of the cabinet door. A locking buckle is placed on one side of the limiting ring. The other side of the cabinet door is connected to open and close with the locking buckle and one side of the limiting ring. A handle is placed in the middle of the cabinet door, and the handle is close to the limiting ring.

2. The transport robot avoidance opening and closing storage structure according to claim 1, characterized in that A rubber gasket is arranged on the inner bottom surface of the box body, and there are a plurality of the rubber gaskets, and the plurality of the rubber gaskets correspond to the plurality of the boxes one by one.

3. The transport robot avoidance opening and closing storage structure according to claim 1, characterized in that A magnetic suction piece is arranged on the side of the limiting ring, and the edge of the magnetic suction piece is connected to the side edge of the limiting ring. There are multiple magnetic suction pieces, and the multiple magnetic suction pieces correspond to the multiple limiting rings one by one.

4. The transport robot avoidance opening and closing storage structure according to claim 1, characterized in that The connecting column is formed by splicing a plurality of short columns end to end, one end of the short column is provided with a splicing groove, the other end of the short column is provided with a splicing block corresponding to the splicing groove, and the other end side of the topmost connecting column is provided with the connecting groove.

5. The transport robot avoidance opening and closing storage structure according to claim 1, characterized in that There are a plurality of connecting grooves, and the plurality of connecting grooves are arranged equidistantly along the side surface of the other end of the connecting column.

6. The transport robot avoidance opening and closing storage structure according to claim 5, characterized in that The connecting groove is provided with a rubber pad, and the connecting groove is a structure with a wide groove bottom and a narrow groove opening.

7. The transport robot avoidance opening and closing storage structure according to claim 1, characterized in that There are a plurality of boxes, the number of which is the same as the number of sides of the fixing plate, and the plurality of boxes are arranged without spacing along the circumference of the fixing plate with the connecting column as the center.

8. The transport robot avoidance opening and closing storage structure according to claim 1, characterized in that There are multiple hinges, and the multiple hinges correspond to the multiple boxes one by one; the inner bottom surface of the box is provided with a limit baffle, and there are multiple limit baffles, and the multiple limit baffles correspond to the multiple boxes one by one. The limit baffle is located at the edge of the inner bottom surface of the box, and the limit baffle can limit the stored items to prevent the stored items from sliding to the edge of the inner bottom surface of the box during the driving process of the handling robot and colliding hard with the cabinet door. When the staff opens the cabinet door, the stored items slide out of the inner bottom surface of the box and fall to the ground, causing damage to the stored items.

9. The transport robot avoidance opening and closing storage structure according to claim 1, characterized in that The hinge is designed in conjunction with the handle, so that the cabinet door can be rotated up and down to open and close, reducing injuries caused by collisions between the staff and the cabinet door when storing and retrieving stored items, or damage to the cabinet door caused by collisions between the stored items, thereby facilitating the storage and retrieval of stored items; the connecting protrusion is designed in conjunction with the connecting groove, so that when a handling robot is used to transport stored items, multiple boxes can be connected to the connecting column through the connecting protrusion and the connecting groove to transport the stored items. When the transportation is completed, the multiple boxes can be separated from the connecting column through the connecting protrusion and the connecting groove, which is convenient for storage and saves space.

10. The transport robot avoidance opening and closing storage structure according to claim 1, characterized in that The transport robot comprises a walking mechanism, a shock absorbing mechanism and a batch transport mechanism, wherein the shock absorbing mechanism is placed on the walking mechanism, and the batch transport mechanism is placed on the shock absorbing mechanism, and the walking mechanism drives the shock absorbing mechanism and the batch transport mechanism to move, and the walking mechanism is provided with a differential, a traveling wheel connected to the differential, a steering assembly and a steering wheel connected to the steering assembly, the differential drives the traveling wheel to perform pure rolling motion, and the steering assembly controls the steering of the steering wheel, and the batch transport mechanism comprises a plurality of storage boxes, wherein the plurality of storage boxes are stacked vertically, and two adjacent storage boxes can rotate relative to each other, and the number of the batch transport mechanisms is greater than or equal to 1, and the shock absorbing mechanism and the batch transport mechanism correspond one to one, and the walking mechanism The mechanism consists of a steering wheel, a vehicle body, a rotating shaft, a transmission shaft, a driving motor, a vehicle floor, a steering motor, a rotating shaft, a connecting block, a rotating rod, a rotating shaft sleeve, a steering fixing part, a connecting shaft, a connecting plate, a rotating connecting part, a connecting strip, a differential and a traveling wheel. The vehicle body is placed in the middle of the vehicle floor, the driving motor is placed in the middle of the vehicle floor and is located in the vehicle body, the differential is placed in the middle of one end of the vehicle floor, one end of the transmission shaft is connected to the motor shaft of the driving motor, and the other end of the transmission shaft is connected to the differential. Rotating shafts are respectively arranged on both sides of the differential, one end of the rotating shaft is connected to the differential, and the other end of the rotating shaft is connected to the traveling wheel. First avoidance grooves for avoiding the traveling wheel are respectively opened on both sides of one end of the vehicle floor, and the traveling wheel can rotate is located in the first avoidance groove, and first arc-shaped grooves for avoiding the traveling wheels are correspondingly opened on both sides of one end of the vehicle box body, and the traveling wheels are rotatably located in the first arc-shaped groove, the steering motor is placed in the middle of the vehicle floor, and close to the other end of the vehicle floor, one end of the rotating shaft is connected to the motor shaft of the steering motor, and the other end of the rotating shaft is connected to one end of the connecting strip, the width of the connecting strip gradually decreases from the end connected to the rotating shaft to the other end, the other end of the connecting strip is an annular structure, one end of the connecting shaft is rotatably connected to the other end of the connecting strip through a bearing, and the other end of the connecting shaft is rotatably connected to the connecting block through a bearing, the steering fixing piece is placed at the other end of the vehicle floor, and the two ends of the steering fixing piece are hollow, and the two rotating shaft sleeves are rotatably placed respectively and correspondingly. At the hollow positions at both ends of the steering fixing parts, the middle part of the side surface of the rotating shaft sleeve is rotatably connected through the vertical shaft and the hollow position of the steering fixing part, one end of the rotating shaft sleeve is located in the hollow position of the steering fixing part, and the other end of the rotating shaft sleeve extends out of the hollow position of the steering fixing part, and the steering wheel is placed on the other end of the rotating shaft sleeve, and the other end of the vehicle bottom plate is respectively provided with second avoidance grooves corresponding to the steering wheel on both sides, and the steering wheel is located in the second avoidance groove, and the other end of the vehicle box body is respectively provided with second arc grooves corresponding to the steering wheel on both sides, and the steering wheel is located in the second arc groove, one end of the rotating rod is connected to the side surface of one end of the rotating shaft sleeve, the connecting block is placed in the middle of the connecting plate, and the two ends of the connecting plate are respectively rotatably connected with the other ends of the two rotating rods through the rotating connecting piece.The steering motor, rotating shaft, connecting block, rotating rod, rotating shaft sleeve, steering fixing part, connecting shaft, connecting plate, rotating connecting part and connecting strip together constitute a steering assembly. The shock absorbing mechanism is composed of a damper, a buffer spring, a fixing part, a fixing rod, a connecting part, a fixing base plate, a support plate and a fixing bolt. The fixing base plate is placed on the vehicle box body, and the connecting part is placed on the fixing base plate through the fixing bolts. There are multiple connecting parts, and the multiple connecting parts are arranged equidistantly along the circumference of the fixing plate. One end of the fixing rod is placed on the connecting part, and the fixing part is placed on the other end of the fixing rod. One end of the damper is placed on the fixing part, and a support plate is placed on the other end. The buffer spring sleeve is placed on the damper. The batch handling mechanism is composed of a handle, a side panel, a curved cabinet door, a lower box plate, an upper box plate, a locking buckle, The batch handling mechanism is composed of a bearing, a supporting shaft, a supporting protrusion, a limiting groove, a pulley, a connecting rod, an upper groove and a lower groove. The batch handling mechanism is placed on the supporting plate through the lower bottom plate. A display screen is placed on the batch handling mechanism. The upper box plate is located directly above the lower box plate. A side plate is placed between the upper box plate and the lower box plate. One side of the side plate is connected to the lower box plate, and the other side of the side plate is connected to the upper box plate. One end of the side plate is flush with the edges of the upper box plate and the lower box plate, and the other end of the side plate extends toward the center of the upper box plate and the lower box plate. The centers of the upper box plate and the lower box plate are connected by a connecting rod, and the other end of the side plate is connected to the side of the connecting rod. There are multiple side plates, and the multiple side plates are arranged unequally along the circumference of the upper box plate, and there is a An arc-shaped cabinet door, one end of which is hingedly placed on one side of one of the two adjacent side panels, a locking buckle is placed on one side of the other side panel of the two adjacent side panels, the other end of the arc-shaped cabinet door is connected to the other side of the other side panel through the locking buckle, and a handle is placed on the other end of the arc-shaped cabinet door. The side panels, upper box panels, lower box panels, arc-shaped cabinet doors, locking buckles and connecting rods together constitute a storage box, and the storage box includes a plurality of storage compartments of different sizes, an upper groove is opened in the middle of the upper box panel of the storage box, a lower groove corresponding to the upper groove is opened in the middle of the lower box panel of the storage box, a limiting groove is opened on the edge of the upper box panel of the storage box, and the limiting groove is an annular structure, and a supporting protrusion corresponding to the limiting groove is placed on the edge of the lower box panel of the storage box. One end of the supporting protrusion is connected to the lower box plate, and the other end is rotatably provided with a pulley, the number of the supporting protrusions is greater than or equal to 2, and multiple storage boxes are stacked up and down, and the lower groove of the upper storage box of two adjacent storage boxes is aligned with the upper groove of the lower storage box, and the supporting protrusion of the upper storage box can be slidably placed in the limiting groove of the lower storage box through the pulley. Between the two adjacent storage boxes, a receiving shaft is provided between the lower groove of the upper storage box and the upper groove of the lower storage box, one end of the receiving shaft is connected to the upper groove of the lower storage box, and the other end of the receiving shaft contacts with the lower groove of the upper storage box, and a bearing is sleeved on the receiving shaft, and the bearing is located in the lower groove of the upper storage box, and the inner side of the bearing is fixedly connected to the receiving shaft,The outer side of the bearing is fixedly connected to the lower groove wall of the storage box above. A monitoring mechanism is also provided on the batch handling mechanism, and the monitoring mechanism consists of a camera probe, a rotating fixed seat and a rotating motor. The monitoring mechanism is placed on the batch handling mechanism through a top plate, and the rotating motor is placed in the middle of the top plate. The rotating fixed seat is placed on the rotating motor and is connected to the motor shaft. The camera probe is placed on the rotating fixed seat. A signal converter is arranged on the batch handling mechanism, a data processor is arranged on the batch handling mechanism, and a controller is arranged on the batch handling mechanism. The camera probe is connected to the signal converter via a data line, the rotating motor is connected to the controller via a data transmission line, the steering motor is connected to the controller via a data transmission line, the signal converter is connected to the data processor via a data transmission line, the data processor is connected to the controller via a data transmission line, and the signal The signal converter can convert the electrical signal of the image data collected by the camera probe into a digital signal. The controller can be implemented by one or at least two application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to execute the instructions of the data processing device. The data processor and the signal converter exchange information. The data processor stores a computer-readable storage medium. When the computer-readable storage medium is executed, the following steps are implemented: the digital signal of the image data collected by the camera probe is processed, and whether there is an obstacle in the image data is identified. When there is an obstacle, the steering motor is started, and the steering motor drives the steering assembly to rotate, and the steering assembly drives the steering wheel to rotate, so that the handling robot can avoid obstacles in advance. ,

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