A transport robot with multiple sizes and adaptable transport structure and a transport robot

Abstract

The present invention discloses a transport structure of a transport robot with multiple sizes and a transport robot. The transport structure supports and protects both ends of cylindrical objects of different sizes by a sliding block, and supports and protects the middle of cylindrical objects of different sizes in a V-shaped rotatable manner by a rotating column, so as to facilitate the batch transport of cylindrical objects. The structure is characterized in that it is composed of a vehicle body, a bottom plate, a fixed block, a first sliding groove, a sliding block, a U-shaped connecting piece, a rotating column, an L-shaped connecting block and a second sliding groove. The bottom plate is detachably placed on the top surface of the vehicle body, and the edge of the bottom plate is flush with the edge of the top surface of the vehicle body. A fixed block is placed on the bottom plate, and the length of the fixed block is equal to the width of the bottom plate. There are multiple fixed blocks, and the multiple fixed blocks are arranged equidistantly along the length direction of the bottom plate. The two fixed blocks corresponding to the two ends of the bottom plate are edge fixed blocks, and the top surface of the fixed block is provided with a first sliding groove.

Description

Technical Field

[0001] The present invention discloses a multi-size adaptable transport structure of a transport robot and a transport robot, which relate to a transport structure installed on the transport robot and belong to the field of intelligent logistics technology. In particular, the present invention relates to a transport structure and a transport robot which support and protect both ends of cylindrical objects of different sizes by means of a sliding block, and support and protect the middle of cylindrical objects of different sizes in a V-shape and rotatable manner by means of a rotating column, so as to facilitate batch transport of cylindrical objects. 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 monitor the middle and upper part of the rear end of the transport trolley. At the same time, 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. Moreover, 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 another Chinese invention patent application entitled "A Handling Robot", which stores precious and precise storage items in storage boxes and carries them in batches through a walking mechanism. However, the storage boxes of the above-mentioned handling robot are stacked together and divided into multiple small compartments by side panels, which are only suitable for storing small items, but not large cylindrical items. The applicable scope of the handling robot is narrow. Summary of the invention

[0006] In order to improve the above situation, the present invention provides a multi-size adaptable transport structure of a transport robot and a transport robot that provide support and protection for both ends of cylindrical objects of different sizes through a sliding block, and provide V-shaped rotatable support and protection for the middle of cylindrical objects of different sizes through a rotating column, thereby facilitating the transport structure and transport robot for batch transport of cylindrical objects.

[0007] The multi-size adaptable transport structure of a handling robot and the handling robot of the present invention are implemented as follows: The multi-size adaptable transport structure of a handling robot of the present invention is composed of a vehicle body, a bottom plate, a fixed block, a first sliding groove, a sliding block, a U-shaped connecting piece, a rotating column, an L-shaped connecting block and a second sliding groove. The bottom plate is detachably placed on the top surface of the vehicle box, and the edge of the bottom plate is flush with the edge of the top surface of the vehicle box. A fixing block is disposed on the bottom plate, and the length of the fixing block is equal to the width of the bottom plate. Preferably, there are multiple fixing blocks, and the multiple fixing blocks are arranged equidistantly along the length direction of the bottom plate. Preferably, the two fixing blocks respectively located at the two ends of the bottom plate are edge fixing blocks. The top surface of the fixed block is provided with a first sliding groove. A first sliding rib is disposed on the bottom surface of the sliding block, and the first sliding rib corresponds to the first sliding groove. The sliding block is slidably placed on the edge fixing block through the first sliding rib and the first sliding groove. The sliding block is a trapezoidal structure, and the width of the sliding block increases gradually from the top surface to the bottom surface in an arc shape. Preferably, the sliding block is a hollow structure. Preferably, there are multiple groups of sliding blocks, each group has two sliding blocks, and the two sliding blocks are symmetrical. The first sliding rib is disposed on the bottom surface of the L-shaped connecting block. The L-shaped connecting block is slidably located on the fixed block near the middle of the bottom plate through the first sliding rib and the first sliding groove. Preferably, the L-shaped connecting block is a hollow structure. Preferably, there are multiple groups of L-shaped connecting blocks, each group has two L-shaped connecting blocks, and the two L-shaped connecting blocks are symmetrical. The L-shaped connecting block is provided with a second sliding groove, the second sliding groove is located above the first sliding groove, and the depth of the second sliding groove is less than the bottom thickness of the L-shaped connecting block. The two ends of the rotating column are respectively placed in the middle of the two inner sides of the U-shaped connecting piece through bearings. A second sliding rib is disposed on the bottom surface of the U-shaped connecting member, and the second sliding rib corresponds to the second sliding groove. The bottom surface of the U-shaped connector and the L-shaped connector block form a right triangle, and the angle between the bottom surface of the U-shaped connector and the bottom surface of the L-shaped connector block is less than 90 degrees, and the bottom surface of the U-shaped connector and the side surface of the L-shaped connector are slidably connected; Furthermore, an anti-slip strip is disposed on the side of the sliding block, the length of the anti-slip strip is equal to the length of the side of the sliding block, and the anti-slip strip is an arc-shaped structure. Preferably, there are a plurality of anti-slip strips, and the plurality of anti-slip strips are arranged equidistantly along the side of the sliding block. Furthermore, an anti-skid protrusion is disposed on the side of the rotating column, and the anti-skid protrusion is a hemispherical structure; Preferably, there are multiple groups of anti-slip protrusions, which are equidistantly arranged axially along the side of the rotating column, and there are multiple anti-slip protrusions in each group, which are equidistantly arranged circumferentially along the side of the rotating shaft.

[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 rod. 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 may 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] 1. The two ends of cylindrical objects of different sizes are supported and protected by sliding blocks, and the middle of cylindrical objects of different sizes are supported and protected in a V-shaped rotatable manner by rotating columns, which is convenient for batch handling of cylindrical objects.

[0010] 2. Simple structure, convenient and practical.

[0011] 3. Low cost and easy to promote. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] 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 3This 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 multi-size adaptive transport structure of a handling robot according to the present invention; Fig. 9 It is a three-dimensional structural diagram of embodiment 2 of a multi-size adaptive transport structure of a handling robot of the present invention; Fig.10 This is a three-dimensional structural diagram of Example 3 of a multi-size adaptive transportation structure of a handling robot according to the present invention. Attached photos

[0013] 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), a steering fixing member (29), and a connecting shaft. (30), connecting plate (31), rotating connecting member (32), connecting strip (33), differential (34), traveling wheel (35), locking buckle (36), supporting plate (37), fixing bolt (38), bearing (39), receiving shaft (40), supporting protrusion (41), limiting groove (42), pulley (43), connecting rod (44), upper groove (45), lower groove (46), anti-skid pad (47), baffle (48), bottom plate (49), fixing block (50), first sliding groove (51), sliding block (52), U-shaped connecting member (53), rotating column (54), L-shaped connecting block (55), second sliding groove (56), anti-skid strip (57), anti-skid protrusion (58). DETAILED DESCRIPTION Example 1

[0014] A multi-size adaptable transport structure of a handling robot according to the present invention is realized as follows: A multi-size adaptable transport structure of a handling robot according to the present invention comprises a vehicle box (19), a bottom plate (49), a fixed block (50), a first sliding groove (51), a sliding block (52), a U-shaped connecting piece (53), a rotating column (54), an L-shaped connecting block (55) and a second sliding groove (56), The bottom plate (49) is detachably placed on the top surface of the vehicle box (19), and the edge of the bottom plate (49) is flush with the edge of the top surface of the vehicle box (19). A fixing block (50) is disposed on the bottom plate (49), and the length of the fixing block (50) is equal to the width of the bottom plate (49). Preferably, there are a plurality of the fixing blocks (50), and the plurality of the fixing blocks (50) are arranged equidistantly along the length direction of the bottom plate (49). The top surface of the fixed block (50) is provided with a first sliding groove (51). A first sliding rib is disposed on the bottom surface of the sliding block (52), and the first sliding rib corresponds to the first sliding groove (51). The sliding block (52) is slidably located on the fixed block (50) near the two ends of the bottom plate (49) through the first sliding rib and the first sliding groove (51). The sliding block (52) is a trapezoidal structure, and the width of the sliding block (52) gradually increases in an arc shape from the top surface to the bottom surface. Preferably, the sliding block (52) is a hollow structure. Preferably, there are multiple groups of sliding blocks (52), each group has two sliding blocks (52), and the two sliding blocks (52) are symmetrical. The first sliding rib is disposed on the bottom surface of the L-shaped connecting block (55). The L-shaped connecting block (55) is slidably located on the fixing block (50) near the middle of the bottom plate (49) through the first sliding rib and the first sliding groove (51). Preferably, there is a large friction force between the first sliding rib and the first sliding groove (51). Preferably, the L-shaped connecting block (55) is a hollow structure. Preferably, there are multiple groups of the L-shaped connecting blocks (55), each group has two L-shaped connecting blocks (55), and the two L-shaped connecting blocks (55) are symmetrical. The L-shaped connecting block (55) is provided with a second sliding groove (56), the second sliding groove (56) is located above the first sliding groove (51), and the depth of the second sliding groove (56) is less than the bottom thickness of the L-shaped connecting block (55). The two ends of the rotating column (54) are respectively placed in the middle of the two inner sides of the U-shaped connecting member (53) through bearings (39). A second sliding rib is disposed on the bottom surface of the U-shaped connecting member (53), and the second sliding rib corresponds to the second sliding groove (56). Preferably, there is a large friction force between the second sliding rib and the second sliding groove (56). The bottom surface of the U-shaped connecting piece (53) and the L-shaped connecting block (55) form a right triangle, and the angle between the bottom surface of the U-shaped connecting piece (53) and the bottom surface of the L-shaped connecting block (55) is less than 90 degrees, and the bottom surface of the U-shaped connecting piece (53) and the side surface of the L-shaped connecting piece (15) are slidably connected; When in use, the transport structure is mounted on the transport robot, and each group of sliding blocks (52) is slid along the first sliding groove (51) to a suitable position according to the outer diameter of the cylindrical object to be transported by the transport robot, and both ends of the cylindrical object are supported and protected. Each group of L-shaped connecting blocks (55) is slid along the first sliding groove (51), and the U-shaped connecting piece (53) is slid along the second sliding groove (56) to a suitable position, and the cylindrical object is placed on each group of sliding blocks (52) and the rotating column (54). Under the downward pressure of the weight of the object, the sliding block (52), the L-shaped connecting block (55), and the U-shaped connecting piece (53) can be relatively stably stopped at a fixed position, and each group of rotating columns (54) provides V-shaped rotation support and protection for the middle part of the cylindrical object. The rotating column (54) can rotate with the movement of the cylindrical object, which is more convenient for storing and taking out the cylindrical object. 4) The contact between the cylindrical object and the rotating column (54) is smoother, which can reduce the wear caused by the friction of the rotating column (54) on the cylindrical object and reduce the deformation or damage of the rotating column (54) caused by excessive local pressure; after the cylindrical object is stored, 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 handling robot starts to travel in a straight line according to the preset travel route, the walking is relatively stable, and the requirements for the road surface are relatively low; 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 that the handling robot can turn, and the cylindrical object can be transported to the destination according to the preset travel route; Example 2

[0015] The difference between this embodiment and embodiment 1 is that: an anti-slip strip (57) is arranged on the side of the sliding block (52); the length of the anti-slip strip (57) is equal to the length of the side of the sliding block (52); the anti-slip strip (57) is an arc-shaped structure; there are a plurality of anti-slip strips (57); and the plurality of anti-slip strips (57) are arranged at equal distances along the side of the sliding block (52); when in use, the anti-slip strip (57) can increase the friction between the sliding block (52) and the cylindrical object, reduce the sliding of the cylindrical object between the two sliding blocks (52), and provide better support and protection effects on both ends of the cylindrical object; Example 3

[0016] The difference between this embodiment and embodiment 1 is that: the side of the rotating column (54) is provided with an anti-skid protrusion (58), and the anti-skid protrusion (58) is a hemispherical structure; there are multiple groups of anti-skid protrusions (58), and the multiple groups of anti-skid protrusions (58) are arranged equidistantly along the axial direction of the side of the rotating column (54); there are multiple anti-skid protrusions (58) in each group, and the multiple anti-skid protrusions (58) are arranged equidistantly along the circumferential direction of the side of the rotating shaft (25); when in use, the anti-skid protrusions (58) can increase the friction between the rotating column (54) and the cylindrical object, reduce the sliding of the cylindrical object between the two rotating columns (54), and better support and protect the middle part of the cylindrical object; The bottom plate (49) is detachably placed on the top surface of the vehicle box (19), and the edge of the bottom plate (49) is designed to be flush with the edge of the top surface of the vehicle box (19). When the transport robot needs to transport cylindrical objects, the bottom plate (49) is installed on the top surface of the vehicle box (19). When the transport robot does not need to transport cylindrical objects, the bottom plate (49) is easily disassembled, thereby improving the utilization rate of the transport robot; The sliding block (52) is of a trapezoidal structure, and the width of the sliding block (52) is designed to gradually increase in an arc shape from the top surface to the bottom surface, so that the sliding block (52) and the surface of the cylindrical object can be better fitted, the pressure applied to the cylindrical object is dispersed, the local stress is reduced, and it helps to prevent the sliding block (52) from being deformed or damaged due to excessive pressure; The sliding block (52) is designed as a hollow structure, which can reduce the weight of the sliding block (52) and reduce the air resistance of the sliding block (52) sliding in the first sliding groove (51) through the first sliding rib; There are multiple groups of sliding blocks (52), each group has two sliding blocks (52), and the two sliding blocks (52) are symmetrically designed to provide uniform support and protection for both sides of the cylindrical object, thereby reducing the shaking of the cylindrical object during the movement of the transport robot; The bottom surface of the U-shaped connecting member (53) and the L-shaped connecting block (55) form a right triangle, and the angle between the bottom surface of the U-shaped connecting member (53) and the bottom surface of the L-shaped connecting block (55) is less than 90 degrees. The bottom surface of the U-shaped connecting member (53) and the side surface of the L-shaped connecting member (15) are designed to be slidably connected, so that the two rotating columns (54) of each group can form a V-shaped support and protection for the cylindrical object, and the width of the V-shaped support can be adjusted according to the outer diameter of the cylindrical object, so that the V-shaped support fits the cylindrical object more closely, providing more stable support and protection; The two ends of the rotating column (54) are respectively placed at the middle of the two inner side surfaces of the U-shaped connecting member (53) through bearings (39). The rotating column (54) can rotate with the movement of the cylindrical object, making it easier to store and take out the cylindrical object. The contact between the rotating column (54) and the cylindrical object is smoother, which can reduce the wear caused by the friction of the rotating column (54) on the cylindrical object and reduce the deformation or damage of the rotating column (54) caused by excessive local pressure.

[0017] The purpose of supporting and protecting the two ends of cylindrical objects of different sizes by means of the sliding block (52) and supporting and protecting the middle of cylindrical objects of different sizes in a V-shaped rotatable manner by means of the rotating column (54) is achieved, thereby facilitating the batch handling of cylindrical objects.

[0018] 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. 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 may 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 by means of the bearing (39) so that the valuable and precise storage items can be placed in different small compartments. The valuable and precise storage items can be 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 along 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

[0019] 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

[0020] 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 body (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 body (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, so as to facilitate the storage of 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 (49), rotating lower bottom plates (18) and side plates (6) in conjunction with the shock absorbing mechanism.

[0021] 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, a bonding 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 connection 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.

[0022] 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.

Claims

1. A transport robot with multiple sizes and adaptable transport structure, characterized by: The invention is composed of a vehicle box body, a bottom plate, a fixed block, a first sliding groove, a sliding block, a U-shaped connecting piece, a rotating column, an L-shaped connecting block and a second sliding groove. The bottom plate is detachably placed on the top surface of the vehicle box body. The bottom plate is provided with a fixed block. The top surface of the fixed block is provided with a first sliding groove. The bottom surface of the sliding block is provided with a first sliding rib. The two fixed blocks corresponding to the two ends of the bottom plate are edge fixed blocks. The first sliding rib corresponds to the first sliding groove. The sliding block is slidably placed on the edge fixed block through the first sliding rib and the first sliding groove. The L-shaped connecting block The first sliding rib is arranged on the bottom surface of the U-shaped connector, and the L-shaped connecting block is slidably located on the fixed block near the middle of the bottom plate through the first sliding rib and the first sliding groove. The L-shaped connecting block is provided with a second sliding groove, and the second sliding groove is located above the first sliding groove. The two ends of the rotating column are respectively placed in the middle of the two inner side surfaces of the U-shaped connector through bearings. The bottom surface of the U-shaped connector is provided with a second sliding rib, and the second sliding rib corresponds to the second sliding groove. The bottom surface of the U-shaped connector and the side surface of the L-shaped connector are slidably connected.

2. The multi-size adaptable transport structure of a handling robot according to claim 1, characterized in that An anti-slip strip is arranged on the side of the sliding block. The length of the anti-slip strip is equal to the length of the side of the sliding block. The anti-slip strip is an arc-shaped structure. There are multiple anti-slip strips, and the multiple anti-slip strips are arranged equidistantly along the side of the sliding block.

3. The multi-size adaptable transport structure of a handling robot according to claim 1, characterized in that The side of the rotating column is provided with an anti-slip protrusion, and the anti-slip protrusion is a hemispherical structure; the anti-slip protrusion has multiple groups, and the multiple groups of anti-slip protrusions are arranged equidistantly along the axial direction of the side of the rotating column, and there are multiple anti-slip protrusions in each group, and the multiple anti-slip protrusions are arranged equidistantly along the circumferential direction of the side of the rotating shaft.

4. The multi-size adaptable transport structure of a handling robot according to claim 1, characterized in that The edge of the bottom plate is flush with the edge of the top surface of the vehicle box, and the length of the fixing block is equal to the width of the bottom plate.

5. The multi-size adaptable transport structure of a handling robot according to claim 4, characterized in that There are a plurality of fixing blocks, and the plurality of fixing blocks are arranged equidistantly along the length direction of the bottom plate.

6. The multi-size adaptable transport structure of a handling robot according to claim 1, characterized in that The sliding block has a trapezoidal structure, and the width of the sliding block increases gradually in an arc shape from the top surface to the bottom surface, which can make the sliding block and the surface of the cylindrical object fit better, disperse the pressure applied to the cylindrical object, reduce local stress, and help prevent the sliding block from being deformed or damaged due to excessive pressure; the sliding block has a hollow structure, and there are multiple groups of sliding blocks, each group has two sliding blocks, and the two sliding blocks are symmetrical, which can provide uniform support and protection for both sides of the cylindrical object, reducing the shaking of the cylindrical object during the driving process of the handling robot.

7. The multi-size adaptable transport structure of a handling robot according to claim 1, characterized in that The L-shaped connecting block is a hollow structure. There are multiple groups of L-shaped connecting blocks. There are two L-shaped connecting blocks in each group, and the two L-shaped connecting blocks are symmetrical.

8. The multi-size adaptable transport structure of a handling robot according to claim 1, characterized in that The depth of the second sliding groove is less than the bottom thickness of the L-shaped connecting block.

9. The multi-size adaptable transport structure of a handling robot according to claim 1, characterized in that The bottom surface of the U-shaped connector and the L-shaped connector block form a right triangle, and the angle between the bottom surface of the U-shaped connector and the bottom surface of the L-shaped connector block is less than 90 degrees, so that the two rotating columns in each group can form a V-shaped support and protection for the cylindrical object, and the width of the V-shaped support can be adjusted according to the outer diameter of the cylindrical object, so that the V-shaped support can better fit the cylindrical object and provide more stable support and protection.

10. The multi-size adaptable transport structure of a handling robot 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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