Anti-collision carrying robot for logistics carrying

Abstract

The anti-collision carrying robot for logistics carrying comprises a carrying machine head, a visual sensing mechanism and an electrical cabinet, and the electrical cabinet is fixedly installed on one side, located on the carrying machine head, of the carrying machine head. A first push plate moves and is attached to a first touch plate through buffer rods on the two sides, meanwhile, air through pipes on the buffer rods are squeezed into the buffer rods under the action of attaching and squeezing of movable sleeves, a three-way pipe and an air guide pipe, and when an air pump supplies air to operate, air is conveyed into air push rods through the air guide pipe, so that the multi-stage air push rods stretch out upwards; the transverse plate is pushed to ascend and the air bag is pulled to synchronously ascend so as to laterally support logistics cargoes on the carrying platform, when the logistics cargoes move forwards and collide with a buffer rod on one side of a carrying machine head, an air through pipe on the buffer rod on one side is inserted into a three-way pipe and an air guide pipe, and then air on one side pushes an air push rod on one side to stretch out; therefore, the cargoes are prevented from toppling over from the carrying platform due to lateral collision acceleration force caused by lateral collision when the cargoes advance forwards.

Description

Technical Field

[0001] The invention relates to the field of logistics handling equipment, in particular to an anti-collision handling robot for logistics handling. Background Art

[0002] Anti-collision handling robots for logistics handling are mainly used to transport goods safely and efficiently in logistics scenarios. They can transport goods from one designated location to another in warehouses, logistics centers, factory workshops and other places. For some heavier goods, the handling robot can rely on its own power system and load-bearing structure to move and transport these goods to the designated location. During the logistics handling process, the collision of goods may cause damage to the goods or equipment. When transporting fragile items (such as ceramics, electronic equipment, etc.), this anti-collision function is particularly important.

[0003] Given that the logistics handling robots widely used in the current market mainly rely on visual sensors, lidar or path planning to perform handling tasks, when a certain method of use fails or is interfered by other environmental factors, such as damage to hardware equipment, strong light exposure, electromagnetic interference, and the reaction force encountered during the handling process or other objects intruding into its predetermined route, these factors may cause the logistics handling robots to accidentally collide, and not only the equipment itself may be damaged, but the goods carried during the handling process may also easily fall over or be damaged, thereby reducing the efficiency and safety of logistics handling.

[0004] To this end, an anti-collision handling robot for logistics handling is proposed. Summary of the invention

[0005] The object of the present invention is to provide an anti-collision transport robot for logistics handling, so as to solve the problem raised in the above background technology that when a certain usage mode fails or is interfered by other environmental factors, it is easy to cause an accidental collision of the logistics handling robot, which may not only cause damage to the equipment itself, but also cause the goods carried to topple over or be damaged during the handling process.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A collision-proof handling robot for logistics handling comprises a handling head, a visual sensor mechanism and an electrical box, wherein the electrical box is fixedly installed on one side of the handling head, buffer rods are respectively penetrated and movably installed at both ends of one side of the handling head, and the buffer rods at both ends are arranged below the handling head through an embedded rod fixedly installed on the bottom of the handling head, a touch plate 1 fixedly installed on one side of the embedded rod is provided, an air pump is fixedly installed inside the handling head, a push plate 1 for contacting with the touch plate 1 when the push plate 1 is active is fixedly installed on one end of the buffer rod, and a buffer ring is fixedly installed on the other end of the buffer rod;

[0008] Front wheels are movably mounted on both sides of the bottom of the electrical box, a three-way pipe is fixedly mounted on the bottom of the electrical box, and an air pipe for gas transportation is connected between the three-way pipe and the air pump, a transport platform for placing logistics goods is fixedly mounted below one side of the electrical box, air guide pipes are fixedly mounted on both sides of the transport platform, shutter valve plates are movably mounted on the inner sides of the three-way pipe and the air guide pipe, gas push rods are equidistantly mounted and fixed on the upper sides of both sides of the transport platform, and the gas push rods are connected to the air guide pipe;

[0009] A horizontal plate is fixedly installed through the top of the air push rod, a solution bag is embedded and fitted on the inner side of the horizontal plate, and the solution bag contains a solution for foaming and expanding the dry powder, and a side plate is movably installed on one side of the horizontal plate, and an air bag containing dry powder is fixedly connected through the lower side of one side of the horizontal plate, and the air bag bags are stacked and placed in the storage grooves fixedly installed on both sides above the transport platform;

[0010] A cloth-winding mechanism for rolling up cloth is fixedly installed above the electrical box, a multi-stage telescopic rod with one end fixedly installed on the electrical box is provided below the cloth-winding mechanism, and steel wire ropes for strengthening support are fixedly installed between the multi-stage telescopic rods, an air pipe for connecting the three-way pipe and the air guide pipe is fixedly installed on one side of the front wheel and one end of the buffer rod, movable sleeves are movably installed on both sides of the air pipe, and spring rods connected to the movable sleeves are equidistantly installed around them.

[0011] In the above scheme, preferably: a driving wheel is movably installed at the lower part of the interior of the transport head, and a servo driving motor is provided on one side of the driving wheel, a driving disk is provided above the driving wheel to make it rotate movably, and the driving disk is fixedly installed on the inner side of the transport head.

[0012] In the above scheme, preferably: touch panels 2 for contacting the rotating rod are fixedly installed on both sides of the bottom of the electrical box, and touch panel 2 and touch panel 1 are both electrically connected to the air pump.

[0013] In the above scheme, preferably: a transport arm for transporting logistic goods is fixedly installed above the transport head, and the transport arm and the transport head are movably connected via a rotating disk that is installed.

[0014] In the above scheme, preferably: a spring member is provided inside the buffer rod, and an air horn connected to the buffer rod is provided above the connection between the buffer rod and the buffer ring.

[0015] In the above scheme, preferably: a driving rod is provided on one side of the three-way pipe, and the driving rod is embedded and installed at the bottom of the electrical box to drive the front wheel, a rear wheel is movably installed at the bottom of one side of the transport platform, and a support rod is movably installed between the front wheel and the rear wheel.

[0016] In the above scheme, preferably: air vents are equidistantly penetrated below both sides of the transport platform, and the air vents are arranged below the air push rod, one-way valves are provided on one side of the air vents and the air push rod, and side rods fixedly installed on the transport platform are provided on the outside of the air guide tube.

[0017] In the above scheme, preferably: limiting grooves are fixedly installed on both sides of the interior of the electrical box, and a push plate 2 that is fitted and connected to the cross plate is movably installed below the limiting groove, and a bellows that is connected to the multi-stage telescopic rod is embedded on the inner side of the limiting groove, and the bellows is fixedly connected to the push plate 2 below.

[0018] The present invention provides a collision-proof handling robot for logistics handling, which has the following technical points and beneficial effects:

[0019] 1. The present invention designs devices such as buffer rods, air pumps and air bag bags. When the collision is severe, the buffer rods on both sides are used to make the push plate move and fit with the touch plate. At the same time, the air pipe on the buffer rod is squeezed into the movable sleeve under the fitting and squeezing of the three-way pipe and the air guide pipe. When the air pump is in operation, the one-way valve in the air push rod is opened, and the gas is transported to the air push rod through the air guide pipe to make the multi-stage air push rods extend upward, and the cross plate is pushed up and the air bag is pulled to rise synchronously. At the same time, the gas is rushed into the air bag through the cross plate through the air push rod to make it expand, so as to provide lateral support for the logistics goods on the handling platform. When the vehicle moves forward and collides with the buffer rod on one side of the handling machine head, the air pipe on one side of the buffer rod is inserted into the three-way pipe and the air guide pipe, so that the gas on one side pushes the air push rod on the other side to extend. Similarly, this can prevent the goods from being overturned from the handling platform due to the acceleration force of the lateral collision when moving forward.

[0020] 2. The present invention designs devices such as side panels, solution bags and airbag bags. If an out-of-control transport robot collides with the side, the side panels are used to block the robot. The impact force generated by the side collision slides inward in the cross plate to squeeze the solution bag for buffering. When the side collision is severe, the squeezing force of the solution bag in the cross plate is increased by the side panels, so that the solution bag is squeezed to the inner wall of the cross plate and punctured, thereby rapidly releasing the solution in the solution bag, mixing with the powder in the airbag bag and expanding to form solid expansion foam and generate gas. At this time, the airbag bag in the storage groove expands rapidly under the joint action of gas and solid expansion foam and pushes the cross plate upward, while driving the push plate 2 to rise, thereby raising the cloth in the cloth rolling mechanism to prevent the collision acceleration force during the side collision from causing the goods to topple over.

[0021] 3. The present invention designs devices such as an air pump, a rotating rod and a support rod. When transporting goods, the front wheel is retracted into the electrical box, and the rear wheel is retracted to the bottom of the transport platform, so that the rotating rod on the front wheel contacts the touch plate. At this time, the air pump performs a vacuum operation. At the same time, when the rotating rod contacts the touch plate, the air passage on the rotating rod is inserted between the three-way pipe and the air guide pipe. At this time, the one-way valve in the air passage port opens under the negative pressure of the air guide pipe, so that the front and rear wheels are retracted and the air passage port is in contact with the ground, and then the transport platform is adsorbed and fixed to the ground by the negative pressure, so as to improve the stability of the goods during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the bottom structure of the transport platform in the present invention;

[0024] Figure 3 It is a schematic cross-sectional view of the internal structure of the handling machine head and the electrical box in the present invention;

[0025] Figure 4 It is a partial structural schematic diagram of the transport head in the present invention;

[0026] Figure 5 It is a partial structural schematic diagram of the driving rod and the three-way pipe in the present invention;

[0027] Figure 6 It is a schematic diagram of the partial structure of the horizontal plate in the present invention;

[0028] Figure 7 It is a schematic diagram of the connection structure between the air pipe and the three-way pipe in the present invention;

[0029] Figure 8 It is a schematic diagram of the bottom structure connection between the transport head and the transport platform in the present invention;

[0030] Fig. 9It is a schematic diagram of the connection structure of the gas passage pipe, the three-way pipe and the air guide pipe in the present invention;

[0031] Fig.10 For the present invention Figure 2 A schematic diagram of the enlarged local structure at point A in the middle;

[0032] Fig.11 For the present invention Figure 7 A magnified schematic diagram of the local structure at B in the middle;

[0033] Fig.12 For the present invention Fig. 9 Enlarged schematic diagram of the local structure at point C in the middle.

[0034] In the figure: 1. transport head; 101. driving wheel; 102. driving plate; 103. air pump; 104. air pipe; 105. inlay rod; 106. touch plate 1; 107. touch plate 2; 2. buffer rod; 201. push plate 1; 3. buffer ring; 4. air horn; 5. visual sensor mechanism; 6. rotating plate; 7. transport arm; 8. electrical box; 801. driving rod; 802. three-way pipe; 803. front wheel; 8031. rotating rod; 804. rear wheel; 805. support Rod; 806, limit groove; 8061, push plate 2; 8062, bellows; 9, handling platform; 901, air vent; 902, air guide tube; 10, side rod; 11, air push rod; 12, cross plate; 1201, solution bag; 13, side plate; 14, air bag; 1401, storage slot; 15, cloth rolling mechanism; 1501, multi-stage telescopic rod; 1502, wire rope; 16, air vent; 1601, movable sleeve; 1602, spring rod; 17, shutter valve plate. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] See also Figures 1 to 12 The present invention provides a technical solution for a collision-proof handling robot for logistics handling:

[0037] A collision-proof handling robot for logistics handling comprises a handling head 1, a visual sensor mechanism 5 and an electrical box 8, wherein the electrical box 8 is fixedly installed at one side of the handling head 1, and buffer rods 2 are respectively penetrated and movably installed at both ends of one side of the handling head 1, and the buffer rods 2 at both ends are arranged below the handling head 1 through an inlay rod 105 fixedly installed on the bottom of the handling head 1, and a touch plate 106 fixedly installed at the bottom of the handling head 1 is provided on one side of the inlay rod 105, and an air pump 103 is fixedly installed inside the handling head 1, and a push plate 201 used for contacting with the touch plate 106 when the push plate 106 is active is fixedly installed at one end of the buffer rod 2, and a buffer ring 3 is fixedly installed at the other end of the buffer rod 2;

[0038] Front wheels 803 are movably mounted on both sides of the bottom of the electrical box 8, a three-way pipe 802 is fixedly mounted on the bottom of the electrical box 8, and an air pipe 104 for gas delivery is connected between the three-way pipe 802 and the air pump 103, a transport platform 9 for placing logistics goods is fixedly mounted below one side of the electrical box 8, air guide pipes 902 are fixedly mounted on both sides of the transport platform 9, shutter valve plates 17 are movably mounted on the inner sides of the three-way pipe 802 and the air guide pipe 902, and gas push rods 11 are equidistantly fixedly mounted on the upper sides of the transport platform 9, and the gas push rods 11 are connected to the air guide pipe 902;

[0039] As an embodiment of the present invention, Figures 1 to 12 As shown, a spring member is provided inside the buffer rod 2, and an air horn 4 connected to the buffer rod 2 is provided above the connection between the buffer rod 2 and the buffer ring 3, and a touch plate 2 107 for contacting the rotating rod 8031 ​​is fixedly installed on both sides of the bottom of the electrical box 8, and the touch plate 2 107 and the touch plate 1 106 are both connected to the air pump 103 by telecommunication;

[0040] During operation, when the handling robot collides with another during its forward movement through the visual sensing mechanism 5, the buffer rod 2 is installed and used through the embedded rod 105, and the buffer ring 3 on the buffer rod 2 and the spring member inside are used for buffering. The buffer rod 2 is squeezed by the collision to discharge the gas from the air horn 4. At this time, the air horn 4 sounds an alarm when the gas is discharged to remind the staff that the logistics handling robot has collided during its forward movement. When the collision is severe, the buffer rods 2 on both sides are squeezed to collect the gas. The push plate 101 on one side is compressed and pushed, so that the push plate 101 moves and fits with the touch plate 106, triggering the air supply operation of the air pump 103, and at the same time, the air passage 16 on the buffer rod 2 is squeezed into the movable sleeve 1601, the three-way pipe 802 and the air guide pipe 902 under the fit and extrusion of the movable sleeve 1601, so that the two are connected, and the spring rod 1602 between the movable sleeve 1601 is used to pop out, reset and squeeze and shrink. When the air pump 103 is in operation, the gas is passed through the three-way pipe 802 and the air guide pipe 902 through the air pipe 104. The gas is transported to the air pipe 902 through the air pipe 16. At this time, the one-way valve in the air push rod 11 is opened, and the gas is transported to the air push rod 11 through the air pipe 902, so that the multi-stage air push rod 11 extends upward and pushes the cross plate 12 to rise. Since the air bag 14 is installed on one side of the cross plate 12, when the cross plate 12 rises, the air bag 14 is pulled to rise synchronously. At the same time, the gas is rushed into the air bag 14 through the air push rod 11 through the cross plate 12 to expand it, so as to provide lateral support for the logistics goods on the handling platform 9 to prevent When the collision is severe, the goods will tip over to the side. When the vehicle moves forward and collides with the buffer rod 2 on one side of the transport head 1, the air duct 16 on one side of the buffer rod 2 is inserted into the three-way pipe 802 and the air guide pipe 902. Since the three-way pipe 802 and the air guide pipe 902 are provided with a louver valve plate 17 on the inner side, and the louver valve plate 17 opens after the insertion of the air duct 16, the gas on one side pushes the gas push rod 11 on one side to extend. Similarly, this prevents the goods from tipping over from the transport platform 9 due to the acceleration force of the side collision during forward movement.

[0041] As an embodiment of the present invention, Figures 4 to 10 As shown, a cloth rolling mechanism 15 for rolling up cloth is fixedly installed above the electrical box 8, a multi-stage telescopic rod 1501 with one end fixedly installed on the electrical box 8 is provided below the cloth rolling mechanism 15, and a steel wire rope 1502 for strengthening support is fixedly installed between the multi-stage telescopic rods 1501, and an air passage 16 for connecting the three-way pipe 802 and the air guide pipe 902 is fixedly installed on one side of the front wheel 803 and one end of the buffer rod 2, and movable sleeves 1601 are movably installed on both sides of the air passage 16, and spring rods 1602 connected to the movable sleeves 1601 are equidistantly installed around them;

[0042] The electrical box 8 has fixedly mounted limiting grooves 806 on both sides thereof, and a push plate 8061 which is fitted and connected to the horizontal plate 12 is movably mounted below the limiting grooves 806, and a bellows 8062 which is intersectingly connected to the multi-stage telescopic rod 1501 is mounted inside the limiting grooves 806, and the bellows 8062 is fixedly connected to the push plate 8061 below;

[0043] During operation, when the horizontal plates 12 on both sides of the transport platform 9 or the horizontal plates 12 on one side rise, the rise of the horizontal plates 12 can push the push plate 8061 to rise and squeeze the bellows 8062 in the limiting groove 806, so that the liquid in the bellows 8062 is squeezed into the multi-stage telescopic rod 1501, thereby extending the multi-stage telescopic rod 1501 and driving the cloth in the cloth rolling mechanism 15 to extend, so as to block the objects that may fall from above during the collision. Since the multi-stage telescopic rods 1501 on both sides are fixedly connected with the wire rope 1502, the supporting force can be increased when the cloth in the cloth rolling mechanism 15 is extended, so as to reduce the impact force on the goods on the transport platform 9 when the object falls.

[0044] As an embodiment of the present invention, Figure 6 As shown, a horizontal plate 12 is fixedly installed on the top of the air push rod 11, and a solution bag 1201 is embedded and fitted on the inner side of the horizontal plate 12, and the solution bag 1201 contains a solution for foaming and expanding the dry powder. A side plate 13 is movably installed on one side of the horizontal plate 12, and an air bag 14 containing dry powder is fixedly connected to the bottom of one side of the horizontal plate 12, and the air bag 14 is stacked and placed in the storage grooves 1401 fixedly installed on both sides above the conveying platform 9;

[0045] During operation, when the transport head 1 is moving forward, if a transport robot that loses control from the side hits the side, the side plate 13 is used to block the side, and the impact force generated by the side collision slides inward in the horizontal plate 12 to squeeze the solution bag 1201 for buffering. When the side collision is severe, the squeezing force of the solution bag 1201 in the horizontal plate 12 is increased by the side plate 13, so that the solution bag 1201 is squeezed to the inner wall of the horizontal plate 12 and punctured, so that the solution in the solution bag 1201 is quickly discharged. It is quickly released, and after mixing with the powder in the airbag bag 14, it expands to form solid expansion foam and generates gas (the solution and powder can be isocyanate liquid and polyol liquid as well as other objects such as foaming agent powder and catalyst powder). At this time, the airbag bag 14 in the storage groove 1401 expands rapidly under the joint action of gas and solid expansion foam and pushes the cross plate 12 upward, while driving the push plate 8061 to rise, thereby causing the cloth in the cloth rolling mechanism 15 to rise, so as to prevent the collision acceleration force during a side collision from causing the goods to tip over.

[0046] As an embodiment of the present invention, Figures 1 to 4As shown, a driving wheel 101 is movably installed at the lower part of the interior of the transport head 1, and a servo driving motor is provided on one side of the driving wheel 101, and a driving disk 102 is provided above the driving wheel 101 to enable it to rotate movably, and the driving disk 102 is fixedly installed on the inner side of the transport head 1, and a transport arm 7 for transporting logistics goods is fixedly installed above the transport head 1, and the transport arm 7 and the transport head 1 are movably connected through a rotating disk 6 installed;

[0047] During operation, when moving forward, the driving disk 102 in the transport head 1 is used to control the driving wheel 101 to change the moving direction according to the image of the visual sensor mechanism 5, and the servo drive motor drives the wheel 101 to move. When the logistics goods on the shelf are mechanically transported, the position of the transport arm 7 is controlled by the rotating disk 6, and the goods are transported to the transport platform 9 by the transport arm 7 for placement, so as to facilitate transportation.

[0048] As an embodiment of the present invention, Figures 2 to 12 As shown, a driving rod 801 is provided on one side of the three-way pipe 802, and the driving rod 801 is embedded and installed at the bottom of the electrical box 8 to drive the front wheel 803. A rear wheel 804 is embedded and movably installed at the bottom of one side of the transport platform 9, and a support rod 805 is embedded and movably installed between the front wheel 803 and the rear wheel 804. Air vents 901 are equidistantly penetrated at the bottom of both sides of the transport platform 9, and the air vents 901 are arranged below the air push rod 11. One-way valves are provided on one side of the air vents 901 and the air push rod 11, and side rods 10 fixedly installed on the transport platform 9 are provided on the outer side of the air guide pipe 902.

[0049] During operation, when the goods are transported, the air duct 902 is protected and blocked by the side rod 10, and the front wheel 803 is retracted into the electrical box 8 by the drive rod 801. Since a support rod 805 is installed between the front wheel 803 and the rear wheel 804, when the front wheel 803 is retracted into the electrical box 8, the rear wheel 804 is also retracted to the bottom of the transport platform 9, so that the rotating rod 8031 ​​on the front wheel 803 contacts the second touch plate 107. Since the second touch plate 107 is electrically connected to the air pump 103, the air pump 103 is electrically connected to the air pump 103. Then, the air pump 103 performs the air extraction operation, and at the same time, when the rotating rod 8031 ​​contacts the touch plate 107, the air vent 16 on the rotating rod 8031 ​​is inserted between the three-way pipe 802 and the air guide pipe 902. At this time, the one-way valve in the air vent 901 opens under the negative pressure of the air guide pipe 902, so that the front wheels 803 and the rear wheels 804 are retracted and the air vent 901 is in contact with the ground, and then the transport platform 9 is adsorbed and fixed to the ground by the negative pressure, so as to improve the stability of the goods during transportation.

[0050] Working principle: When transporting goods, the driving action of the driving rod 801 causes the front wheel 803 to be retracted into the electrical box 8, and the rear wheel 804 is also retracted to the bottom of the transport platform 9. The rotating rod 8031 ​​on the front wheel 803 contacts the touch plate 2 107, and the air pump 103 starts to pump air. The air vent 16 on the rotating rod 8031 ​​is inserted between the three-way pipe 802 and the air duct 902, and the one-way valve in the air vent 901 is opened under the negative pressure of the air duct 902, so that the front wheel 803 and the rear wheel 804 are retracted so that the air vent 901 is closely attached to the ground. Through the negative pressure, the transport platform 9 is adsorbed and fixed to the ground, thereby improving the stability of the goods during transport. In the process of transporting goods, the driving disk 102 in the transport head 1 controls the direction of travel of the driving wheel 101 according to the picture of the visual sensor mechanism 5, and drives the wheel 101 forward through the servo drive motor. When the logistic goods on the shelf are mechanically transported, the position of the transport arm 7 is controlled by the rotating disk 6, and the goods are transported to the transport platform 9 by the transport arm 7 and placed thereon for easy transport.

[0051] When the handling robot moves forward with the assistance of the visual sensor mechanism 5 and collides, the inlay rod 105 installs and uses the buffer rod 2. The buffer ring 3 and the internal spring member on the buffer rod 2 provide buffering, and the collision causes the buffer rod 2 to be squeezed, and the gas is discharged from the air horn 4, which sounds an alarm to remind the staff that the handling robot has collided during the movement. When the degree of collision is severe, the buffer rods 2 on both sides are squeezed and contracted, and push the push plate 1 201 on one side to make it contact with the touch plate 106, triggering the air supply operation of the air pump 103. The air duct 16 on the buffer rod 2 is squeezed into the movable sleeve 1601 under the fitting and squeezing of the three-way pipe 802 and the air guide pipe 902, so as to achieve the connection between the two. The spring rod 1602 between the movable sleeve 1601 facilitates its pop-up reset and squeezing and contraction. When the air pump 103 is in operation, the gas is delivered to the three-way pipe 802 and the air pipe 16 through the air pipe 104, and then the gas is delivered to the air push rod 11 through the air guide pipe 902, so that the multi-stage air push rod 11 extends upward. When the horizontal plate 12 rises, it pulls the air bag 14 to rise synchronously, and the gas is rushed into the air bag 14 through the horizontal plate 12 to expand it, and the logistics goods on the handling platform 9 are supported laterally to prevent the goods from tipping over to the side in the event of a collision. When the buffer bar 2 on one side of the handling machine head 1 collides during travel, the air pipe 16 is inserted into the three-way pipe 802 and the air guide pipe 902, and the shutter valve plate 17 is opened, so that the gas pushes the air push rod 11 on one side to extend, preventing the goods from tipping over from the handling platform 9 due to a lateral collision.

[0052] When the horizontal plates 12 on both sides of the transport platform 9 or the horizontal plate 12 on one side rises, the push plate 8061 is pushed up and squeezes the bellows 8062 in the limit groove 806, so that the liquid is squeezed into the multi-stage telescopic rod 1501, and then the multi-stage telescopic rod 1501 is extended, and the cloth in the cloth rolling mechanism 15 is extended to block the objects that may fall. Since the steel wire rope 1502 is fixedly connected between the multi-stage telescopic rods 1501, the supporting force can be increased when the cloth is extended, and the impact force of the falling objects on the goods on the transport platform 9 is reduced.

[0053] When the transport head 1 moves forward, if the transport robot that loses control on the side hits the side, the side plate 13 blocks it on the side, and the impact force generated by the side collision causes the horizontal plate 12 to slide inward, squeezing the solution bag 1201 for buffering. When the side collision is severe, the side plate 13 increases the squeezing force of the solution bag 1201 in the horizontal plate 12, causing the solution bag 1201 to be squeezed to the inner wall of the horizontal plate 12 and punctured, and the solution is quickly released and mixed with the powder in the air bag 14 to expand to form solid expansion foam and generate gas. The air bag 14 in the storage groove 1401 expands rapidly under the combined action of gas and solid expansion foam and pushes the horizontal plate 12 upward, while driving the push plate 8061 to rise, so that the cloth in the cloth rolling mechanism 15 rises, so as to prevent the collision acceleration force during the side collision from causing the goods to fall.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A collision-proof handling robot for logistics handling, comprising a handling head (1), a visual sensor mechanism (5) and an electrical box (8), wherein the electrical box (8) is fixedly installed on one side of the handling head (1), and is characterized in that: The two ends of one side of the transport machine head (1) are respectively penetrated by buffer rods (2) movably installed, and the buffer rods (2) at both ends are arranged below the transport machine head (1) through an embedding rod (105) fixedly installed on the bottom of the transport machine head (1), one side of the embedding rod (105) is provided with a touch plate (106) fixedly installed on the bottom of the transport machine head (1), an air pump (103) is fixedly installed inside the transport machine head (1), one end of the buffer rod (2) is fixedly installed with a push plate (201) for contacting with the touch plate (106) when the buffer rod (2) is movable, and the other end of the buffer rod (2) is fixedly installed with a buffer ring (3); Front wheels (803) are movably mounted on both sides of the bottom of the electrical box (8), a three-way pipe (802) is fixedly mounted on the bottom of the electrical box (8), and an air pipe (104) for gas transportation is connected between the three-way pipe (802) and the air pump (103), a transport platform (9) for placing logistics goods is fixedly mounted below one side of the electrical box (8), air guide pipes (902) are fixedly mounted on both sides of the transport platform (9), shutter valve plates (17) are movably mounted on the inner sides of the three-way pipe (802) and the air guide pipe (902), and gas push rods (11) are equidistantly mounted and fixedly mounted on the upper sides of both sides of the transport platform (9), and the gas push rods (11) are connected to the air guide pipe (902); A horizontal plate (12) is fixedly installed through the top of the air push rod (11), a solution bag (1201) is embedded and fitted on the inner side of the horizontal plate (12), and the solution bag (1201) contains a solution for foaming and expanding the dry powder, a side plate (13) is movably installed on one side of the horizontal plate (12), and an air bag (14) containing dry powder is fixedly connected through the bottom of one side of the horizontal plate (12), and the air bag bags (14) are stacked and placed in storage grooves (1401) fixedly installed on both sides above the transport platform (9); A cloth-winding mechanism (15) for winding cloth is fixedly installed above the electrical box (8), a multi-stage telescopic rod (1501) with one end fixedly installed on the electrical box (8) is provided below the cloth-winding mechanism (15), and a steel wire rope (1502) for strengthening support is fixedly installed between the multi-stage telescopic rods (1501), an air pipe (16) for connecting the three-way pipe (802) and the air guide pipe (902) is fixedly installed on one side of the front wheel (803) and one end of the buffer rod (2), movable sleeves (1601) are movably installed in nested manner on both sides of the air pipe (16), and spring rods (1602) connected to the movable sleeves (1601) are equidistantly installed around the movable sleeves (1601).

2. The anti-collision handling robot for logistics handling according to claim 1, characterized in that: A driving wheel (101) is movably mounted at the lower part of the transport head (1), and a servo drive motor is provided on one side of the driving wheel (101). A driving disk (102) is provided above the driving wheel (101) to enable the driving wheel to rotate movably, and the driving disk (102) is fixedly mounted on the inner side of the transport head (1).

3. The anti-collision handling robot for logistics handling according to claim 1, characterized in that: Touch plate 2 (107) for contacting the rotating rod (8031) is fixedly installed on both sides of the bottom of the electrical box (8), and touch plate 2 (107) and touch plate 1 (106) are both connected to the air pump (103) in telecommunication.

4. The anti-collision handling robot for logistics handling according to claim 2, characterized in that: A transport arm (7) for transporting logistic goods is fixedly installed above the transport head (1), and the transport arm (7) and the transport head (1) are movably connected via a rotating disk (6) that is installed.

5. The anti-collision handling robot for logistics handling according to claim 1, characterized in that: A spring member is provided inside the buffer rod (2), and an air horn (4) which is connected to the buffer rod (2) and penetrates the buffer rod (2) is provided above the connection between the buffer rod (2) and the buffer ring (3).

6. The anti-collision handling robot for logistics handling according to claim 1, characterized in that: A driving rod (801) is provided on one side of the three-way pipe (802), and the driving rod (801) is mounted on the bottom of the electrical box (8) to be transmission-connected to the front wheel (803); a rear wheel (804) is movably mounted on the bottom of one side of the transport platform (9), and a support rod (805) is movably mounted between the front wheel (803) and the rear wheel (804).

7. The anti-collision handling robot for logistics handling according to claim 1, characterized in that: Air vents (901) are equidistantly penetrated below both sides of the transport platform (9), and the air vents (901) are arranged below the air push rod (11). One-way valves are arranged on one side of the air vents (901) and the air push rod (11), and side rods (10) fixedly mounted on the transport platform (9) are arranged on the outer side of the air guide pipe (902).

8. The anti-collision handling robot for logistics handling according to claim 1, characterized in that: Limiting grooves (806) are fixedly installed on both sides of the interior of the electrical box (8), and a push plate 2 (8061) that is closely connected to the horizontal plate (12) is movably installed below the limiting grooves (806), and a bellows (8062) that is connected to the multi-stage telescopic rod (1501) is embedded inside the limiting grooves (806), and the bellows (8062) is fixedly connected to the push plate 2 (8061) below.

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