Industrial distribution robot for intelligent storage and taking of stored materials

Abstract

The invention discloses an industrial distribution robot for intelligent storage and taking of stored materials, and relates to the field of intelligent manufacturing robot equipment industries, the industrial distribution robot comprises a distribution robot body, and a transmission wheel assembly is mounted at the lower end of the distribution robot body; and the outer side of the transmission wheel assembly is in engaged butt joint with an engaged synchronous belt, the inner side of the distribution robot body is rotationally connected with an eccentric butt joint wheel, and the outer side of the shaft end of the eccentric butt joint wheel is in engaged butt joint with the engaged synchronous belt. According to the industrial distribution robot for intelligent storage and taking of the stored materials, the guiding self-adaptive protection structure is arranged, objects borne by the distribution robot body are subjected to automatic neatening and anti-falling treatment through the guiding self-adaptive protection structure, and when the robot moves in the environment with multiple complex road sections or in the positions where the smoothness cannot be guaranteed, the objects can be conveniently stored and taken out; the bearing objects are effectively prevented from inclining or falling off, the objects are automatically neatened again, and the operation stability of the device is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent manufacturing robot equipment industry, in particular to an industrial delivery robot for intelligent storage and access of warehouse materials. BACKGROUND

[0002] As an important equipment for intelligent manufacturing and smart logistics, the industrial delivery robot can complete the automatic handling, path planning and dynamic scheduling of materials without human intervention, and has become a key support for promoting industrial upgrading. Developing unmanned delivery robots not only breaks through the key core technical bottleneck in the field of intelligent robots in China, but also provides reliable equipment support for intelligent factories and smart logistics, which has important strategic significance and practical value. For example, a delivery robot with patent number CN114770544A includes a robot body, the robot body is provided with a storage bin and an article removal channel; the storage bin has an opening, the opening is communicated with the article removal channel, and the article removal channel is provided with an article outlet. The robot has a delivery state, in which at least one layer of storage box containing articles to be delivered is placed in the storage bin, and the storage box can enter the article removal channel through the opening, reducing the workload of the staff, and in the epidemic period, direct contact between the staff and the isolated personnel can be avoided. For example, a delivery robot with patent number CN218504530U, the box body is detachably installed on the top surface of the self-moving chassis away from the driving device, the first laser radar protruding for obstacle avoidance is arranged on the top surface of the box body away from the self-moving chassis. By arranging the first laser radar protruding on the top of the box, the detection range of the radar is not blocked by the delivery robot body, so that it can sense the obstacles within 360° range around the delivery robot, achieve 360° omnidirectional obstacle avoidance, and improve the working efficiency and use experience of the delivery robot. For example, a delivery robot with patent number CN217669427U, the delivery robot includes a delivery box, a moving component, and a door lock assembly. The delivery box forms a containing space. The moving component can move the delivery box, and the door lock assembly is used to lock the delivery box to close the containing space. The delivery box can be moved by the moving component to transport the articles placed in the delivery box. The door lock assembly can be unlocked by an electronic lock, reducing actual contact, making operation more convenient, and being more suitable for various scenarios. Most of the above prior art improves the overall structure, and in the process of working, the existing industrial distribution robot, at present, although the unmanned forklift at home and abroad can meet the basic needs in some standardized factories or static scenes, but in complex dynamic environment, there still exist technical shortcomings that the stability of supporting the carried objects cannot be guaranteed, for example, when the equipment moves in the environment with multiple complex road sections or positions where the flatness cannot be guaranteed, the robot often appears to be tilted or dropped, and it cannot automatically reorganize the objects, which seriously restricts its large-scale application in complex industrial scenes. SUMMARY

[0003] The present application aims to provide an industrial distribution robot for intelligent storage and access of warehouse materials to solve the technical shortcomings that the stability of supporting the carried objects cannot be guaranteed in complex dynamic environment, for example, when the equipment moves in the environment with multiple complex road sections or positions where the flatness cannot be guaranteed, the robot often appears to be tilted or dropped, and it cannot automatically reorganize the objects, which seriously restricts its large-scale application in complex industrial scenes.

[0004] To achieve the above purpose, the present application provides the following technical scheme: an industrial distribution robot for intelligent storage and access of warehouse materials, comprising a distribution robot body, a transmission wheel assembly is installed at the lower end of the distribution robot body; the outer side of the transmission wheel assembly is engaged and connected with a meshing synchronous belt, the inner side of the distribution robot body is rotationally connected with an eccentric connecting wheel, and the outer side of the shaft end of the eccentric connecting wheel is engaged and connected with the meshing synchronous belt, the upper end of the distribution robot body is nested with a transverse limiting piece, and a guiding adaptive protection structure is arranged between the transverse limiting piece and the distribution robot body, which automatically organizes and prevents the objects carried by the distribution robot body from falling off through the guiding adaptive protection structure.

[0005] Further, the guiding adaptive protection structure is provided with a reserved nested top block, which is nested and connected to the inner side of the distribution robot body, and the lower end of the reserved nested top block corresponds to the outer side position of the eccentric connecting wheel, the inner side of the upper end of the distribution robot body is nested with a beveled nested reserved piece, the outer side of the beveled nested reserved piece is fixedly connected with a first return spring, and the first return spring is connected with the inner side of the distribution robot body.

[0006] Further, the inner side of the inclined surface nested reservation part is provided with an internal reservation liquid capsule part, and the outer side of the internal reservation liquid capsule part is provided with a contact plate, and the contact plate is arranged on the inner side of the inclined surface nested reservation part, and a second reset spring is arranged between the contact plate and the inclined surface nested reservation part, the inner side of the distribution robot body is fixedly connected with a fixed top rod, and the fixed top rod is penetrated and connected with the inner side of the inclined surface nested reservation part, and the inclined surface nested reservation part is connected with the transverse limiting part.

[0007] Further, the inner side of the transverse limiting part is nested with a vertical limiting auxiliary part, and the lower end of the vertical limiting auxiliary part is provided with an internal vertical liquid capsule part, the outer side of the internal vertical liquid capsule part is connected with a supply hose, and the supply hose penetrates along the inner side of the transverse limiting part, and the supply hose and the internal reservation liquid capsule part are connected with each other.

[0008] Further, the transmission wheel assembly drives the eccentric connecting wheel through the synchronous belt to form a transmission structure, and when the outer side of the eccentric connecting wheel is in contact with the lower end of the reservation nested top block, the stressed reservation nested top block vertically slides along the inner side of the distribution robot body, the reservation nested top block applies pressure to the inclined surface nested reservation part with an inclined surface structure at the bottom, and the stressed inclined surface nested reservation part moves horizontally along the inner side of the distribution robot body.

[0009] Further, the contact plate on the inner side of the inclined surface nested reservation part is in contact with the fixed top rod during the movement of the inclined surface nested reservation part along the inner side of the distribution robot body, the contact plate applies pressure to the internal reservation liquid capsule part along the inner side of the inclined surface nested reservation part, and the internal reservation liquid capsule part supplies the internal vertical liquid capsule part through the supply hose.

[0010] Further, the internal vertical liquid capsule part expands to push the vertical limiting auxiliary part at the upper end to move vertically along the inner side of the transverse limiting part, and the vertical limiting auxiliary parts are equally spaced around the center point of the transverse limiting part.

[0011] Further, the rear side of the distribution robot body is provided with a secondary support reservation structure, which supports and limits the workpieces carried by the distribution robot body in multiple ranges; the secondary support reservation structure is provided with an internal steel rope part, and the internal steel rope part is connected to the outer lower end of the reservation nested top block, and the internal steel rope part penetrates along the inner side of the distribution robot body, the outer side of the distribution robot body is nested with an outer protection assembly, and the lower end of the outer protection assembly is connected with the end of the internal steel rope part, the lower end of the outer protection assembly is fixedly connected with a third reset spring, and the third reset spring is connected with the inner side of the distribution robot body.

[0012] Further, the reserved nested top block forms a traction structure with the outer protection assembly through the built-in steel rope component, and the lower end of the outer protection assembly is elastically supported on the inner side of the distribution robot body through the third reset spring.

[0013] Compared with the prior art, the beneficial effects of the present application are: The industrial distribution robot for intelligent storage and access of warehouse materials is provided with a guiding self-adaptive protection structure, which automatically regularizes and prevents the falling of the objects borne by the distribution robot body. In the process of movement of the distribution robot body through the transmission wheel assembly, the eccentric butt joint wheel is driven to rotate synchronously in cooperation with the synchronous belt. When the outer side of the eccentric butt joint wheel moves to contact the lower end of the reserved nested top block, the reserved nested top block exerts pressure on the bottom of the inclined nested reserved part, so that the inclined nested reserved part under pressure moves laterally along the inner side of the distribution robot body, so that the inclined nested reserved part and the lateral limiting part adaptively and automatically regularize the workpieces borne on the surface in reciprocating movement, thereby preventing the workpieces from tilting and falling after vibration on a bumpy road section, and meeting the requirements of intelligent and convenient taking and placing operation in the later stage. When the device moves in an environment with multiple complex road sections or positions where flatness cannot be guaranteed, the device effectively prevents the borne workpieces from tilting or falling, and automatically re-regularizes the workpieces, thereby ensuring the running stability. Further, as the inclined nested reserved part drives the lateral limiting part to move along the inner side of the distribution robot body, the fixed top rod penetrates through the inside of the inclined nested reserved part and contacts the abutting plate on the inner side, so that the built-in reserved liquid capsule component on the inner side of the inclined nested reserved part is pressed by the abutting plate, and the built-in vertical liquid capsule component is supplied with liquid from the built-in reserved liquid capsule component through the supply hose, so that the vertically deformed and expanded built-in vertical liquid capsule component drives the vertical limiting auxiliary part to move vertically along the inner side of the lateral limiting part in reciprocating movement, thereby improving the supporting range and efficiency of the device for stabilizing the workpieces in cooperation with the lateral limiting part, without occupying resource space and limiting the workpieces of different heights. The device is provided with a secondary supporting reserved structure, which supports and limits the workpieces borne by the distribution robot body in multiple ranges. As the reserved nested top block moves in the distribution robot body under stress, the outer protection assembly connected at the end is displaced along the back side of the distribution robot body through the built-in steel rope component at the lower end, thereby further ensuring the multiple range limiting stability of the device during movement, forming a cross triangular support structure in cooperation with the lateral limiting part, and adaptively assisting in positioning without additional locking structure, thereby improving the practicability of the device. Further, the whole is fused by a distribution robot body laser radar, depth vision, IMU, UWB and various sensor data, constructs a high-precision, multi-dimensional environment perception and positioning system, realizes stable perception of the robot under complex working conditions such as strong light, weak light, dust and shielding, improves the navigation accuracy, and based on the fusion perception result, develops an autonomous path planning algorithm and a dynamic obstacle avoidance mechanism, so that the robot can realize safe and efficient autonomous navigation in a dynamic environment, and has the ability to cope with multiple targets, unstructured and sudden situations.

[0014] Further, the whole is fused by a distribution robot body laser radar, depth vision, IMU, UWB and various sensor data, constructs a high-precision, multi-dimensional environment perception and positioning system, realizes stable perception of the robot under complex working conditions such as strong light, weak light, dust and shielding, improves the navigation accuracy, and based on the fusion perception result, develops an autonomous path planning algorithm and a dynamic obstacle avoidance mechanism, so that the robot can realize safe and efficient autonomous navigation in a dynamic environment, and has the ability to cope with multiple targets, unstructured and sudden situations. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a three-dimensional structure schematic view of the present application; Figure 2 It is a three-dimensional structure schematic view of the present application; Figure 3 It is a three-dimensional structure schematic view of the present application; Figure 4 It is a three-dimensional structure schematic view of the present application; Figure 5 It is a three-dimensional structure schematic view of the present application; Figure 4 It is a three-dimensional structure schematic view of the present application; Figure 6 It is a three-dimensional structure schematic view of the present application; Figure 7 It is a three-dimensional structure schematic view of the present application; Figure 8 It is a three-dimensional structure schematic view of the present application; Figure 9 It is a three-dimensional structure schematic view of the present application; Figure 10 It is a three-dimensional structure schematic view of the present application; Figure 11 It is a three-dimensional structure schematic view of the present application;

[0016] In the figure: 1, the distribution robot body; 2, the transmission wheel assembly; 3, the meshing synchronous belt; 4, the eccentric butt joint wheel; 5, the reserved nested top block; 6, the inclined surface nested reserved part; 7, the first reset spring; 8, the transverse limiting part; 9, the built-in reserved liquid capsule component; 10, the second reset spring; 11, the fixed top rod; 12, the supply hose; 13, the built-in vertical liquid capsule component; 14, the vertical limiting auxiliary part; 15, the built-in steel rope component; 16, the outer protection assembly; 17, the third reset spring; 18, the preset 3D camera component; 19, the laser radar component; 20, the binocular camera component. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0018] Embodiment one: please refer to Figures 1-10 The present application provides the following technical solutions: an industrial distribution robot for intelligent storage and access of warehouse materials, to solve the problem that when the device is in a position with multiple complex road sections or flatness cannot be guaranteed, the robot often tilts or falls when carrying objects, and cannot automatically re-align the objects, which seriously restricts its large-scale application in complex industrial scenarios. It discloses that the lower end of the distribution robot body 1 is provided with a transmission wheel assembly 2; the outer side of the transmission wheel assembly 2 is meshed and connected with a meshing synchronous belt 3, the inner side of the distribution robot body 1 is rotatably connected with an eccentric butt joint wheel 4, and the shaft end outer side of the eccentric butt joint wheel 4 is meshed and connected with the meshing synchronous belt 3, the upper end of the distribution robot body 1 is nested with a transverse limiting part 8, and a guiding adaptive protection structure is arranged between the transverse limiting part 8 and the distribution robot body 1, which automatically aligns and prevents the objects carried by the distribution robot body 1 from falling.

[0019] The guiding adaptive protection structure is provided with a reserved nested top block 5, which is nested and docked at the inner side of the delivery robot body 1, and the lower end of the reserved nested top block 5 corresponds to the outer side position of the eccentric docking wheel 4, the upper end inner side of the delivery robot body 1 is nested and installed with a bevel nested reserved part 6, the outer side of the bevel nested reserved part 6 is fixedly connected with a first return spring 7, and the first return spring 7 is in mutual docking with the inner side of the delivery robot body 1, the inner side of the bevel nested reserved part 6 is provided with an internally reserved liquid capsule part 9, the outer side of the internally reserved liquid capsule part 9 is provided with a contact plate, the contact plate is arranged at the inner side of the bevel nested reserved part 6, and a second return spring 10 is arranged between the contact plate and the bevel nested reserved part 6; The inner side of the distribution robot body 1 is fixedly connected with a fixed top rod 11, and the fixed top rod 11 is in through butt joint with the inner side of the inclined nested reserved part 6, the inclined nested reserved part 6 is in mutual butt joint with the transverse limiting part 8, the inner side of the transverse limiting part 8 is nested with a vertical limiting auxiliary part 14, and the lower end of the vertical limiting auxiliary part 14 is provided with an embedded vertical liquid bag part 13, the outer side of the embedded vertical liquid bag part 13 is in butt joint with a supply hose 12, the supply hose 12 penetrates along the inner side of the transverse limiting part 8, and the supply hose 12 is in mutual communication with the embedded reserved liquid bag part 9, the transmission wheel assembly 2 drives the eccentric butt joint wheel 4 through meshing with the synchronous belt 3 to form a transmission structure, when the outer side of the eccentric butt joint wheel 4 is in contact with the lower end of the reserved nested top block 5, the stressed reserved nested top block 5 vertically slides along the inner side of the distribution robot body 1, the reserved nested top block 5 exerts pressure on the inclined nested reserved part 6 with the inclined surface structure at the bottom, the stressed inclined nested reserved part 6 moves horizontally along the inner side of the distribution robot body 1, the inner side of the inclined nested reserved part 6 is in contact with the fixed top rod 11 during the horizontal movement of the inclined nested reserved part 6 along the inner side of the distribution robot body 1, the resisting plate on the inner side of the inclined nested reserved part 6 exerts pressure on the embedded reserved liquid bag part 9 through the fixed top rod 11, the embedded reserved liquid bag part 9 supplies the inside of the embedded vertical liquid bag part 13 through the supply hose 12, the embedded vertical liquid bag part 13 expands to push the vertical limiting auxiliary part 14 at the upper end to move vertically along the inner side of the transverse limiting part 8, and the vertical limiting auxiliary part 14 is equally spaced about the center point of the transverse limiting part 8, during the movement of the distribution robot body 1 through the transmission wheel assembly 2, the transmission wheel assembly 2 drives the eccentric butt joint wheel 4 to rotate synchronously by meshing with the synchronous belt 3, when the outer side of the eccentric butt joint wheel 4 is in contact with the lower end of the reserved nested top block 5, the stressed reserved nested top block 5 exerts pressure on the bottom of the inclined nested reserved part 6, so that the stressed inclined nested reserved part 6 moves horizontally along the inner side of the distribution robot body 1, so that the inclined nested reserved part 6 and the transverse limiting part 8 adaptively perform reciprocating automatic regularizing treatment on the workpiece on the surface during the movement of the equipment, thereby preventing the object from falling after the vibration of the bumpy road section, meeting the later intelligent and convenient taking and placing operation link, effectively preventing the object from falling when moving in the environment with multiple complex road sections or positions where the flatness cannot be guaranteed, and improving the supporting range and efficiency of the equipment for stabilizing the object.

[0020] In the embodiment one, on the basis, also disclose the secondary support reservation structure, its specific structure is as follows: The rear side of the distribution robot body 1 is provided with a secondary support reservation structure, which supports and limits the workpiece carried by the distribution robot body 1 in multiple ranges through the secondary support reservation structure; The secondary support reservation structure is provided with an embedded steel rope part 15, which is connected to the outer lower end of the reserved nested top block 5, and the embedded steel rope part 15 penetrates along the inner side of the distribution robot body 1. The outer side of the distribution robot body 1 is nested with an outer protection assembly 16, and the lower end of the outer protection assembly 16 is connected to the end of the embedded steel rope part 15. The lower end of the outer protection assembly 16 is fixedly connected with a third return spring 17, and the third return spring 17 is connected to the inner side of the distribution robot body 1. The reserved nested top block 5 forms a traction structure with the outer protection assembly 16 through the embedded steel rope part 15, and the lower end of the outer protection assembly 16 is elastically supported by the third return spring 17 and the inner side of the distribution robot body 1. The reserved nested top block 5 is stressed inside the distribution robot body 1, which will drive the outer protection assembly 16 connected to the end to displace along the rear side of the distribution robot body 1 through the embedded steel rope part 15 at the lower end, so as to further ensure the multi-range limiting stability during the movement of the equipment, and form a cross triangular support structure with the transverse limiting piece 8, without the need for additional locking structure for adaptive auxiliary positioning.

[0021] Embodiment three: according to Figures 1-11 On the basis of the embodiments one and two, the running application of the distribution robot body 1 is also disclosed, and the specific scheme is as follows: The outer side of the distribution robot body 1 is provided with a preset 3D camera part 18 and a laser radar part 19, and the outer side of the upper end of the distribution robot body 1 is provided with a binocular camera part 20. A multi-sensor fusion architecture of "laser radar + vision camera + IMU + UWB + ultrasonic wave" is adopted. Through time synchronization, data calibration and filtering algorithm, spatial unification and information complementation of multi-source perception data are realized, and high-precision and robust environment modeling and positioning system is constructed. It can not only fully exert the high-precision advantage of laser radar in geometric mapping, but also utilize the strong adaptability of visual sensor in semantic recognition, and simultaneously fuse the motion compensation provided by IMU and the global positioning ability of UWB, so as to realize all-weather and multi-scene stable operation. Meanwhile, an autonomous navigation scheme can be formed based on global and local combination, at the navigation level, a hierarchical navigation architecture is adopted, and based on the improved A* algorithm and the grid map, optimal path planning across regions is realized, finally, the dynamic window method (DWA) and deep reinforcement learning algorithm are fused to realize real-time avoidance of dynamic obstacles, through the model predictive control (MPC) algorithm, smooth and controllable motion trajectory planning is realized, so that the robot can have both the optimality of the global path and the rapid response to dynamic changes in the complex environment; A distributed multi-robot scheduling and task optimization scheme is realized, specifically: a scheduling system based on cloud-edge collaborative architecture is constructed, a distributed multi-agent (Multi-Agent) collaborative algorithm is adopted to uniformly manage and dynamically schedule multiple robots, through real-time task priority division, path conflict detection and avoidance mechanism, efficient cooperation of multiple robots is realized, the system supports more than 5 robots to run simultaneously, and ensures that the work efficiency is not lower than the manual scheduling level in the task conflict scene.

[0022] Cross-regional autonomous operation and environmental interaction can be realized, for the common "cross-floor, cross-plant" demand in the actual application scene of the factory, an intelligent interaction module of the robot and the elevator, barrier gate and other facilities is developed, an Internet of Things communication protocol is adopted, combined with edge computing, the robot can automatically trigger the elevator call, barrier gate recognition and switch control, at the same time, an automatic charging pile and an energy management system are configured, the robot can automatically navigate to the charging area under low power condition, realize 24-hour continuous operation, in the system design, the modularization and standardization concept is introduced: the sensor module, the control module and the execution module adopt unified interface and protocol, which is convenient for later maintenance and large-scale production, at the same time, domestic substitution research is carried out, self-controllable is realized in the aspects of sensors, core algorithms and control systems, the cost is reduced and the industrial competitiveness is enhanced.

[0023] In the description of the present application, it should be pointed out that, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0024] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An industrial delivery robot for intelligent storage and retrieval of warehouse materials, comprising a delivery robot body (1), wherein a transmission wheel assembly (2) is installed at the lower end of the delivery robot body (1). Its features are: The outer side of the transmission wheel assembly (2) is engaged with a timing belt (3), and the inner side of the delivery robot body (1) is rotatably connected with an eccentric docking wheel (4). The outer side of the shaft end of the eccentric docking wheel (4) is engaged with the timing belt (3). A lateral limiting member (8) is nested on the upper end of the delivery robot body (1). A guiding adaptive protection structure is provided between the lateral limiting member (8) and the delivery robot body (1). The guiding adaptive protection structure automatically straightens and prevents the objects carried by the delivery robot body (1) from falling off.

2. The industrial delivery robot for intelligent storage and retrieval of warehouse materials according to claim 1, characterized in that: The guiding adaptive protection structure is provided with a reserved nested top block (5), and the reserved nested top block (5) is nested and docked on the inner side of the delivery robot body (1). The lower end of the reserved nested top block (5) corresponds to the outer side of the eccentric docking wheel (4). The upper inner side of the delivery robot body (1) is nested with a sloped nested reserved part (6), and the outer side of the sloped nested reserved part (6) is fixedly connected with a first reset spring (7). The first reset spring (7) docks with the inner side of the delivery robot body (1).

3. The industrial delivery robot for intelligent storage and retrieval of warehouse materials according to claim 2, characterized in that: The inclined nested reserved part (6) is provided with a built-in reserved liquid bladder component (9) on its inner side, and an abutment plate is provided on the outer side of the built-in reserved liquid bladder component (9). The abutment plate is provided on the inner side of the inclined nested reserved part (6), and a second reset spring (10) is provided between the abutment plate and the inclined nested reserved part (6). A fixed top rod (11) is fixedly connected to the inner side of the delivery robot body (1), and the fixed top rod (11) and the inner side of the inclined nested reserved part (6) are connected through to each other. The inclined nested reserved part (6) and the transverse limiting part (8) are connected to each other.

4. The industrial delivery robot for intelligent storage and retrieval of warehouse materials according to claim 3, characterized in that: A vertical limiting auxiliary component (14) is nested inside the transverse limiting component (8), and a built-in vertical liquid bladder component (13) is provided at the lower end of the vertical limiting auxiliary component (14). A supply hose (12) is connected to the outer side of the built-in vertical liquid bladder component (13), and the supply hose (12) passes through the inner side of the transverse limiting component (8). The supply hose (12) and the built-in reserved liquid bladder component (9) are connected to each other.

5. An industrial delivery robot for intelligent storage and retrieval of warehouse materials according to claim 4, characterized in that: The transmission wheel assembly (2) drives the eccentric docking wheel (4) to form a transmission structure through the meshing synchronous belt (3). When the outer side of the eccentric docking wheel (4) moves to contact the lower end of the reserved nesting top block (5), the reserved nesting top block (5) under force slides vertically along the inner side of the delivery robot body (1). The reserved nesting top block (5) applies pressure to the inclined nesting reserved part (6) with a sloping bottom structure. The pressured inclined nesting reserved part (6) moves laterally along the inner side of the delivery robot body (1).

6. An industrial delivery robot for intelligent storage and retrieval of warehouse materials according to claim 5, characterized in that: As the inclined nested reserved part (6) moves along the inner side of the delivery robot body (1), its inner contact plate contacts the fixed top rod (11). The contact plate is subjected to force along the inner side of the inclined nested reserved part (6) to press the built-in reserved liquid bladder component (9). The built-in reserved liquid bladder component (9) is supplied to the interior of the built-in vertical liquid bladder component (13) through the supply hose (12).

7. An industrial delivery robot for intelligent storage and retrieval of warehouse materials according to claim 6, characterized in that: During expansion, the built-in vertical liquid bladder component (13) pushes the upper vertical limiting auxiliary component (14) to move vertically along the inner side of the transverse limiting component (8), and the vertical limiting auxiliary component (14) is evenly distributed about the center point of the transverse limiting component (8).

8. An industrial delivery robot for intelligent storage and retrieval of warehouse materials according to claim 7, characterized in that: The rear side of the delivery robot body (1) is provided with a secondary support reserved structure, which provides multi-range support and limiting treatment for the workpiece carried by the delivery robot body (1). The secondary support reserved structure is provided with a built-in steel rope component (15), and the built-in steel rope component (15) is connected to the lower outer side of the reserved nested top block (5), and the built-in steel rope component (15) passes through the inner side of the delivery robot body (1). An outer protective component (16) is nested on the outer side of the delivery robot body (1), and the lower end of the outer protective component (16) is connected to the end of the built-in steel rope component (15). A third reset spring (17) is fixedly connected to the lower end of the outer protective component (16), and the third reset spring (17) is connected to the inner side of the delivery robot body (1).

9. An industrial delivery robot for intelligent storage and retrieval of warehouse materials according to claim 8, characterized in that: The reserved nested top block (5) forms a traction structure with the outer protective component (16) through the built-in steel rope component (15), and the lower end of the outer protective component (16) is elastically supported by the inner side of the delivery robot body (1) through the third reset spring (17).

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