Obstacle-avoiding and anti-collision self-balancing industrial distribution robot

Abstract

The invention discloses an obstacle-avoiding and anti-collision self-balancing industrial distribution robot, and relates to the field of intelligent manufacturing robot equipment industries, the robot comprises a robot body, a guide moving part is nested and mounted on the inner side of the robot body, and the lower end of the robot body is rotationally butted with a butting roller assembly; and the outer side of the guiding movable piece is rotationally connected with an external protection isolation piece, a butt joint gear assembly is installed in the robot body, and the inner side of the robot body is in butt joint with a transverse abutting piece. According to the obstacle-avoiding and anti-collision self-balancing industrial distribution robot, the auxiliary obstacle-avoiding balance structure is arranged, the protection state of the robot body is guaranteed through the auxiliary obstacle-avoiding balance structure, dynamic obstacles in factories and logistics scenes can be dealt with, and even if the robot is in contact with sudden collision obstacles, the robot body can be prevented from being collided by the obstacle-avoiding and anti-collision self-balancing industrial distribution robot. The undesirable phenomenon of rollover or route errors due to overlarge contact force is avoided, and the use stability of the device is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing robot equipment technology, specifically to a self-balancing industrial delivery robot with obstacle avoidance and collision prevention capabilities. Background Technology

[0002] As global manufacturing transforms and upgrades towards intelligence and flexibility, smart factories and intelligent logistics are gradually becoming key links in industrial development. Material handling, as a crucial node connecting production, warehousing, and transportation, directly impacts the operational level of the entire supply chain in terms of efficiency and safety. Traditional manual handling methods suffer from high labor intensity, low efficiency, and high management difficulty. In high-intensity, dangerous, or special environments, they are also prone to safety accidents and can no longer meet the requirements of modern industrial production for high efficiency, safety, flexibility, and continuous operation. Industrial delivery robots are high-end intelligent manufacturing equipment products applied to this scenario. For example, the patent with announcement number CN116175607B describes an intelligent delivery robot, which belongs to the field of robot technology. The robot lacks hygiene protection and is prone to customers taking the wrong dishes, causing chaos in the on-site food delivery. The control panel can guide customers to avoid taking the wrong dishes, thus improving the management of on-site food delivery. By gradually pushing the lifting support platform out of the inner side of the contoured concave platform, and with the lifting force-applying component located at the inner bottom of the food placement cavity, the food is lifted upward along the food placement cavity as the food container gradually slides to the outside. For example, patent CN113977597B discloses a control method, device, delivery robot, and computer-readable storage medium for a delivery robot, including: acquiring delivery information of a target item; determining the movement path of the delivery robot based on the delivery information so that the delivery robot moves to the destination of the target item; acquiring the registered vein information of the recipient of the target item; acquiring the vein information to be identified using a vein acquisition device; matching the vein information to be identified with the registered vein information of the recipient of the target item; and when the match is successful, controlling the electronic lock of the locker of the target item to unlock so that the target item can be retrieved. For example, the patent with publication number CN220593170U describes a delivery robot, which is applicable to the field of robot technology. The problem to be solved is to provide a delivery robot, which includes a robot base, a placement shell, a display, a storage box, a connecting mechanism, and a clamping mechanism. The placement shell is fixedly connected to the top of the robot base, the display is fixedly connected to the upper surface of the placement shell, the storage boxes are placed at equal intervals inside the placement shell, and the connecting mechanism is symmetrically fixedly installed on the inner wall of the placement shell. Most of the aforementioned existing technologies improve the overall structure. However, when existing industrial delivery robots encounter dynamic obstacles (such as personnel, forklifts, and carts) in factory and logistics scenarios during operation, traditional static map path planning is difficult to handle. When industrial delivery robots come into contact with obstacles that suddenly collide, they are prone to tipping over or deviating from their course due to excessive contact force, thus limiting their use. Summary of the Invention

[0003] The purpose of this invention is to provide a self-balancing industrial delivery robot with obstacle avoidance and collision prevention, in order to solve the problem mentioned in the background art that traditional static map path planning is difficult to cope with when dynamic obstacles (such as personnel, forklifts, carts, etc.) come into contact in factory and logistics scenarios. When the industrial delivery robot comes into contact with obstacles that suddenly collide, it is very easy to overturn or deviate from the course due to excessive contact force.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a self-balancing industrial delivery robot with obstacle avoidance and collision prevention, comprising a robot body, a guide movable component nested inside the robot body, and a docking roller assembly rotatably docked at the lower end of the robot body; an external protective isolation component rotatably connected to the outside of the guide movable component; a docking gear assembly installed inside the robot body; a lateral abutment component docked to the inside of the robot body; and an auxiliary obstacle avoidance and balancing structure provided between the docking roller assembly and the guide movable component, thereby ensuring the protective state of the robot body.

[0005] Furthermore, the auxiliary obstacle avoidance and balancing structure is provided with an external docking plate, which is installed on the outer side of the shaft end of the docking gear assembly. The outer end of the external docking plate is rotatably connected to a guide member, and the lower end of the guide member is nested and docked along the inside of the robot body. The lower end of the robot body is connected to a contact friction member, and one side of the contact friction member corresponds to the lower end of the guide member, while the other side of the contact friction member corresponds to the outer side of the docking roller assembly. At the same time, a first spring is connected between the contact friction member and the inner side of the robot body.

[0006] Furthermore, the outer side of the external protective isolation component is bonded to a built-in air accumulator component, and the built-in air accumulator component is located on the inner side of the robot body. The outer side of the built-in air accumulator component is bonded to a supply hose. The guide movable component and the external protective isolation component are bonded to a transverse corrugated air accumulator component, and the transverse corrugated air accumulator component is connected to the end of the supply hose.

[0007] Furthermore, during the process of being subjected to force, the guiding movable component and the external protective isolation component move along the inner side of the robot body, and the guiding movable component forms an engagement with the transverse abutment component through the docking gear assembly. The guiding movable component forms a pressing structure with the built-in air sac component that contacts the inner side. The docking gear assembly drives the guiding guide component to slide vertically through the external docking plate, and when the lower end of the guiding guide component moves to contact the abutment friction component, the abutment friction component stretches the first spring and moves along the inner side of the robot body.

[0008] Furthermore, the built-in air sac component supplies power to the interior of the transversely corrugated air sac component via a supply hose, and the transversely expanded transversely corrugated air sac component pushes the external protective isolation component to form an angled guiding movement along the outside of the guiding movable component.

[0009] Furthermore, the outer end of the robot body is provided with an obstacle avoidance and emergency stop outer protective structure. This structure prevents the inertia generated by the robot body during an emergency stop from causing the carried object to fall. The obstacle avoidance and emergency stop outer protective structure is provided with a lateral abutment, which is nested and connected to the inner side of the robot body. An internal nesting block is installed inside the lateral abutment, and an internal reserved liquid bladder is bonded to the inner side of the internal nesting block. The internal reserved liquid bladder is located inside the lateral abutment.

[0010] Furthermore, a second spring is fixedly connected to the outer side of the lateral contact member, and the second spring is connected to the inner side of the robot body. An external protective member is nested on the outer side of the robot body, and a reserved corrugated liquid bladder is bonded between the lower end of the external protective member and the robot body. A supply guide hose is connected to the outer side of the reserved corrugated liquid bladder, and the supply guide hose runs along the inner side of the robot body. The supply guide hose is connected to the built-in reserved liquid bladder.

[0011] Furthermore, as the lateral contact member moves outward along the inner side of the robot body under force, its outer built-in nesting block is pre-stressed, and the built-in nesting block applies pressure to the contacted built-in reserved liquid bladder, and the built-in reserved liquid bladder is supplied to the interior of the reserved corrugated liquid bladder through the supply guide hose.

[0012] Furthermore, during the deformation of the reserved corrugated liquid bladder, the outer protective component is pushed along the outer end of the robot body to form a sliding support structure.

[0013] Compared with the prior art, the beneficial effects of the present invention are: This obstacle avoidance and collision prevention self-balancing industrial delivery robot is equipped with an auxiliary obstacle avoidance and balancing structure. This structure ensures the protection of the robot body. If the robot body comes into contact with a sudden collision object during operation, the corresponding guide movable part and the external protective isolation part will be pre-forced and moved inward. At the same time, the guide movable part, in conjunction with the docking gear assembly, drives the lower meshing lateral abutment part to move outward. Thus, while the guide movable part provides force support, the synchronously moving lateral abutment part applies reverse pressure to support the contact object. This allows the robot to cope with dynamic obstacles in factory and logistics scenarios. Even when encountering a sudden collision obstacle, it will not tip over or deviate from its course due to excessive contact force, thus improving the stability of the device. Furthermore, during the stress process, the inward-moving guide component will be pressed and stressed by the built-in air sac component, thereby allowing the built-in air sac component to supply work to the interior of the transverse corrugated air sac component through the supply hose. This causes the transverse corrugated air sac component to expand and deform, thus resisting the inner side of the external protective isolation component and changing the support direction of the external protective isolation component. This guides and depressurizes the impact force of the external object that the equipment comes into contact with, avoiding excessive impact on the equipment from hard, direct, and continuous contact. Furthermore, as the docking gear assembly rotates under force, the external docking plate on its outer side will rotate accordingly, thereby cooperating with the guide to move vertically along the inside of the robot body. This allows the bottom of the guide to apply pressure to the contact friction component, causing it to reciprocate and contact the outer side of the docking roller assembly. In this way, during the process of the robot body being subjected to force, the continuous movement force is effectively reduced intermittently, avoiding the impact of the continuous forward movement force and expansion force of the robot body, and reducing the continuous damage to the equipment. Furthermore, an obstacle avoidance and emergency stop outer protective structure is provided. This structure prevents the inertia caused by the robot's sudden stop from causing the carried object to fall. When the lateral contact component moves outward along the inner side of the robot body for support, the outer built-in nested block will be pre-stressed, thereby pressurizing the inner pre-reserved liquid bladder. This allows the pre-reserved liquid bladder to supply fluid to the pre-reserved corrugated liquid bladder through the supply guide hose. The laterally stressed pre-reserved corrugated liquid bladder will deform and push the outer protective component inward along the outer end of the robot body, thus providing auxiliary secondary support for the carried object and preventing the carried object from falling due to the inertia caused by the robot's sudden stop, ensuring its carrying safety. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the external protective isolation component of the present invention; Figure 2 This is a three-dimensional structural diagram of the external protective component of the present invention; Figure 3 For the present invention Figure 2 A magnified schematic diagram of the central part of the structure; Figure 4 This is a three-dimensional structural diagram of the present invention; Figure 5 This is a three-dimensional structural diagram of the built-in air sac component of the present invention; Figure 6 This is a three-dimensional structural diagram of the transverse corrugated air bladder component of the present invention; Figure 7 This is a schematic diagram of the three-dimensional structure of the pre-reserved corrugated liquid bladder in this invention; Figure 8 This is a three-dimensional structural diagram of the guiding movable component of the present invention; Figure 9 This is a schematic diagram of the three-dimensional structure of the built-in nested block of the present invention; Figure 10 This is a schematic diagram of the three-dimensional structure of the robot body of the present invention; Figure 11 This is a schematic diagram of the robot delivery service system of the present invention.

[0015] In the diagram: 1. Robot body; 2. Guiding moving part; 3. External protective isolation part; 4. Dating gear assembly; 5. External docking plate; 6. Guiding guide; 7. Abutting friction part; 8. First spring; 9. Dating roller assembly; 10. Internal air sac assembly; 11. Supply hose; 12. Lateral corrugated air sac assembly; 13. Lateral abutting part; 14. Internal nesting block; 15. Internal reserved liquid sac; 16. Supply guide hose; 17. Second spring; 18. Reserved corrugated liquid sac; 19. External protective part. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Example 1: Please refer to Figures 1-11This invention provides the following technical solution: a self-balancing industrial delivery robot with obstacle avoidance and collision prevention. To address the problem that traditional static map path planning is insufficient to handle dynamic obstacles such as personnel, forklifts, and carts in factory and logistics scenarios, and that industrial delivery robots are prone to tipping over or deviating from their course due to excessive contact force when encountering sudden collisions with obstacles, this invention discloses that a guide component 2 is nested inside the robot body 1, and a docking roller assembly 9 is rotatably connected to the lower end of the robot body 1; an external protective isolation component 3 is rotatably connected to the outside of the guide component 2; a docking gear assembly 4 is installed inside the robot body 1; a lateral abutment component 13 is docked to the inner side of the robot body 1; and an auxiliary obstacle avoidance and balancing structure is provided between the docking roller assembly 9 and the guide component 2. This auxiliary obstacle avoidance and balancing structure ensures the protective state of the robot body 1.

[0018] The obstacle avoidance and balancing structure is equipped with an external docking plate 5, which is installed on the outer side of the shaft end of the docking gear assembly 4. The outer end of the external docking plate 5 is rotatably connected to a guide member 6, and the lower end of the guide member 6 is nested and docked along the inside of the robot body 1. The lower end of the robot body 1 is connected to a contact friction member 7, and one side of the contact friction member 7 corresponds to the lower end of the guide member 6, while the other side of the contact friction member 7 corresponds to the outer side of the docking roller assembly 9. At the same time, a first spring 8 is docked between the contact friction member 7 and the inner side of the robot body 1. The outer side of the external protective isolation member 3 is bonded to a built-in air accumulator component 10, and the built-in air accumulator... An airbag component 10 is disposed on the inner side of the robot body 1. A supply hose 11 is connected to the outer side of the built-in airbag component 10. A transversely corrugated airbag component 12 is bonded and connected between the guide movable component 2 and the external protective isolation component 3, and the transversely corrugated airbag component 12 is connected to the end of the supply hose 11. During the process of being subjected to force, the guide movable component 2 and the external protective isolation component 3 move along the inner side of the robot body 1. The guide movable component 2 forms a meshing connection with the transverse abutment component 13 through the docking gear assembly 4. The guide movable component 2 forms a pressing structure on the built-in airbag component 10 in contact with the inner side. The docking gear assembly 4 drives the guide guide component 6 to slide vertically through the external docking plate 5. When the lower end of the guide member 6 moves to contact the contact friction member 7, the contact friction member 7 stretches the first spring 8 and moves along the inner side of the robot body 1. The built-in air accumulator 10 supplies air to the interior of the transverse corrugated air accumulator 12 through the supply hose 11. The transversely expanded transverse corrugated air accumulator 12 pushes the external protective isolation member 3 to move at an angle along the outer side of the guide member 2. When the robot body 1 comes into contact with a sudden collision object during operation, the guide member 2 and the external protective isolation member 3 at the corresponding positions will be pre-forced and move inward. At the same time, the guide member 2, in conjunction with the docking gear assembly 4, drives the transverse contact member 13 with its lower end engaged to move outward. While the guiding movable part 2 provides force support, the synchronously moving lateral contact part 13 applies reverse pressure to the contact object, thus coping with dynamic obstacles in factory and logistics scenarios. During the force application process, the inward-moving guiding movable part 2 will be pressed by the built-in air sac component 10, allowing the built-in air sac component 10 to supply work into the lateral corrugated air sac component 12 through the supply hose 11. The lateral corrugated air sac component 12 expands and deforms to contact the inside of the external protective isolation part 3, thereby changing the support direction of the external protective isolation part 3 and guiding and depressurizing the impact force of the external object contacting the equipment.

[0019] Example 2: Based on Example 1, an obstacle avoidance and emergency stop external protection structure is also disclosed, the specific structure of which is as follows: The outer end of the robot body 1 is equipped with an obstacle avoidance and emergency stop outer protective structure. The obstacle avoidance and emergency stop outer protective structure prevents the inertia generated by the robot body 1 during an emergency stop from causing the object it is carrying to fall. The obstacle avoidance and emergency stop outer protective structure is equipped with a lateral contact member 13, which is nested and connected to the inner side of the robot body 1. An internal nesting block 14 is nested inside the lateral contact member 13, and an internal reserved liquid bladder 15 is bonded to the inner side of the internal nesting block 14. The internal reserved liquid bladder 15 is located inside the lateral contact member 13. A second spring 17 is fixedly connected to the outer side of the lateral contact member 13, and the second spring 17 is connected to the inner side of the robot body 1. An external protective member 19 is nested and installed on the outer side of the robot body 1, and a reserved corrugated liquid bladder 18 is bonded to the lower end of the external protective member 19 and the robot body 1. A supply guide hose 16 is connected to the outer side of the reserved corrugated liquid bladder 18, and the supply guide hose 16 runs along the inner side of the robot body 1. The supply guide hose 16 and the internal reserved liquid bladder 15 are interconnected. The lateral contact member 13 moves outward along the inner side of the robot body 1 under force. In the process, the inner nested block 14 on the outer side is pre-stressed, and the inner nested block 14 applies pressure to the inner reserved liquid bladder 15 in contact with it. The inner reserved liquid bladder 15 supplies the inner part of the reserved corrugated liquid bladder 18 through the supply guide hose 16. During the deformation of the reserved corrugated liquid bladder 18, it pushes the outer protective member 19 on the outer side to form a sliding support structure along the outer end of the robot body 1. When the lateral contact member 13 moves outward along the inner side of the robot body 1 for support, the inner nested block 14 on the outer side will be pre-stressed, thereby applying pressure to the inner reserved liquid bladder 15 in contact with it. This allows the inner reserved liquid bladder 15 to supply the reserved corrugated liquid bladder 18 through the supply guide hose 16. The reserved corrugated liquid bladder 18 under lateral force will deform and push the outer protective member 19 on the outer side to move inward along the outer end of the robot body 1, thereby providing auxiliary secondary support for the carried object and preventing the carried object from falling due to the inertia formed by the robot body 1's sudden stop.

[0020] Example 3: Based on Examples 1 and 2, a delivery service system for robot body 1 is also disclosed, which specifically includes robot body software, server side and sensor side; Specifically: Robot body software: responsible for processing robot-side commands, executing navigation algorithms, and autonomous obstacle avoidance; Server-side: Responsible for scheduling algorithms and robot system management; Sensor end: Responsible for connecting various sensors; The server is the center of the entire system. Sensors and robots connect to the server and register for services.

[0021] The robot's software includes Android development, and the specific steps are as follows: Delivery location selection: After entering the delivery page, the prompt at the top will read "Please select the delivery destination and click Start Delivery"; The voice prompt says, "Please click the location below for delivery." Users can directly select locations, and a list of delivery points will be generated above. Multiple locations can be selected for delivery. After selecting one or more locations, the "Start Delivery" button becomes active. The user can simply click "Start Delivery" and the robot will begin the delivery process. The initial interface has only one button, which is to start delivery; Also includes the delivery page: Cancel (Cancel all routes); Timeout page: Cancel (Cancel all tasks), Extend time, Next; Click "Start Delivery," and a voice announcement will say, "I'm starting my delivery now, please be aware of the surrounding area," while simultaneously activating navigation. The robot can cancel the delivery at any time during the delivery process; After cancellation, return to the designated location; after delivery is completed, also return to the designated location. Upon delivery, the robot will announce: "The item has been delivered. Please pick it up as soon as possible." It will then automatically start a timer and wait for 180 seconds. Once the time is up, the robot will proceed to the next operation.

[0022] Navigation development: For positioning, a QR code or other marker is required. Once the machine recognizes a locator, it will automatically locate the position of that locator. If the distance between the current position and the locator is not significant, positioning is not necessary to avoid the locator positioning lag problem caused by high-speed walking. For hill climbing, the machine is required to climb slopes of 10-20 degrees without being affected by the machine's laser. Navigation requires marking road sections. When entering uphill or downhill sections, the machine slows down, and the obstacle avoidance distance of the laser and camera is shortened. Elevator control call and turnstile call: When the robot approaches the turnstile or elevator, it actively calls the backend, which then opens or closes the turnstile or elevator control and sends the result back to the robot.

[0023] The server side includes: Scheduling System: All vehicles and sensors are on the same local area network as the server. Scheduling adopts a weighted scoring strategy. Each scoring unit includes charging status, current remaining power, idle status, running distance, robot current status, destination, etc. Idle machine determination mechanism: When a robot completes all tasks or cancels all tasks, it is defined as an idle machine and can participate in the scheduling platform. Map synchronization: The machine will synchronize the map when it is turned on. If there is a new map, all robots will download and update the local map file. Sensor access: Sensors are accessed and responded to, and the robot is scheduled; Delivery logs: Logs for each robot need to be recorded in the scheduling system so that the delivery tasks and completion status of each robot can be viewed.

[0024] The sensor end includes: The pager connects to the backend and reports the call status to the backend, which is responsible for scheduling the robot delivery. Pagers are a one-way communication method; Pager access methods: wired access + wireless; Turnstile: The turnstile is connected to the backend via two-way communication. The backend sends commands to the turnstile to open or close it. The turnstile is controlled by the backend. If the turnstile requires authentication, the backend will verify and grant access permissions. Elevator control; the elevator control module connects to the backend via two-way communication. The backend sends commands to the elevator control module, which is responsible for operations such as opening and closing doors and setting floors.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A self-balancing industrial delivery robot with obstacle avoidance and collision prevention, comprising a robot body (1), wherein a guide movable component (2) is nested inside the robot body (1), and a docking roller assembly (9) is rotatably docked at the lower end of the robot body (1). Its features are: The outer side of the guide movable part (2) is rotatably connected to an external protective isolation part (3). The robot body (1) is equipped with a docking gear assembly (4). The inner side of the robot body (1) is docked with a lateral abutment part (13). An auxiliary obstacle avoidance balance structure is provided between the docking roller assembly (9) and the guide movable part (2). The protective state of the robot body (1) is guaranteed by the auxiliary obstacle avoidance balance structure.

2. The obstacle avoidance and collision prevention self-balancing industrial delivery robot according to claim 1, characterized in that: The auxiliary obstacle avoidance and balance structure is provided with an external docking plate (5), and the external docking plate (5) is installed on the outer side of the shaft end of the docking gear assembly (4). The outer end of the external docking plate (5) is rotatably connected to a guide member (6), and the lower end of the guide member (6) is nested and docked along the inside of the robot body (1). The lower end of the robot body (1) is connected to a friction member (7), and one side of the friction member (7) corresponds to the lower end of the guide member (6), and the other side of the friction member (7) corresponds to the outer side of the docking roller assembly (9). At the same time, a first spring (8) is connected between the friction member (7) and the inner side of the robot body (1).

3. The obstacle avoidance and collision prevention self-balancing industrial delivery robot according to claim 2, characterized in that: The outer protective isolation component (3) is bonded to the outer side with an internal air accumulator component (10), and the internal air accumulator component (10) is located on the inner side of the robot body (1). The outer side of the internal air accumulator component (10) is bonded to a supply hose (11). The guide movable component (2) and the outer protective isolation component (3) are bonded to a transverse corrugated air accumulator component (12), and the transverse corrugated air accumulator component (12) is connected to the end of the supply hose (11).

4. The obstacle avoidance and collision prevention self-balancing industrial delivery robot according to claim 3, characterized in that: The guiding movable part (2) and the external protective isolation part (3) move along the inner side of the robot body (1) during the process of being subjected to force, and the guiding movable part (2) forms a meshing docking with the transverse abutment part (13) through the docking gear assembly (4). The guiding movable part (2) forms a pressing structure with the built-in air sac part (10) in contact with the inner side. The docking gear assembly (4) drives the guide member (6) to slide vertically through the external docking plate (5), and when the lower end of the guide member (6) moves to contact the contact friction member (7), the contact friction member (7) stretches the first spring (8) to move along the inner side of the robot body (1).

5. The obstacle avoidance and collision prevention self-balancing industrial delivery robot according to claim 4, characterized in that: The built-in air sac component (10) supplies the air to the interior of the transverse corrugated air sac component (12) through the supply hose (11), and the transversely expanded transverse corrugated air sac component (12) pushes the external protective isolation component (3) to form an angled guiding movement along the outside of the guiding component (2).

6. The obstacle avoidance and collision prevention self-balancing industrial delivery robot according to claim 3, characterized in that: The outer end of the robot body (1) is provided with an obstacle avoidance and emergency stop external protection structure. The obstacle avoidance and emergency stop external protection structure prevents the inertia generated by the robot body (1) during emergency stop from causing the object it carries to fall. The obstacle avoidance and emergency stop external protection structure is provided with a lateral contact member (13), and the lateral contact member (13) is nested and connected to the inner side of the robot body (1). The inner side of the lateral contact member (13) is nested and installed with a built-in nesting block (14). The inner side of the built-in nesting block (14) is bonded and connected with a built-in reserved liquid bladder (15), and the built-in reserved liquid bladder (15) is located inside the lateral contact member (13).

7. The obstacle avoidance and collision prevention self-balancing industrial delivery robot according to claim 6, characterized in that: The outer side of the transverse contact member (13) is fixedly connected to a second spring (17), and the second spring (17) is connected to the inner side of the robot body (1). An external protective member (19) is nested on the outer side of the robot body (1), and a reserved corrugated liquid bladder (18) is bonded between the lower end of the external protective member (19) and the robot body (1). A supply guide hose (16) is connected to the outer side of the reserved corrugated liquid bladder (18), and the supply guide hose (16) runs along the inner side of the robot body (1), and the supply guide hose (16) is connected to the built-in reserved liquid bladder (15).

8. The obstacle avoidance and collision prevention self-balancing industrial delivery robot according to claim 7, characterized in that: As the lateral contact member (13) moves outward along the inner side of the robot body (1) under force, its outer built-in nesting block (14) is pre-forced, and the built-in nesting block (14) applies pressure to the contacted built-in reserved liquid bladder (15), and the built-in reserved liquid bladder (15) supplies the liquid to the interior of the reserved corrugated liquid bladder (18) through the supply guide hose (16).

9. A self-balancing industrial delivery robot with obstacle avoidance and collision prevention according to claim 8, characterized in that: During the deformation of the reserved corrugated liquid bladder (18), the outer protective component (19) is pushed to form a sliding support structure along the outer end of the robot body (1).

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