A laser radar avoiding mechanism for a lift-box mobile robot

Abstract

The application relates to the technical field of warehouse automation AGV mobile robot safety protection structures, in particular to a laser radar avoiding mechanism for a lifting type material box mobile robot, which is composed of a chassis, a bracket and a lifting mechanism, a synchronous folding and telescoping supporting arm folding assembly is assembled between the chassis and the bracket, a laser radar and a matching mounting support are assembled in the middle of a lifting installation position in front of the chassis. The lifting mechanism is completely folded, the corresponding supporting arm structures are arranged in parallel with each other and form a left-right through laser radar avoiding area, under all working conditions of the full folding and unfolding of the lifting mechanism, the problem that the supporting arm structures shield the fan-shaped scanning light path of the laser radar can be effectively avoided. The mechanism can meet the requirements of compact layout design of the robot on the basis of guaranteeing the complete detection field of view of the laser radar.

Description

Technical Field

[0001] This invention relates to the field of safety protection structure technology for AGV mobile robots in warehouse automation, and in particular to a laser radar avoidance mechanism for lifting box mobile robots. It is adapted to miniaturized lifting box robots in narrow passage conditions and solves the collision safety defects caused by the rear safety laser radar being blocked by the lifting arm and the insufficient detection field of view. Background Technology

[0002] The lifting-type hopper mobile robot is equipped with a safety lidar as a core component for active collision avoidance. The safety lidar can preset multiple programmable safety detection zones. Throughout the robot's forward movement and lifting of the hopper, the lidar continuously scans and detects the forward fan-shaped space. When the long-range warning zone detects pedestrians, stacked hoppers, storage racks, or ground debris, the equipment automatically slows down and outputs audible and visual alarm signals. Once an obstacle enters the close-range protection zone, the lidar will directly send an emergency stop signal to the vehicle controller to cut off the driving power, effectively avoiding various risks such as collisions with racks, bumping into workers, and hopper slippage and damage under heavy lifting conditions. This front-mounted lidar is the first line of active collision avoidance redundancy protection for the entire vehicle, making up for the shortcomings of passive protection where braking only occurs after a physical collision at the safety edge, and meeting the functional safety standards for industrial AGV equipment.

[0003] In scenarios involving narrow passages and confined storage spaces, it is necessary to redesign the lifting-type material handling robot to be miniaturized. This miniaturization requires moving the safety lidar, originally positioned at the front of the vehicle, to a rearward location, as close as possible to the central lifting mechanism to shorten the overall chassis length. Existing lifting mechanisms on the market all use a straight cross-scissor-arm structure. The straight arms are single long strips of sheet metal. When the mechanism is fully retracted and in standby mode, multiple layers of arms stack along the thickness of the sheet metal. The fan-shaped laser beam emitted by the rearward-mounted safety lidar is largely blocked by the stacked straight arms. The maximum effective fan-shaped scanning angle of the radar can only reach 180 degrees. There are large blind spots in the warning and emergency stop protection areas, significantly weakening the active collision avoidance capability of the safety lidar. This poses a serious safety hazard when the robot is carrying materials.

[0004] Therefore, a new technical solution is urgently needed to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to overcome the problems of the prior art and provide a laser radar avoidance mechanism for a lifting bin mobile robot. This mechanism addresses the core defects of existing straight scissor lift mechanisms, such as obstruction of the rear-mounted safety laser radar when retracted and stacked, limited radar fan-shaped detection angle, and failure of anti-collision protection for miniaturized robots in narrow passages. The new invention provides a laser radar avoidance mechanism for lifting bin mobile robots that utilizes parallel support arms in the retracted state to form a through-type laser avoidance channel. The lifting mechanism does not obstruct the laser path in any working condition, whether retracted or extended. This allows for rear-mounted radar installation in a miniaturized robot while widening the radar scanning field of view, fully utilizing the active anti-collision functions of graded deceleration and emergency braking.

[0006] The above objectives are achieved through the following technical solutions: A laser radar obstacle avoidance mechanism for a lifting bin mobile robot includes a chassis, a bracket, and a lifting mechanism. The chassis surface has a front lifting mounting position and a rear lifting mounting position. Sliding components are symmetrically arranged on the left and right sides of the front lifting mounting position, and lower horizontal shaft supports for the support arms are symmetrically arranged on the left and right sides of the rear lifting mounting position. The bottom surface of the bracket has a front lifting support position and a rear lifting support position. Upper sliding components are symmetrically arranged on the left and right sides of the front lifting support position, and upper horizontal shaft supports for the support arms are symmetrically arranged on the left and right sides of the rear lifting support position. The lifting mechanism includes symmetrically arranged support arm folding components, and the two support arm folding components are driven by a support arm drive component to achieve synchronous folding and extension. Each support arm folding component includes a first support arm, a second support arm, and a third support arm of the same specifications. The first arm and the fourth arm each have a front hinge hole, a rear hinge hole, and a middle hinge hole. The arms are cross-hinged by pins and are assembled together with the arm crossbeam, the lower cross shaft, the upper cross shaft of the front arm, and the upper cross shaft of the rear arm. A laser radar bracket is fixedly installed at the center of the front lifting mounting position of the chassis, and a safety laser radar is mounted on the bracket. When the lifting mechanism is in its initial retracted state, the front section of the second arm and the rear section of the first arm are arranged parallel vertically, forming a fully open laser radar avoidance zone between them. The laser emitted and received by the safety laser radar only passes through the laser radar avoidance zone, and the fan-shaped scanning surface of the safety laser radar will not be obstructed by the lifting mechanism in any retracted or extended position.

[0007] Furthermore, in the initial retracted state of the lifting mechanism, the front sections of the fourth arm, the front sections of the second arm, and the rear sections of the first arm are arranged in a parallel spatial arrangement from top to bottom. The rear section of the third arm and the front section of the fourth arm maintain the same horizontal height. The bracket is constrained to maintain a horizontal lifting posture throughout the entire process by this parallel limiting structure, and an unobstructed optical path space is continuously maintained between the parallel arms to form the lidar avoidance zone.

[0008] Furthermore, the bottom of the safety lidar is connected to the top of the radar adjustment component for limiting assembly. The radar adjustment component is fixedly installed on the upper surface of the lidar bracket. The safety lidar can be finely adjusted in both pitch and horizontal dimensions to adapt to different laser scanning surface correction requirements.

[0009] Furthermore, the radar adjustment assembly includes a radar mounting plate and a radar pad arranged in parallel layers. The radar pad is vertically locked to the upper surface of the lidar bracket by multiple evenly distributed screws. The radar pad serves as a lower reference bearing plate to support the upper radar mounting plate.

[0010] Furthermore, multiple sets of spring bolts are evenly distributed between the radar mounting plate and the radar pad. Each spring bolt vertically penetrates both layers of the plate. An adjusting spring is fitted on the outside of each spring bolt. The upper end of the adjusting spring abuts against the bottom surface of the radar mounting plate, and the lower end abuts against the upper surface of the radar pad. The spacing and inclination of the two layers of plates are adjusted by the elasticity of the spring in conjunction with the tightness of the bolts.

[0011] Furthermore, a radar mounting position is provided at the center of the radar mounting plate, and vertical radar baffles are integrally and symmetrically arranged on the left and right sides of the radar mounting position. The two radar baffles form a limiting slot, and the safety laser radar is embedded and assembled between the two radar baffles to achieve left and right limiting.

[0012] Furthermore, the bottom plane of the safety lidar is completely flush with the bottom surface of the lidar mounting position, and multiple lidar screws pass through the lidar mounting plate from top to bottom and are screwed into the pre-set threaded holes at the bottom of the safety lidar to achieve vertical locking and fixation of the lidar.

[0013] Furthermore, the four arms inside the single-unit folding arm assembly are integrally cast. Each arm is formed by connecting the front section, the V-shaped middle section, and the rear section. The length of the front section is equal to the length of the rear section. The middle section has a fixed V-shaped angle. The four arms are connected by multiple pins to form a double-layer parallelogram linkage frame.

[0014] Furthermore, the arm drive assembly is sandwiched between the left and right sets of arm folding assemblies. The two ends of the drive front crossbeam are synchronously hinged to the second arm and the third arm on the same side by means of pins. The two ends of the drive rear bracket are synchronously hinged to the first arm and the fourth arm on the same side by means of pins. The drive motor drives the lead screw to rotate, and the push-pull crossbeam synchronously drives the two arms to retract or unfold synchronously.

[0015] Furthermore, the support arm beam is configured as a U-shaped structure with a rearward concave shape, and the U-shaped concave space is integrally formed with a laser radar avoidance groove; the laser radar avoidance groove is arranged vertically and vertically corresponding to the safety laser radar, and is only used to achieve a compact fit between the safety laser radar and the lifting mechanism, so that the laser emitting and receiving working surface of the safety laser radar is higher than the top surface of the support arm beam, ensuring that the laser light path enters the laser radar avoidance area without obstruction, and the laser of the safety laser radar does not pass through the laser radar avoidance groove.

[0016] Furthermore, the radar pad extends inward at one end facing the robot to form a cantilever section. An integrally formed radar protective cover is arranged at an upward angle on the cantilever section. The radar protective cover extends obliquely upward from the rear side of the safety laser radar, covering only the top area of ​​the radar, and does not extend forward into the laser radar avoidance area, so as not to block the laser emission path.

[0017] The present invention provides a laser radar avoidance mechanism for a lifting bin mobile robot. By setting avoidance grooves on the support arm beams, a safe laser radar can be compactly assembled close to the lifting mechanism, effectively shortening the robot chassis size and meeting the requirements of miniaturized equipment design. At the same time, it raises the working surface of the radar laser and avoids obstruction by the beam structure. With multiple parallel support arms arranged in the retracted state of the lifting mechanism, a fully continuous laser radar avoidance zone is formed, allowing the laser to complete a fan-shaped scan only through the avoidance zone. This completely eliminates the problem of support arms obstructing the light path under all working conditions, significantly widens the radar detection field of view, and fully covers the warning and emergency stop protection areas. It effectively solves the collision safety hazards in narrow passage operations. At the same time, the parallel support arm structure can stably maintain the level of the bracket and ensure the stability of cargo lifting. Attached Figure Description

[0018] Figure 1 This is a first-view structural schematic diagram of a laser radar obstacle avoidance mechanism for a lifting bin mobile robot according to the present invention. Figure 2 This is a second-view structural schematic diagram of a laser radar avoidance mechanism for a lifting bin mobile robot according to the present invention. Figure 3 This is a first-view assembly diagram of a laser radar avoidance mechanism for a lifting bin mobile robot according to the present invention. Figure 4 This is a second-view assembly diagram of a laser radar avoidance mechanism for a lifting bin mobile robot according to the present invention. Figure 5 This is a schematic diagram of the laser radar sector scanning area in a laser radar avoidance mechanism for a lifting bin mobile robot according to the present invention; Figure 6This is a schematic diagram of the assembly of the laser radar and radar adjustment components in a laser radar avoidance mechanism for a lifting bin mobile robot according to the present invention. Figure 7 This is a schematic diagram of the lifting mechanism for laser radar obstacle avoidance in a lifting-type hopper mobile robot according to the present invention. Figure 8 This is a schematic diagram of the support arm in a laser radar avoidance mechanism for a lifting bin mobile robot according to the present invention.

[0019] Illustration markings: 1-Chassis, 101-Front lift mounting position, 102-Rear lift mounting position; 2-Bracket, 201-Front lifting position, 202-Rear lifting position; 3- Lifting mechanism; 4-Slide slide assembly, 401-Slide slide guide rail, 402-Slide slide slider; 5-Support arm lower horizontal axis support; 6-Upper sliding assembly, 601-Upper sliding guide rail, 602-Upper sliding slider, 603-Front arm upper cross shaft support; 7- outrigger folding assembly, 701-first outrigger, 702-second outrigger, 703-third outrigger, 704-fourth outrigger, 705-middle section of outrigger, 706-front section of outrigger, 707-rear section of outrigger, 708-front hinge hole, 709-rear hinge hole, 710-middle section hinge hole, 711-outrigger crossbeam, 712-lower cross shaft of outrigger, 713-upper cross shaft of front outrigger, 714-upper cross shaft of rear outrigger, 715-laser radar avoidance groove; 8-Pin; 9-Outrigger drive assembly, 901-Drive front crossbeam, 902-Drive rear bracket, 903-Screw nut, 904-Screw, 905-Drive motor, 906-Guide rod sleeve, 907-Guide rod; 10-Outer arm upper horizontal axis support; 11-LiDAR bracket; 12-Safety LiDAR; 13-LiDAR avoidance zone; 14-Radar adjustment assembly, 1401-Radar mounting plate, 1402-Radar pad, 1403-Spring bolt, 1404-Adjusting spring, 1405-Radar mounting position, 1406-Radar baffle, 1407-Radar screw, 1408-Radar protective cover, 1409-Screw. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. The described embodiments are merely some, not all, of the embodiments of the present invention. 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.

[0021] like Figures 1-4 As shown, this solution provides a laser radar obstacle avoidance mechanism for a lifting bin mobile robot, including a chassis 1, a bracket 2, and a lifting mechanism 3; The surface of the chassis 1 is provided with a front lifting mounting position 101 and a rear lifting mounting position 102. The left and right sides of the front lifting mounting position 101 are symmetrically provided with sliding components 4, and the left and right sides of the rear lifting mounting position 102 are symmetrically provided with lower cross shaft brackets 5 of the support arm. The bottom surface of the bracket 2 is provided with a front lifting support position 201 and a rear lifting support position 202. The left and right sides of the front lifting support position 201 are symmetrically provided with upper sliding components 6, and the left and right sides of the rear lifting support position 202 are symmetrically provided with upper cross shaft brackets 10 of the support arm. The lifting mechanism 3 includes symmetrically arranged support arm folding assemblies 7. The two support arm folding assemblies 7 are driven by the support arm drive assembly 9 to achieve synchronous folding and extension. The support arm folding assembly 7 includes a first support arm 701, a second support arm 702, a third support arm 703, and a fourth support arm 704 of the same specifications. Each support arm is provided with a front hinge hole 708, a rear hinge hole 709, and a middle hinge hole 710. Each support arm is cross-hinged by a pin 8 and is assembled with the support arm crossbeam 711, the lower support arm cross shaft 712, the front support arm upper cross shaft 713, and the rear support arm upper cross shaft 714.

[0022] A laser radar bracket 11 is fixedly installed at the axial position of the front lifting mounting position 101 of the chassis 1, and a safety laser radar 12 is mounted on the laser radar bracket 11. When the lifting mechanism 3 is in the initial retracted state, the front section 706 of the second support arm 702 and the rear section 707 of the first support arm 701 are arranged in parallel vertically, forming a fully open laser radar avoidance zone 13 between them. The laser emitted and received by the safety lidar 12 only penetrates the lidar avoidance zone 13, and the lifting mechanism 3 will not obstruct the fan-shaped scanning surface of the safety lidar 12 in any of its retracted or extended positions.

[0023] Among them, such as Figure 3 and 5As shown, the support arm beam 711 is configured as a rearwardly recessed U-shaped structure and has a laser radar avoidance groove 715. This structure is a subordinate limiting structure, used only to adapt to the rear-mounted compact assembly layout of the safety laser radar 12, raising the height of the laser working surface of the safety laser radar 12 to avoid structural obstruction by the support arm beam 711, and ensuring that the laser beam path does not pass through the laser radar avoidance groove 715. The bottom of the safety laser radar 12 is equipped with a radar adjustment component 14, which is used to achieve radar angle fine adjustment and protection. Specifically, it includes a radar mounting plate 1401, a radar pad 1402, a spring bolt 1403, an adjusting spring 1404, a radar baffle 1406, a radar screw 1407, and a radar protective cover 1408. The radar pad 1402 is fixed to the laser radar bracket 11 by screws 1409.

[0024] like Figure 5 As shown, the above structure ensures that the range of the sector scanning surface is 200° to 260°, and in this embodiment, 245° is preferred.

[0025] As a specific embodiment of this solution, this embodiment provides a laser radar avoidance mechanism for a lifting-type hopper mobile robot, which is assembled from a chassis 1, a bracket 2, a lifting mechanism 3, a laser radar bracket 11, a safety laser radar 12, and a radar adjustment component 14. The lifting mechanism 3 is sandwiched between the chassis 1 and the bracket 2. The laser radar bracket 11 is fixed at the axis of the front lifting mounting position 101 at the front of the chassis 1. The safety laser radar 12 is fixed above the laser radar bracket 11 by the radar adjustment component 14. The lifting mechanism 3, with its U-shaped avoidance beam and parallel support arm, forms a continuous unobstructed laser channel, realizing unobstructed scanning of the rear radar throughout the entire process.

[0026] like Figure 3 and Figure 4 As shown, in this embodiment, the chassis 1 serves as the robot's support base, with the plate surface divided into the front lifting mounting position 101 and the rear lifting mounting position 102. The front lifting mounting position 101 is symmetrically equipped with two sets of sliding components 4. Each set of sliding components 4 includes two parallel sliding guide rails 401 and a slidable sliding slider 402. The top surface of the sliding slider 402 is fixed to both ends of the support arm crossbeam 711. The rear lifting mounting position 102 is fixed with the lower crossbeam bracket 5 of the support arm for mounting the lower crossbeam 712. The center of the front lifting mounting position 101 is vertically fixed with the lidar bracket 11, providing a rear mounting reference for the safety lidar 12 and shortening the overall chassis length.

[0027] In this embodiment, the bracket 2 is a cargo carrying platform, and its bottom surface is divided into the front lifting support position 201 and the rear lifting support position 202. The front lifting support position 201 is symmetrically equipped with two sets of the upper sliding components 6. Each set of the upper sliding components 6 includes two parallel upper sliding guide rails 601, an upper sliding slider 602, and a front support arm upper horizontal axis support 603. The front support arm upper horizontal axis support 603 is used to hold the front support arm upper horizontal axis 713. The bottom surface of the rear lifting support position 202 is fixed with the support arm upper horizontal axis bracket 10, which is used to assemble the rear support arm upper horizontal axis 714.

[0028] like Figure 7 and 8 As shown, the lifting mechanism 3 in this embodiment includes two sets of symmetrical support arm folding assemblies 7, each set containing four support arms of the same specification: the first support arm 701, the second support arm 702, the third support arm 703, and the fourth support arm 704; each support arm is integrally formed with a front section 706, a V-shaped middle section 705, and a rear section 707, respectively having a front hinge hole 708, a rear hinge hole 709, and a middle section hinge hole 710; each support arm is cross-hinged by the pin 8; the rear ends of the two sets of first support arms 701 are connected by a support arm crossbeam 711, the support arm crossbeam 711 is recessed rearward to form a U-shape, and the U-shaped concave space constitutes the laser radar avoidance groove 715; it should be noted that the laser radar avoidance groove 715 15 is only for structural assembly clearance space, used to adapt to the compact installation layout of the safety lidar 12 close to the lifting mechanism, raising the working surface of the lidar laser to be higher than the top surface of the crossbeam, avoiding the obstruction of the crossbeam structure. The laser of the safety lidar 12 will not pass through the groove, and will only complete the scanning detection through the lidar clearance area 13 on the rear side; the bottom of the support arm crossbeam 711 is fixed to the sliding slider 402; the rear ends of the left and right second support arms 702 are connected to the lower support arm cross shaft 712 and assembled to the lower support arm cross shaft bracket 5; the front ends of the left and right fourth support arms 704 are connected to the front support arm upper cross shaft 713 and snapped into the front support arm upper cross shaft support 603; the rear ends of the left and right third support arms 703 are connected to the rear support arm upper cross shaft 714 and assembled to the upper support arm cross shaft bracket 10.

[0029] In this embodiment, the arm drive assembly 9 is arranged between the two sets of arm folding assemblies 7, and includes a drive front crossbeam 901, a drive rear bracket 902, a lead screw nut 903, a lead screw 904, a drive motor 905, a guide rod sleeve 906, and a guide rod 907; the two ends of the drive front crossbeam 901 are synchronously hinged to the second arm 702 and the third arm 703 on the same side; the two ends of the drive rear bracket 902 are synchronously hinged to the first arm 701 and the fourth arm 704 on the same side; the drive motor 905 drives the lead screw 904 to rotate, driving the front and rear crossbeams to move closer or further apart, and synchronously driving the two arm supports to fold and unfold.

[0030] like Figure 3 and Figure 6 As shown, in this embodiment, the lower layer of the radar adjustment component 14 is the radar pad 1402, which is locked to the top surface of the lidar bracket 11 by multiple screws 1409; the upper layer is the radar mounting plate 1401, with multiple sets of spring bolts 1403 evenly arranged between the two plates, each spring bolt 1403 having an adjusting spring 1404 sleeved on it, with the spring abutting against the two plate surfaces respectively; the radar mounting plate 1401 has a radar mounting position 1405 in the middle, and vertical radar baffles 1406 on both sides limit the left and right movement of the safety lidar 12, with radar screws 1407 vertically locking the radar; the radar pad 1402 extends inward to connect with the inclined radar protective cover 1408, which only covers the top of the radar and does not obstruct the lidar avoidance area 13.

[0031] Working principle: The entire unit operates in two modes: folded-down standby and lifting / transfer. The lidar avoidance groove 715 serves only as a structural assembly clearance space and does not participate in the laser beam transmission. The laser scans and detects entirely through the lidar avoidance area 13, ensuring unobstructed operation throughout all modes. (1) Principle of retracting and waiting to avoid obstacles The drive motor 905 rotates in the forward direction, and the lead screw 904 pushes the drive front crossbeam 901 away from the drive rear bracket 902, causing the two sets of support arm folding assemblies 7 to fold inward. After folding, the front section 706 of the fourth support arm 704, the front section 706 of the second support arm 702, and the rear section 707 of the first support arm 701 are parallel from top to bottom. The rear section 707 of the third support arm 703 is horizontal to the front section 706 of the fourth support arm 704, and the bracket is 2D. The second arm 702 has a horizontal support; the front section 706 of the second arm 702 is parallel to the rear section 707 of the first arm 701, with a gap in the middle forming a horizontally penetrating lidar avoidance zone 13; at the same time, the lidar avoidance groove 715 of the support arm beam 711 is adapted to the low-position compact installation structure of the lidar, so that the laser working surface of the safety lidar 12 is higher than the top surface of the beam, completely avoiding the obstruction of the beam structure, and the laser horizontally penetrates the lidar avoidance zone 13 to complete a large-area fan-shaped scan without any support arm physical obstruction.

[0032] (2) Lifting and transport avoidance principle The drive motor 905 rotates in the opposite direction, and the lead screw nut 903 pulls the drive front crossbeam 901 toward the drive rear bracket 902. The two sets of support arm folding assemblies 7 simultaneously unfold outward to lift the bracket 2. During the unfolding of the support arms, the support arms of each layer are staggered. The laser radar avoidance zone 13 always maintains a through-type hollow optical path channel. The laser radar avoidance groove 715 continuously provides structural assembly margin to ensure that the radar optical path is always higher than the crossbeam structure. The laser only scans forward through the avoidance zone, and the support arm entity will not enter the laser scanning fan-shaped range. The safety laser radar 12 maintains a complete detection field of view throughout the process, continuously provides graded warnings and emergency braking for obstacles in the robot's forward direction, and eliminates the safety hazards of collisions in narrow passages.

[0033] The sliding component 4 and the upper sliding component 6 slide synchronously and limit each other throughout the entire process to ensure the horizontal lifting of the bracket. Relying on the structural adaptability of the avoidance groove and the optical path conductivity of the avoidance area, the miniaturized robot's rear radar can achieve unobstructed, wide-angle safe detection.

[0034] The above description is merely illustrative of the embodiments of the present invention and is not intended to limit the present invention. For those skilled in the art, 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 laser radar obstacle avoidance mechanism for a lifting bin-moving robot, characterized in that, include: The chassis (1) has a front lifting mounting position (101) and a rear lifting mounting position (102) on its surface. The left and right sides of the front lifting mounting position (101) are symmetrically provided with sliding components (4), and the left and right sides of the rear lifting mounting position (102) are symmetrically provided with arm lower cross shaft brackets (5). The bracket (2) has a front lifting support position (201) and a rear lifting support position (202) on its bottom surface. The front lifting support position (201) is symmetrically provided with an upper sliding component (6) on its left and right sides, and the rear lifting support position (202) is symmetrically provided with an upper horizontal shaft bracket (10) on its left and right sides. The lifting mechanism (3) includes symmetrically arranged arm folding assemblies (7). The two arm folding assemblies (7) are driven by the arm drive assembly (9) to achieve synchronous folding and extension. The arm folding assembly (7) includes a first arm (701), a second arm (702), a third arm (703), and a fourth arm (704) of the same specifications. Each arm is provided with a front hinge hole (708), a rear hinge hole (709), and a middle hinge hole (710). Each arm is cross-hinged by a pin (8) and is assembled with the arm crossbeam (711), the lower cross shaft (712), the upper cross shaft (713), and the upper cross shaft (714). A laser radar bracket (11) is fixedly installed at the axial position of the front lifting mounting position (101) of the chassis (1), and a safety laser radar (12) is mounted on the laser radar bracket (11). When the lifting mechanism (3) is in its initial retracted state, the front section (706) of the second arm (702) and the rear section (707) of the first arm (701) are arranged in parallel vertically, forming a fully open laser radar avoidance zone (13) between them; the laser emitted and received by the safety laser radar (12) only passes through the laser radar avoidance zone (13), and the lifting mechanism (3) will not obstruct the fan-shaped scanning surface of the safety laser radar (12) in any retracted or extended position.

2. The laser radar obstacle avoidance mechanism for a lifting bin-moving robot according to claim 1, characterized in that, In the initial retracted state of the lifting mechanism (3), the front section (706) of the fourth arm (704), the front section (706) of the second arm (702), and the rear section (707) of the first arm (701) are arranged in a parallel spatial arrangement from top to bottom. The rear section (707) of the third arm (703) and the front section (706) of the fourth arm (704) are at the same horizontal height.

3. A laser radar obstacle avoidance mechanism for a lifting bin-moving robot according to claim 1, characterized in that, The bottom of the safety lidar (12) is connected to the top of the radar adjustment component (14) for limiting assembly. The radar adjustment component (14) is fixedly installed on the upper surface of the lidar bracket (11). The safety lidar (12) can be finely adjusted in both pitch and horizontal dimensions by relying on the radar adjustment component (14).

4. A laser radar obstacle avoidance mechanism for a lifting bin-moving robot according to claim 3, characterized in that, The radar adjustment assembly (14) includes a radar mounting plate (1401) and a radar pad (1402) arranged in parallel on the upper and lower layers. The radar pad (1402) is vertically locked and fixed to the upper surface of the lidar bracket (11) by multiple evenly distributed screws (1409). The radar pad (1402) serves as a lower reference bearing plate to support the upper radar mounting plate (1401).

5. A laser radar obstacle avoidance mechanism for a lifting bin-moving robot according to claim 4, characterized in that, Multiple sets of spring bolts (1403) are evenly arranged between the radar mounting plate (1401) and the radar pad (1402). Each spring bolt (1403) vertically penetrates the two layers of the plate. An adjusting spring (1404) is fitted on the outside of each spring bolt (1403). The upper end of the adjusting spring (1404) abuts against the bottom surface of the radar mounting plate (1401), and the lower end abuts against the upper surface of the radar pad (1402).

6. A laser radar obstacle avoidance mechanism for a lifting bin-moving robot according to claim 4, characterized in that, The radar mounting plate (1401) has a radar mounting position (1405) at the center of its surface. Vertical radar baffles (1406) are symmetrically arranged on the left and right sides of the radar mounting position (1405). The two radar baffles (1406) form a limiting slot. The safety laser radar (12) is fitted between the two radar baffles (1406) to achieve left and right limiting.

7. A laser radar obstacle avoidance mechanism for a lifting bin-moving robot according to claim 6, characterized in that, The bottom plane of the safety laser radar (12) is completely in contact with the surface of the radar mounting position (1405), and multiple radar screws (1407) pass through the radar mounting plate (1401) from top to bottom and are screwed into the pre-set threaded holes at the bottom of the safety laser radar (12).

8. A laser radar obstacle avoidance mechanism for a lifting bin-moving robot according to claim 1, characterized in that, The four arms inside the single-unit folding arm assembly (7) are integrally cast. Each arm is formed by the front section (706), the V-shaped middle section (705), and the rear section (707) of the arm. The length of the front section (706) is equal to the length of the rear section (707). The middle section (705) of the arm has a fixed V-shaped angle. The four arms are connected by multiple pins (8) to form a double-layer parallelogram linkage frame.

9. A laser radar obstacle avoidance mechanism for a lifting bin-moving robot according to claim 1, characterized in that, The arm drive assembly (9) is sandwiched between the left and right arm folding assemblies (7). The two ends of the drive front crossbeam (901) are synchronously hinged to the second arm (702) and the third arm (703) on the same side by means of pins (8). The two ends of the drive rear bracket (902) are synchronously hinged to the first arm (701) and the fourth arm (704) on the same side by means of pins (8). The drive motor (905) drives the lead screw (904) to rotate, and the push and pull crossbeam synchronously drives the two arms to retract or unfold synchronously.

10. A laser radar obstacle avoidance mechanism for a lifting bin-moving robot according to claim 1, characterized in that, The arm beam (711) is configured as a U-shaped structure that is recessed to the rear, and the U-shaped concave space is integrally formed with a laser radar avoidance groove (715).

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