Carrying robot with anti-collision function

Abstract

The utility model relates to the technical field of transfer robots, in particular to a transfer robot with an anti-collision function, which comprises a transfer robot body, four cameras and two radars, and further comprises a mounting ring; a connecting blocks are arranged on the inner sides of the first C-shaped connecting plates in a sliding mode, and the first C-shaped connecting plates are installed on the outer side of the installation ring. B connecting blocks are arranged on the inner sides of the second C-shaped connecting plates in a sliding mode, and the second C-shaped connecting plates are installed on the outer side of the installation ring. A connecting part; two A mounting units; and two B mounting units. By arranging a camera, a radar, a mounting ring, a first C-shaped connecting plate, a second C-shaped connecting plate, a connecting block A and a connecting block B, the carrying robot can determine the environment and stop in advance, then the camera is used for determining that there is no problem nearby, remote reset can be conducted, and when it is determined that there is a problem, personnel go to the site to conduct processing and then reset, processing is convenient, and the working efficiency is improved. And the carrying efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of transport robots, in particular to a transport robot with an anti-collision function. Background Art

[0002] A handling robot, also known as an AGV (Automated Guided Vehicle), is an industrial robot with mobility and autonomous navigation capabilities. It is primarily used for material handling and transportation, significantly improving logistics efficiency. With the rapid development of e-commerce and the logistics industry, AGVs are finding widespread application in a variety of sectors, including e-commerce warehousing, tobacco, consumer electronics, and new energy. They enable rapid and accurate cargo handling, reducing labor costs and improving production efficiency and product quality.

[0003] When the AGV transport robot is in use, a path will be set first, and the items will be placed on the AGV transport robot. Then the AGV transport robot will move along the set path with the items and bring the items to the designated location.

[0004] Existing AGV transport robots typically only move along a set path. If there's interference along the path, the AGV stops moving, requiring personnel to verify the surroundings and reset the robot, impacting transport efficiency. To address this issue, we propose a transport robot with collision avoidance. Summary of the Invention

[0005] The purpose of this utility model is to solve the problem in the prior art that the existing AGV transport robots usually only move on a set path. When there is interference on the path, the AGV transport robot will stop moving, and personnel will be required to confirm and reset the environment near the AGV transport robot, which affects the transport efficiency. A transport robot with anti-collision function is proposed.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A transport robot with anti-collision function is designed, including a transport robot body, four cameras, and two radars. The four cameras are divided into two groups and located on the left and right sides of the transport robot body, with two cameras in each group facing the front and back sides respectively. The radars are located on the front and back sides of the transport robot body. The cameras and radars are connected to the transport robot body via data cables. The following is also included:

[0008] A mounting ring, which can slide on the outside of the handling robot body, and a positioning ring is provided on the lower side of the mounting ring, and the positioning ring is fixedly connected to the outside of the handling robot body;

[0009] Two C-shaped connecting plates (1), with an A connecting block sliding inside the C-shaped connecting plate (1), and an A mounting hole (A) on one side of the A connecting block. The cameras can be installed at the front and rear ends of the inner side of the A mounting hole, respectively. The C-shaped connecting plate (1) is installed on the outside of the mounting ring;

[0010] Two C-shaped connecting plates 2, a B connecting block slidingly provided on the inner side of the C-shaped connecting plate 2, a B mounting hole provided on one side of the B connecting block, the radar can be installed inside the B mounting hole, and the C-shaped connecting plate 2 is installed on the outer side of the mounting ring;

[0011] A connecting portion, the connecting portion being located between the mounting ring and the handling robot body;

[0012] Two A-mounting units, each A-mounting unit being located between the first C-shaped connecting plate and the A-connecting block;

[0013] Two B installation units, wherein the B installation units are located between the second C-shaped connecting plate and the B connecting block.

[0014] Preferably, four A positioning grooves are provided on the inner side of the mounting ring, and an A positioning plate is slidably provided on the inner side of the A positioning groove. The A positioning plate is fixedly connected to the outer side of the transport robot body and the upper side of the positioning ring.

[0015] By adopting the above technical solution, the A positioning plate plays a guiding and positioning role for the mounting ring, making the installation of the mounting ring more convenient.

[0016] Preferably, the connecting part includes several positioning rods, and several mounting grooves are provided on the upper side of the transport robot body. A positioning hole is provided on the inner side of the mounting groove, and B positioning hole is provided on the inner side of the mounting ring. The positioning rod can slide on the inner side of the A positioning hole and the B positioning hole. An A connecting shell is sliding on the outer side of the positioning rod, and the A connecting shell is installed on the inner side of the mounting groove. An A sliding groove and two B positioning grooves are provided on the outer side of the A connecting shell. An A positioning block is installed on the inner side of the mounting groove, and two C positioning grooves are provided on the upper side of the A positioning block. A positioning plate is fixed on the outer side of the positioning rod, and the positioning plate can slide on the inner sides of the A sliding groove, the B positioning groove and the C positioning groove.

[0017] By adopting the above technical solution, the connecting portion allows the mounting ring to be installed more quickly on the outside of the handling robot body and allows the two to be connected.

[0018] Preferably, the A mounting unit includes four B positioning blocks and an A limiting plate, an A contact plate is installed on the lower side of the A limiting plate, the A contact plate is located on the upper side of the A connecting block, an A limiting groove is provided on the lower side of the A connecting block, B limiting grooves are provided on both the left and right ends of the inner side of the C-type connecting plate, a B positioning plate is sliding on the inner side of the A limiting groove, the B positioning plate is fixedly connected to the inner side of the C-type connecting plate, an A limiting block is sliding on the inner side of the B limiting groove, the A limiting block is fixedly connected to the A connecting block, positioning bars are fixed on the left and right sides of the A limiting plate, the positioning bar can slide on the inner side of the B limiting groove, the B positioning block is located on the upper side of the A limiting plate, an A connecting rod is provided on the upper side of the two B positioning blocks, and an A quick-release part is provided between the B positioning block and the inner side of the C-type connecting plate.

[0019] By adopting the above technical solution, the A installation unit allows the A connection block with the camera to be installed more quickly on the inner side of the C-shaped connection plate.

[0020] Preferably, two connecting strips and four blind holes are provided on the upper side of the C-shaped connecting plate, positioning columns are fixed on both the left and right ends of the lower side of the connecting strip, the positioning columns can slide inside the blind holes, and a mounting block is fixed on the lower side of the connecting strip, and the mounting block is fixedly connected to the upper side of the A limit plate.

[0021] By adopting the above technical solution, the connecting strip and the positioning column connect the upper opening of the C-shaped connecting plate 1 together, making the C-shaped connecting plate 1 more stable.

[0022] Preferably, the A quick-release part includes two A springs, and the B positioning block is fixed with an A sliding block on the side away from the A limit plate, and an A mounting shell is sliding on the outside of the A sliding block, and the A mounting shell is fixedly connected to the inner side of the C-shaped connecting plate, and the A sliding cylinder is fixed with an A sliding cylinder on the side away from the B positioning block, and the A sliding cylinder can slide on the inside of the A mounting shell, and an A sliding hole is provided on one side of the A mounting shell, and the B positioning block can slide on the inside of the A sliding hole, and an A through hole is provided on the upper side of the A mounting shell, and an A auxiliary block slides on the A through hole, and the A auxiliary block is connected between the A sliding cylinder and the A connecting rod, and the A spring is located on the inside of the A sliding cylinder and between the A sliding block and the inside of the A mounting shell.

[0023] By adopting the above technical solution, the A quick-release portion can make the A connecting block more convenient to be removed from the C-shaped connecting plate.

[0024] Preferably, the B installation unit includes a B limit plate and two positioning pins, and there are two C positioning blocks sliding on the outside of the positioning pins, and the C positioning block is fixedly connected to the B limit plate. The inner side of the second C-shaped connecting plate is provided with two D positioning grooves and four C limiting grooves, and the D positioning grooves and the C limiting grooves are communicated with each other. The B limit plate can slide on the inner side of the D positioning groove, and the lower side of the B limit plate is slidably connected to the A connecting plate, and the lower side of the A connecting plate is installed with a B contact plate, and the B contact plate is located on the upper side of the B connecting block. B limit blocks are fixed on both sides of the A connecting plate. The B limit block can slide on the inner side of the C limit groove, and the C-type connecting plate 2 is provided with an A auxiliary groove on the side away from the mounting ring, and the A auxiliary groove is communicated with the C limit groove. The upper side of the A connecting plate is provided with two B auxiliary grooves, and the B connecting block is provided with an A limit strip and a B limit strip on the side away from the mounting ring. The A limit strip is located on the upper side of the B limit strip, and the B limit strip is fixedly connected to the inner side of the C-type connecting plate 2, and the A limit strip is fixedly connected to the lower side of the A connecting plate. The A connecting plate is provided with a B connecting rod on the side away from the mounting ring, and a B quick-release portion is provided between the positioning pin and the C-type connecting plate 2.

[0025] By adopting the above technical solution, the B installation unit allows the B connection block with the radar to be installed more quickly on the inner side of the second C-type connection plate.

[0026] Preferably, the B quick-release part includes a B spring, a B sliding cylinder is fixed on the lower side of the positioning pin, a B mounting shell is slid on the outside of the B sliding cylinder, the B mounting shell is connected to the second C-shaped connecting plate, the B spring is located between the inner side of the B sliding cylinder and the inner side of the B mounting shell, a B sliding hole is provided on one side of the B mounting shell, the positioning pin can slide on the inside of the B sliding hole, a B through hole is provided on one side of the B mounting shell, the B connecting rod can slide on the inside of the B through hole and the B connecting rod is fixedly connected to the outside of the B sliding cylinder.

[0027] By adopting the above technical solution, the B quick-release portion can make the B connecting block more convenient to remove from the second C-shaped connecting plate.

[0028] The utility model proposes a transport robot with anti-collision function, which has the following beneficial effects:

[0029] By setting up cameras, radars, mounting rings, C-type connecting plate 1, C-type connecting plate 2, A connecting block, and B connecting block, the status of the transport robot on its route can be determined more conveniently through cameras and radars, allowing the transport robot to determine the environment and stop in advance. The camera can be used to determine that there are no problems nearby and can be reset remotely. When a problem is determined, personnel can reset the robot after going to the site to handle it, which facilitates processing and improves transport efficiency. At the same time, determining the situation in advance and stopping can reduce the probability of collision of the transport robot and improve transport quality.

[0030] By arranging C-type connecting plate 1, C-type connecting plate 2, A connecting block, B connecting block, A mounting unit, and B mounting unit, the camera and radar can be installed and disassembled more conveniently, thereby improving the efficiency of installation and disassembly of the camera and radar.

[0031] By providing the mounting ring, the positioning ring and the connecting portion, the mounting ring can be more conveniently mounted on the handling robot, thereby improving the efficiency of mounting and dismounting the mounting ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the front three-dimensional structure of a handling robot with anti-collision function proposed by the present invention;

[0033] Figure 2 The utility model proposed Figure 1 A schematic diagram of the partially enlarged three-dimensional structure of area A in the middle;

[0034] Figure 3 The utility model proposed Figure 1 A schematic diagram of the partially enlarged three-dimensional structure of area B in the middle;

[0035] Figure 4 The utility model proposed Figure 1 Schematic diagram of the partially enlarged three-dimensional structure of the middle C area;

[0036] Figure 5 The utility model proposed Figure 4 Schematic diagram of the partially enlarged three-dimensional structure of the middle D area;

[0037] Figure 6 This is a schematic diagram of a partially cutaway three-dimensional structure of the front side of a transport robot with an anti-collision function proposed by the present invention;

[0038] Figure 7 The utility model proposed Figure 6 Schematic diagram of the partially enlarged three-dimensional structure of the middle E area;

[0039] Figure 8 The utility model proposed Figure 6 Schematic diagram of the partially enlarged three-dimensional structure of the middle F area;

[0040] Figure 9 This is a partially cutaway three-dimensional structural diagram of the right side of a transport robot with an anti-collision function proposed by the present invention;

[0041] Figure 10 The utility model proposed Figure 9 Schematic diagram of the partially enlarged three-dimensional structure of the middle G area;

[0042] Figure 11 The utility model proposed Figure 9Schematic diagram of the partially enlarged three-dimensional structure of the middle H area;

[0043] Figure 12 The utility model proposed Figure 9 Schematic diagram of the partially enlarged three-dimensional structure of the middle I area;

[0044] Figure 13 This is a schematic diagram of the right side cutaway three-dimensional structure of a transport robot with an anti-collision function proposed by the present invention;

[0045] Figure 14 The utility model proposed Figure 13 Schematic diagram of the partially enlarged three-dimensional structure of the middle J area.

[0046] In the figure: 1. Transport robot body; 2. Camera; 3. Radar; 4. Mounting ring; 5. C-type connecting plate 1; 6. C-type connecting plate 2; 7. Connecting part; 71. Positioning rod; 72. Connecting shell A; 73. Positioning block A; 74. Positioning piece; 8. Mounting unit A; 81. Positioning block B; 82. Limiting plate A; 83. Contact plate A; 84. Positioning plate B; 85. Limiting block A; 86. Positioning strip; 87. Connecting rod A; 88. Quick release part A; 881. Spring A; 882. Sliding block A; 883. Mounting shell A; 88 4. Sliding cylinder A; 885. Auxiliary block A; 89. Connecting strip; 810. Positioning column; 811. Mounting block; 9. Mounting unit B; 91. Limit plate B; 92. Positioning pin; 93. Positioning block C; 94. Connecting plate A; 95. Contact plate B; 96. Limit block B; 97. Connecting rod B; 98. Quick release unit B; 981. Spring B; 982. Sliding cylinder B; 983. Mounting shell B; 99. Limit strip A; 910. Limit strip B; 10. Positioning ring; 11. Connecting block A; 12. Connecting block B; 13. Positioning plate A. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0048] Reference Figure 1-14 A transport robot with an anti-collision function includes a transport robot body 1, four cameras 2, and two radars 3. The four cameras 2 are divided into two groups and are located on the left and right sides of the transport robot body 1, with two cameras 2 in each group facing the front and back sides respectively. The radars 3 are located on the front and back sides of the transport robot body 1. The cameras 2 and radars 3 are connected to the transport robot body 1 via data cables. The robot also includes: a mounting ring 4, two C-shaped connecting plates 1 5, two C-shaped connecting plates 2 6, a connecting portion 7, two A mounting units 8, and two B mounting units 9:

[0049] The mounting ring 4 can slide on the outside of the handling robot body 1, and four A positioning grooves are provided on the inside of the mounting ring 4. A positioning plate 13 is slidably provided on the inside of the A positioning groove. The A positioning plate 13 is fixedly connected to the outside of the handling robot body 1 and the upper side of the positioning ring 10. The A positioning plate 13 plays a guiding and positioning role for the mounting ring 4, making the installation of the mounting ring 4 more convenient and more stable after installation. A positioning ring 10 is provided on the lower side of the mounting ring 4, and the positioning ring 10 is fixedly connected to the outside of the handling robot body 1. The positioning ring 10 plays a limiting role for the mounting ring 4, which facilitates the installation of the mounting ring 4 and prevents the mounting ring 4 from falling;

[0050] The connecting part 7 is located between the mounting ring 4 and the handling robot body 1. The connecting part 7 includes several positioning rods 71. Several mounting grooves are provided on the upper side of the handling robot body 1. A positioning hole A is provided on the inner side of the mounting groove. A positioning hole B is provided on the inner side of the mounting ring 4. The positioning rod 71 can slide inside the A positioning hole and the B positioning hole. An A connecting shell 72 slides on the outer side of the positioning rod 71. The A connecting shell 72 is installed on the inner side of the mounting groove. An A sliding groove and two B positioning grooves are provided on the outer side of the A connecting shell 72. An A positioning block 73 is installed on the inner side of the mounting groove. Two C positioning grooves are provided on the upper side of the A positioning block 73. A positioning piece 74 is fixed on the outer side of the positioning rod 71. The positioning piece 74 can slide inside the A sliding groove, the B positioning groove and the C positioning groove. The two C positioning grooves on the A positioning block 73 correspond to the connection position and the mounting position respectively. When the positioning piece 74 is in the mounting position When the locking yoke 71 is in position, the locking yoke 71 is locked and the locking yoke 73 is locked, so that the master lock yoke 73 is locked and the master lock yoke 73 is locked.

[0051] An A-connecting block 11 slides inside the C-shaped connecting plate 15, and an A-mounting hole is provided on one side of the A-connecting block 11. The cameras 2 can be installed at the front and rear ends of the inner side of the A-mounting hole, respectively. The C-shaped connecting plate 15 is installed on the outside of the mounting ring 4. The cameras 2 can identify the front and rear sides of the transport robot body 1 and determine the environmental status of the transport robot body 1 moving forward or backward;

[0052] The A installation unit 8 is located between the C-type connecting plate 5 and the A connecting block 11. The A installation unit 8 includes four B positioning blocks 81 and an A limiting plate 82. An A contact plate 83 is installed on the lower side of the A limiting plate 82. The A contact plate 83 is located on the upper side of the A connecting block 11. The A contact plate 83 is made of a flexible material. When the A contact plate 83 contacts the A connecting block 11, the wear on the A connecting block 11 is reduced, and it has a certain deformation amount, which improves the applicability of the device. An A limiting groove is provided on the lower side of the A connecting block 11. A B positioning plate 84 slides inside the A limiting groove. The B positioning plate 84 is fixedly connected to the inner side of the C-type connecting plate 5. The B positioning plate 84 is fixedly connected to the inner side of the C-type connecting plate 5. The positioning plate 84 plays a role in positioning and limiting the A connection block 11, making the A connection block 11 more stable after installation. B limit grooves are provided on both ends of the inner side of the C-shaped connection plate 15. A limit block 85 slides inside the B limit groove. The A limit block 85 is fixedly connected to the A connection block 11. The A limit block 85 plays a role in positioning and limiting the A connection block 11, making the A connection block 11 more stable after installation, thereby improving the installation stability of the camera 2. When the A connection block 11 is installed in place, the A limit plate 82 is pressed onto the A connection block 11 with the A contact plate 83, and the A connection block 11 is installed and positioned in cooperation with the A limit block 85;

[0053] Two connecting strips 89 and four blind holes are provided on the upper side of the C-type connecting plate 5. Positioning columns 810 are fixed on both the left and right ends of the lower side of the connecting strip 89. The positioning columns 810 can slide inside the blind holes. A mounting block 811 is fixed on the lower side of the connecting strip 89. The mounting block 811 is fixedly connected to the upper side of the A limit plate 82. The connecting strip 89 is installed together with the A limit plate 82 through the mounting block 811, allowing the positioning columns 810 to enter the blind holes and connect the upper openings of the C-type connecting plate 5 together to make the C-type connecting plate 5 more stable. The A limit plate 82 is fixed to the lower side of the connecting strip 89. 2. Positioning bars 86 are fixed on both sides. The positioning bars 86 can slide inside the B limit groove. The positioning bars 86 guide and position the A limit plate 82, making the A limit plate 82 more stable after installation. The B positioning block 81 is located on the upper side of the A limit plate 82. The B positioning block 81 positions the A limit plate 82 from the upper side, preventing the A limit plate 82 from moving arbitrarily, thereby improving the stability of the device. A connecting rod 87 is provided on the upper side of the two B positioning blocks 81, allowing the A connecting block 11 to be installed from top to bottom into the C-shaped connecting plate 5.

[0054] A quick-release portion 88 is provided between the B positioning block 81 and the inner side of the C-type connecting plate 5. The A quick-release portion 88 includes two A springs 881. A sliding block 882 is fixed to the side of the B positioning block 81 away from the A limit plate 82. An A mounting shell 883 slides on the outer side of the A sliding block 882. The A mounting shell 883 is fixedly connected to the inner side of the C-type connecting plate 5. A sliding cylinder 884 is fixed to the side of the A sliding block 882 away from the B positioning block 81. The A sliding cylinder 884 can slide on the A mounting shell. On the inside of the shell 883, one side of the A mounting shell 883 is provided with an A sliding hole, and the B positioning block 81 can slide inside the A sliding hole. The upper side of the A mounting shell 883 is provided with an A through hole, and the A through hole slides with an A auxiliary block 885. The A auxiliary block 885 is connected to the A sliding cylinder 884 and the A connecting rod 87. The A spring 881 is located inside the A sliding cylinder 884 and between the A sliding block 882 and the inside of the A mounting shell 883. When installed, the chamfer under the A contact plate 83 is aligned with the B positioning block. When the A limit plate 82 is moved downward to the appropriate position, the A spring 881 will reset the B positioning block 81 through the A sliding block 882 and the A sliding cylinder 884. At this time, the B positioning block 81 is located on the A limit plate 82 to achieve the positioning of the A limit plate 82. At the same time, the A connecting rod 87, the A sliding block 882, the A sliding cylinder 884 and the A auxiliary block 885 can be used to move the two B positioning blocks 81 on one side together, so that the B positioning block 81 leaves the A limit plate 82. At this time, the A limit plate 82 can be moved upward for disassembly, thereby improving the installation and disassembly efficiency of the camera 2. At the same time, the C-type connecting plate 5 and the A limiting plate 82 can protect the camera 2 and the A connecting block 11, thereby improving the service life of the camera 2.

[0055] A B connecting block 12 is slidably provided on the inner side of the C-shaped connecting plate 2 6. A B mounting hole is provided on one side of the B connecting block 12. The radar 3 can be installed on the inner side of the B mounting hole. The C-shaped connecting plate 2 6 is installed on the outer side of the mounting ring 4. The radar 3 can determine objects on the front and rear sides of the transport robot body 1, thereby ensuring the safety of the moving path of the transport robot body 1 and improving the stability of the transport robot body 1 during movement.

[0056] The B installation unit 9 is located between the C-type connecting plate 26 and the B connecting block 12. The B installation unit 9 includes a B limit plate 91 and two positioning pins 92. There are two C positioning blocks 93 sliding on the outside of the positioning pin 92. The C positioning block 93 is fixedly connected to the B limit plate 91. Two D positioning grooves and four C limit grooves are provided on the inside of the C-type connecting plate 26. The D positioning grooves and the C limit grooves are connected. The B limit plate 91 can slide inside the D positioning groove. The lower side of the B limit plate 91 is slidably connected to A connecting plate 94 is provided with a B contact plate 95 on the lower side of the A connecting plate 94, and the B contact plate 95 is located on the upper side of the B connecting block 12. B limit blocks 96 are fixed on both sides of the A connecting plate 94, and the B limit blocks 96 can slide inside the C limit groove. An A auxiliary groove is provided on the side of the C-type connecting plate 26 away from the mounting ring 4, and the A auxiliary groove is connected to the C limit groove. Two B auxiliary grooves are provided on the upper side of the A connecting plate 94, and an A limit strip 99 and a B limit strip are provided on the side of the B connecting block 12 away from the mounting ring 4. The A limit strip 910 is located on the upper side of the B limit strip 910. The B limit strip 910 is fixedly connected to the inner side of the C-type connecting plate 2 6. The A limit strip 99 is fixedly connected to the lower side of the A connecting plate 94. The A connecting plate 94 is provided with a B connecting rod 97 on the side away from the mounting ring 4. When the B connecting block 12 is installed in the C-type connecting plate 2 6, the B limit strip 91 is slid out from the A connecting plate 94 so that the two are in a state of being away from each other. Then, the A connecting plate 94 is pressed against the B contact plate 95 with the B contact plate 95. The connecting block 12, the A auxiliary groove and the B auxiliary groove ensure that the B limit plate 91 and the C-type connecting plate 6 will not interfere with each other in this state. At this time, the B limit plate 91 is slid into the D positioning groove so that the B limit plate 91 is on the upper side of the A connecting plate 94. The B limit plate 91 limits the upper and lower positions of the A connecting plate 94. At the same time, the A connecting plate 94 is horizontally positioned by the B limit block 96, and the A limit strip 99 and the B limit strip 910 are used to realize the installation and positioning of the B connecting block 12.

[0057] A B quick-release portion 98 is provided between the locating pin 92 and the C-type connecting plate 26. The B quick-release portion 98 includes a B spring 981. A B sliding cylinder 982 is fixed to the lower side of the locating pin 92. A B mounting shell 983 is slidably provided on the outside of the B sliding cylinder 982. The B mounting shell 983 is connected to the C-type connecting plate 26. The B spring 981 is located between the inner side of the B sliding cylinder 982 and the inner side of the B mounting shell 983. A B sliding hole is provided on one side of the B mounting shell 983. The locating pin 92 can slide inside the B sliding hole. A B through-hole is provided on one side of the B mounting shell 983. The B connecting rod 97 can slide inside the B through-hole and the B connecting rod 97 is fixedly connected to the outer side of the B sliding cylinder 982. When the B limit plate 91 is installed, it will be The positioning pin 92 carries the B sliding cylinder 982 to press into the B mounting shell 983, and then the B limit plate 91 is slid into the D positioning groove. After it is in place, under the action of the B spring 981, the B sliding cylinder 982 carries the positioning pin 92 to move upward and reset into the C positioning block 93, so that the B limit plate 91 cannot move horizontally, making the positioning of the B limit plate 91 more stable. Use the B connecting rod 97 to move the two B sliding cylinders 982 together, so that the B sliding cylinder 982 carries the positioning pin 92 away from the C positioning block 93, so that the B limit plate 91 can move horizontally. When the B limit plate 91 moves out of the D positioning groove, the A connecting plate 94 can be disassembled upward, thereby improving the installation and disassembly efficiency of the radar 3.

[0058] In the description of this patent, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense, for example, to mean a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection, an indirect connection through an intermediate medium, or internal communication between two components. A person skilled in the art will understand the specific meanings of the above terms in this patent in specific circumstances.

[0059] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A transport robot with an anti-collision function, comprising a transport robot body (1), four cameras (2) and two radars (3), wherein the four cameras (2) are divided into two groups and are located on the left and right sides of the transport robot body (1), and each group of two cameras (2) faces the front and back sides respectively, and the radars (3) are located on the front and back sides of the transport robot body (1), and the cameras (2) and the radars (3) are connected to the transport robot body (1) via data cables, characterized in that: Also includes: A mounting ring (4), the mounting ring (4) being slidable on the outside of the transport robot body (1), a positioning ring (10) being provided on the lower side of the mounting ring (4), the positioning ring (10) being fixedly connected to the outside of the transport robot body (1); Two C-shaped connecting plates (5), an A connecting block (11) is slidably provided on the inner side of the C-shaped connecting plate (5), an A mounting hole is provided on one side of the A connecting block (11), the camera (2) can be mounted at the front and rear ends of the inner side of the A mounting hole, respectively, and the C-shaped connecting plate (5) is mounted on the outer side of the mounting ring (4); Two C-shaped connecting plates (6), a B connecting block (12) is slidably provided on the inner side of the C-shaped connecting plate (6), a B mounting hole is provided on one side of the B connecting block (12), the radar (3) can be installed on the inner side of the B mounting hole, and the C-shaped connecting plate (6) is installed on the outer side of the mounting ring (4); A connecting portion (7), the connecting portion (7) being located between the mounting ring (4) and the handling robot body (1); Two A-mounting units (8), wherein the A-mounting units (8) are located between the first C-shaped connecting plate (5) and the A-connecting block (11); Two B mounting units (9), wherein the B mounting units (9) are located between the second C-shaped connecting plate (6) and the B connecting block (12).

2. A transport robot with anti-collision function according to claim 1, characterized in that: Four A positioning grooves are provided on the inner side of the mounting ring (4), and an A positioning plate (13) is slidably provided on the inner side of the A positioning groove. The A positioning plate (13) is fixedly connected to the outer side of the transport robot body (1) and the upper side of the positioning ring (10).

3. The transport robot with anti-collision function according to claim 1, characterized in that: The connecting portion (7) includes a plurality of positioning rods (71), a plurality of mounting grooves are provided on the upper side of the transport robot body (1), a positioning hole A is provided on the inner side of the mounting groove, a positioning hole B is provided on the inner side of the mounting ring (4), the positioning rod (71) can slide on the inner side of the positioning hole A and the positioning hole B, an A connecting shell (72) slides on the outer side of the positioning rod (71), the A connecting shell (72) is installed on the inner side of the mounting groove, an A sliding groove and two B positioning grooves are provided on the outer side of the A connecting shell (72), an A positioning block (73) is installed on the inner side of the mounting groove, two C positioning grooves are provided on the upper side of the A positioning block (73), a positioning piece (74) is fixed on the outer side of the positioning rod (71), and the positioning piece (74) can slide on the inner sides of the A sliding groove, the B positioning groove and the C positioning groove.

4. The transport robot with anti-collision function according to claim 1, characterized in that: The A mounting unit (8) includes four B positioning blocks (81) and an A limiting plate (82), an A contact plate (83) is installed on the lower side of the A limiting plate (82), the A contact plate (83) is located on the upper side of the A connecting block (11), and an A limiting groove is provided on the lower side of the A connecting block (11). The left and right ends of the inner side of the C-type connecting plate (5) are provided with B limiting grooves, and a B positioning plate (84) is slidably provided on the inner side of the A limiting groove. The B positioning plate (84) is fixedly connected to the inner side of the C-type connecting plate (5). A limit block (85) is slidably mounted on the inner side of the B limit groove. The A limit block (85) is fixedly connected to the A connecting block (11). Positioning bars (86) are fixed on both the left and right sides of the A limit plate (82). The positioning bars (86) can slide on the inner side of the B limit groove. The B positioning block (81) is located on the upper side of the A limit plate (82). A connecting rod (87) is provided on the upper side of the two B positioning blocks (81). A quick-release portion (88) is provided between the B positioning block (81) and the inner side of the C-shaped connecting plate (5).

5. The transport robot with anti-collision function according to claim 4, characterized in that: Two connecting strips (89) and four blind holes are provided on the upper side of the C-shaped connecting plate (5). Positioning posts (810) are fixed to both left and right ends of the lower side of the connecting strip (89). The positioning posts (810) can slide inside the blind holes. A mounting block (811) is fixed to the lower side of the connecting strip (89). The mounting block (811) is fixedly connected to the upper side of the A limit plate (82).

6. The transport robot with anti-collision function according to claim 4, characterized in that: The A quick-release portion (88) includes two A springs (881), an A sliding block (882) is fixed on the side of the B positioning block (81) away from the A limit plate (82), an A mounting shell (883) is slidably mounted on the outside of the A sliding block (882), and the A mounting shell (883) is fixedly connected to the inner side of the C-shaped connecting plate (5), and an A sliding cylinder (884) is fixed on the side of the A sliding block (882) away from the B positioning block (81), and the A sliding cylinder (884) can slide on the A mounting shell (88 3) On the inner side, one side of the A mounting shell (883) is provided with an A sliding hole, and the B positioning block (81) can slide inside the A sliding hole. The upper side of the A mounting shell (883) is provided with an A through hole, and the A through hole slides with an A auxiliary block (885), and the A auxiliary block (885) is connected to the A sliding cylinder (884) and the A connecting rod (87). The A spring (881) is located inside the A sliding cylinder (884) and between the A sliding block (882) and the inner side of the A mounting shell (883).

7. The transport robot with anti-collision function according to claim 1, characterized in that: The B installation unit (9) includes a B limit plate (91) and two positioning pins (92), two C positioning blocks (93) are slidably mounted on the outside of the positioning pins (92), and the C positioning blocks (93) are fixedly connected to the B limit plate (91). The inner side of the second C-type connecting plate (6) is provided with two D positioning grooves and four C limiting grooves, and the D positioning grooves and the C limiting grooves are communicated with each other. The B limit plate (91) can slide inside the D positioning grooves. The lower side of the B limit plate (91) is slidably connected to the A connecting plate (94), and the lower side of the A connecting plate (94) is provided with a B contact plate (95), and the B contact plate (95) is located on the upper side of the B connecting block (12). The left and right sides of the A connecting plate (94) are fixed with B limit blocks (96), and the B limit blocks (96) are fixed to the left and right sides of the A connecting plate (94). ) can slide on the inner side of the C limit groove, the C-type connecting plate 2 (6) is provided with an A auxiliary groove on the side away from the mounting ring (4), the A auxiliary groove is communicated with the C limit groove, the upper side of the A connecting plate (94) is provided with two B auxiliary grooves, the B connecting block (12) is provided with an A limit strip (99) and a B limit strip (910) on the side away from the mounting ring (4), the A limit strip (99) is located on the upper side of the B limit strip (910), the B limit strip (910) is fixedly connected to the inner side of the C-type connecting plate 2 (6), the A limit strip (99) is fixedly connected to the lower side of the A connecting plate (94), the A connecting plate (94) is provided with a B connecting rod (97) on the side away from the mounting ring (4), and a B quick-release portion (98) is provided between the positioning pin (92) and the C-type connecting plate 2 (6).

8. The transport robot with anti-collision function according to claim 7, characterized in that: The B quick-release portion (98) includes a B spring (981), a B sliding cylinder (982) is fixed on the lower side of the positioning pin (92), a B mounting shell (983) is slidably mounted on the outer side of the B sliding cylinder (982), and the B mounting shell (983) is connected to the second C-type connecting plate (6). The B spring (981) is located between the inner side of the B sliding cylinder (982) and the inner side of the B mounting shell (983), a B sliding hole is provided on one side of the B mounting shell (983), the positioning pin (92) can slide on the inner side of the B sliding hole, a B through hole is provided on one side of the B mounting shell (983), the B connecting rod (97) can slide on the inner side of the B through hole, and the B connecting rod (97) is fixedly connected to the outer side of the B sliding cylinder (982).

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