Transfer robot anti-collision system

Abstract

The utility model discloses an anti-collision system of a transfer robot. The anti-collision system comprises a transfer robot body and an object to be parked, conductive layers are arranged on wheels of the transfer robot body; a resistance sudden change piece which makes contact with the wheels to cause resistance change between the wheels is arranged at the to-be-parked object; the carrying robot body is provided with a main controller and a resistance detector used for detecting resistance between the wheels. The resistance detector is connected with the main controller and is connected with the conductive layer; and the main controller is used for forcibly stopping the transfer robot body and / or sending prompt information when the resistance changes suddenly. The resistance detector connected with the main controller is additionally arranged, the conducting layers are arranged on the wheels, and the resistance sudden change pieces making contact with the wheels to cause resistance change between the wheels are arranged at the position of the object to be parked, so that the occurrence rate of collision accidents of the transfer robot is effectively reduced, and the safety and reliability of operation of the transfer robot are guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to a carrying robot technical field especially relates to a carrying robot anti -collision system. BACKGROUND

[0002] In the PCB manufacturing enterprise, the good operation of carrying robot is the important guarantee of the smooth production, and it will usually travel according to the preset route. The carrying robot includes AGV (automatic guided vehicle), AMR (autonomous mobile robot) and other automated carrying machines, usually has multiple wheels, such as the front and rear of AGV are provided with two 360-degree steering wheels, so that AGV can travel according to the preset route of the wheel and has good direction control. In addition, AGV and AMR have anti-collision detection mechanism, mainly including laser radar, ultrasonic sensor, vision recognition component and other obstacle avoidance and anti-collision detection mechanism, to avoid collision and damage in the process of advancing. Among them, the laser radar can accurately scan the surrounding environment, the ultrasonic sensor can detect the near distance obstacle, and the vision recognition module identifies the object through the camera. In practical application, the above technologies are usually used cooperatively to ensure safe operation and improve carrying automation efficiency.

[0003] However, in actual operation, when the carrying robot deviates from the preset trajectory and the laser radar, ultrasonic sensor and vision recognition component identify that the obstacle is abnormal, the carrying robot is easy to collide with the wall, temporary storage rack, automatic loading and unloading machine and other waiting parking objects, which not only cannot guarantee the safety of equipment and products, but also affects the normal operation of the whole production process, and seriously reduces the production efficiency. UTILITY MODEL CONTENTS

[0004] In view of this, the present application aims to at least partly solve the problems in the related art. The present application provides a carrying robot anti-collision system, which can effectively reduce the incidence of carrying robot collision accidents and reduce the modification cost of carrying robot.

[0005] The present application provides a carrying robot anti-collision system, which comprises a carrying robot body and a waiting parking object. The wheel of the carrying robot body is provided with a conductive layer. The waiting parking object is provided with a resistance mutation piece which causes the resistance change between the wheels when the wheel contacts. The carrying robot body is provided with a main controller and a resistance detector for detecting the resistance between the wheels. The resistance detector is connected with the main controller and the conductive layer. The main controller is used to make the carrying robot body stop and / or send a prompt information when the resistance changes suddenly. The waiting parking object is provided with a resistance mutation piece which causes the resistance change between the wheels when the wheel contacts.

[0006] When the carrying robot deviates from the preset path and is about to collide with the object to be parked, the wheels first contact the resistance mutation member arranged at the object to be parked, and after the wheels of the carrying robot contact the resistance mutation member, the resistance between the wheels changes instantaneously, and when the resistance between the wheels changes by more than a set resistance threshold, the main controller detects the abnormality, thereby stopping the carrying robot body from running and sending a prompt message to remind personnel to come and handle.

[0007] The application effectively reduces the incidence of collision accidents of the carrying robot, and ensures the safety and reliability of the carrying robot in operation. In addition, without complex equipment and technology, the application is easy to modify and apply in the existing carrying robot system, and compared with other complex anti-collision systems of the carrying robot, the modification cost is greatly reduced, and the environmental adaptability is stronger.

[0008] In the preferable technical scheme of the utility model, when the carrying robot body runs on the conductive ground, the resistance mutation member is an insulating tape, the insulating tape is arranged at the object to be parked and located on the outside or inside of the preset route of the wheel, and the insulating tape is close to the preset route of the wheel.

[0009] Specifically, the conductive ground is an anti-static ground, the anti-static ground has conductivity, and the insulating tape has good insulation. The wheels on the left and right sides of the carrying robot have two parallel preset routes, the outside of the preset route refers to the side away from each other of the two preset routes, and the inside refers to the side close to each other of the two preset routes. When the carrying robot body deviates from the preset route and is about to collide with the object to be parked, the wheels of the carrying robot first run on the insulating tape, the current on the wheel rapidly changes from the on-state on the anti-static ground to the off-state on the insulating tape, and the resistance between the wheel and other wheels changes from low resistance to high resistance. The insulating tape arranged on the conductive ground is conducive to realizing the above-mentioned resistance mutation between the wheels.

[0010] It should be noted that when the carrying robot body runs on the conductive ground, two insulating tapes are usually arranged at the object to be parked, and the tapes are as close as possible to the edges of the running route and are pasted. The tapes are either located on the outside of the wheel running route or simultaneously located on the inside of the wheel running route, which is conducive to ensuring that at least one wheel is on the insulating rubber tape no matter the wheel deviates to the left or the right, thereby blocking the current path on the wheel.

[0011] In the preferable technical scheme of the utility model, the width of the insulating tape is greater than the width of the wheel.

[0012] The width of the insulating adhesive tape is greater than the width of the wheel, which is conducive to completely blocking the current conduction state of the wheel.

[0013] In the preferable technical scheme of the present application, the thickness of the insulating adhesive tape is 3-5mm.

[0014] The proper thickness of the insulating adhesive tape is conducive to ensuring good insulation effect, and the thickness of the insulating adhesive tape less than 3mm is difficult to achieve good blocking effect on the current communication between the wheels, and the thickness of the insulating adhesive tape greater than 5mm is easy to hinder the movement of the carrying robot, and the wheels of the carrying robot are difficult to climb the insulating adhesive tape.

[0015] In the preferable technical scheme of the present application, when the carrying robot body moves on the insulating ground, the resistance sudden change member is a copper mesh adhesive tape, the copper mesh adhesive tape is arranged on the inner side and the outer side of the wheel preset route at the to-be-parked object, and the copper mesh adhesive tapes are connected through wires.

[0016] Specifically, the insulating ground is an epoxy resin ground, the copper mesh layer is the main conductive part of the copper mesh adhesive tape and is woven by copper wires, has excellent conductive performance and mechanical strength, and the copper mesh adhesive tapes are connected through wires. When the carrying robot body deviates from the preset route and is about to collide with the to-be-parked object, the front two wheels will first contact the copper mesh adhesive tape, the current between the wheels rapidly changes from the open circuit state on the epoxy resin ground to the closed circuit state on the copper mesh adhesive tape, and the resistance between the wheel and other wheels suddenly changes from high resistance to low resistance. The copper mesh adhesive tape with conductivity arranged on the high-resistance insulating ground is conducive to realizing the above-mentioned resistance sudden change between the wheels.

[0017] In the preferable technical scheme of the present application, the width of the copper mesh adhesive tape is greater than the width of the wheel.

[0018] The width of the copper mesh adhesive tape greater than the width of the wheel is conducive to increasing the contact area of the wheel and the copper mesh adhesive tape and promoting the current conduction and resistance change between the wheels.

[0019] In the preferable technical scheme of the present application, the thickness of the copper mesh adhesive tape is 3-5mm.

[0020] The proper thickness of the copper mesh adhesive tape is conducive to ensuring good conductive effect, the thickness of the copper mesh adhesive tape less than 3mm is difficult to achieve good conduction effect on the current communication between the wheels, and the thickness of the copper mesh adhesive tape greater than 5mm is easy to hinder the movement of the carrying robot, and the wheels are difficult to climb the copper mesh adhesive tape.

[0021] In the preferable technical scheme of the present application, the conductive layer is a conductive silver paste layer.

[0022] Specifically, the wheel is a rubber wheel, the conductive silver paste has high conductivity, excellent adhesion and flexibility, the resistance detector is connected with the conductive silver paste layer, and has more stable performance and sensitive detection performance.

[0023] In the preferable technical scheme of the utility model, the resistance detector comprises a loop resistance tester.

[0024] The loop resistance tester can be used for measuring the resistance value of a conductor, and when the resistance between the wheels changes beyond the threshold value set by the loop resistance tester, the main controller detects the abnormality of the loop resistance tester, and instructs the handling robot body to stop running and sends a prompt information to remind personnel to come for adjustment.

[0025] In the preferable technical scheme of the utility model, the to-be-parked object is a temporary storage rack, a wall or an automatic plate receiving and releasing machine, and the resistance mutation member is located at the preset route side edge of the wheel at the temporary storage rack, the wall or the automatic plate receiving and releasing machine.

[0026] The to-be-parked object such as the temporary storage rack, the wall or the automatic plate receiving and releasing machine is used for parking the handling robot body, the resistance mutation member is arranged at the to-be-parked object and located at the preset route edge of the wheel, which is beneficial to the wheel deviating from the preset route to contact the resistance mutation member in advance and stop running, and prevents the collision accident from occurring.

[0027] The utility model has at least the following beneficial effects:

[0028] Before the handling robot deviates from the preset path and is about to collide with the to-be-parked object, the wheel will first contact the resistance mutation member arranged at the to-be-parked object, after the wheel of the handling robot contacts the resistance mutation member, the resistance between the wheels will change instantaneously, when the resistance between the wheels changes beyond the threshold value, the main controller will detect this abnormality, and thus the handling robot body can be stopped running and an alarm can be sent to remind personnel to come for processing.

[0029] The application adds the resistance detector connected with the main controller, arranges the conductive layer on the wheel, and arranges the resistance mutation member at the to-be-parked object, which contacts the wheel and causes the resistance between the wheels to change, thereby effectively reducing the occurrence rate of collision accidents of the handling robot, and ensuring the safety and reliability of the handling robot in operation. In addition, without complex equipment and technology, the handling robot system can be easily modified and applied, compared with other complex handling robot anti-collision systems, the modification cost is greatly reduced, and the environmental adaptability is stronger. BRIEF DESCRIPTION OF DRAWINGS

[0030] The drawings incorporated into the specification and constituting a part of the specification, show embodiments consistent with the application, and together with the specification, serve to explain the principles of the application.

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those of ordinary skill in the art, the other drawings can also be obtained based on these drawings without any creative effort.

[0032] In the drawings:

[0033] Figure 1 One of the anti-collision systems of the carrying robot according to the embodiments of the present application;

[0034] Figure 2 The second anti-collision system of the carrying robot according to the embodiments of the present application.

[0035] Reference signs:

[0036] 11, carrying robot body; 111, wheel; 12, temporary storage rack;

[0037] 21, anti-static floor; 211, insulating tape; 22, epoxy resin floor; 221, copper mesh tape; 23, electric wire. DETAILED DESCRIPTION

[0038] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will be described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail" and the like are based on the directions or positional relationships shown in the drawings, constructed and operated in a particular direction, and are only for the convenience of describing the technical solutions, and cannot be understood as indicating that the indicated mechanisms or elements must have a particular direction, therefore, it cannot be understood as a limitation on the present application.

[0039] It should be noted that, unless otherwise explicitly specified and limited, the terms such as "mounting", "connection", "connecting", "fixing", "setting", etc. should be understood in a broad sense, for example, can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. When an element is referred to as "on" or "under" another element, the element can be "directly" or "indirectly" located on another element, or one or more intervening elements can be present. The terms "first", "second", "third", etc. are only for the convenience of describing the technical solutions, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features with "first", "second", "third", etc. can be explicitly or implicitly included one or more of the features.

[0040] In the following description, specific details such as specific system structures, techniques, etc. are presented in order to thoroughly understand the embodiments of the present application, but it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, mechanisms, circuits, and methods are omitted to avoid unnecessary details that hinder the description of the present application.

[0041] Embodiment 1

[0042] As shown in Figure 1 and Figure 2 The present embodiment provides a carrying robot anti-collision system, comprising: a carrying robot body 11 and a to-be-parked object; a conductive layer is arranged on the wheels 111 of the carrying robot body 11; a resistance mutation member that causes the resistance between the wheels 111 to change when in contact with the wheels 111 is arranged at the to-be-parked object; the carrying robot body 11 is provided with a main controller and a resistance detector for detecting the resistance between the wheels 111; the resistance detector is connected with the main controller and the conductive layer; the main controller is used to make the carrying robot body 11 stop and / or send a prompt information when the resistance changes suddenly.

[0043] Among them, the carrying robot body 11 sends a prompt information, which can be that the carrying robot body 11 sends an alarm reminder, or sends a prompt message to a related device terminal, for example, sends a prompt message to a production line management device terminal.

[0044] In the present embodiment, the to-be-parked object is Figure 1 and Figure 2The temporary storage rack 12 shown in the middle; it can be understood that in other embodiments, the object to be parked can also be a wall or an automatic retractable plate machine.

[0045] Before the carrying robot deviates from the preset path and is about to collide with the object to be parked, the wheels 111 will first contact the resistance mutation member provided at the object to be parked. After the wheels 111 of the carrying robot contact the resistance mutation member, the resistance between the wheels 111 will change instantaneously. When the resistance between the wheels 111 changes by more than a set resistance threshold, the main controller will detect this anomaly of the resistance detector, thereby stopping the carrying robot body 11 from traveling and sounding an alarm to remind personnel to come and handle it.

[0046] It should be noted that in the technical solution of the present embodiment, the forced stop or the issuance of prompt information of the carrying robot body 11 is not the core improvement of the technical solution in the present embodiment. The conventional carrying robot body 11 already has the function of forced stop or issuance of prompt information such as alarm or message prompt.

[0047] The present embodiment effectively reduces the incidence of collision accidents of the carrying robot by adding a resistance detector connected with the main controller, and providing a conductive layer on the wheels 111, and a resistance mutation member at the temporary storage rack 12 that causes the resistance between the wheels 111 to change when contacted by the wheels 111, thereby ensuring the safety and reliability of the carrying robot in operation. In addition, it does not require complex equipment and technology, and is easy to modify and apply in existing carrying robot systems. Compared with other complex anti-collision systems of carrying robots, the modification cost is greatly reduced, and the environmental adaptability is stronger.

[0048] Embodiment 2

[0049] As shown in Figure 1 and Figure 2 The present embodiment provides an anti-collision system for a carrying robot, comprising: a carrying robot body 11 and an object to be parked; a conductive layer is provided on the wheels 111 of the carrying robot body 11; a resistance mutation member that causes the resistance between the wheels 111 to change when contacted by the wheels 111 is provided at the object to be parked; the carrying robot body 11 is provided with a main controller and a resistance detector for detecting the resistance between the wheels 111; the resistance detector is connected with the main controller and connected with the conductive layer; the main controller is used to make the carrying robot body 11 forced stop and / or issue prompt information when the resistance changes abruptly.

[0050] Preferably, when the carrying robot body 11 travels on a conductive ground, the resistance mutation member is an insulating tape 211, the insulating tape 211 is provided at the object to be parked and located on the outside or inside of the preset route of the wheels 111, and the insulating tape 211 is close to the preset route of the wheels 111.

[0051] As Figure 1 shown, the conductive ground in this embodiment is an anti-static ground 21, and the object to be parked is a temporary storage rack 12. The anti-static ground 21 has conductivity, and the insulating tape 211 has good insulation. The wheels 111 on the left and right sides of the transfer robot have two parallel preset routes. The outer side of the preset route means the mutually far side of the two preset routes, and the inner side means the close side of the two preset routes. When the transfer robot body 11 deviates from the preset route and is about to collide with the temporary storage rack 12, the wheels 111 of the transfer robot will first travel on the insulating tape 211. The current on this wheel 111 rapidly changes from a conducting state on the anti-static ground 21 to an open circuit state on the insulating tape 211. The resistance between this wheel 111 and other wheels 111 suddenly changes from a low resistance value to a high resistance value. The insulating tape is arranged on the anti-static ground 21 with conductivity, which is conducive to realizing the above-mentioned resistance value mutation between the wheels 111.

[0052] When the transfer robot body 11 travels on the anti-static ground, two insulating tapes 211 are arranged at each temporary storage rack 12, and the tapes are as close as possible to the edge of the travel route. The tapes are either located on the outer side of the travel route of the wheels 111 respectively or simultaneously located on the inner side of the travel route of the wheels 111. This is conducive to ensuring that at least one wheel 111 is on the insulating rubber tape no matter whether the wheels 111 deviate to the left or to the right, thereby blocking the current path on the wheel 111.

[0053] Preferably, the width of the insulating tape 211 is greater than the width of the wheel 111.

[0054] The width of the insulating tape 211 being greater than the width of the wheel 111 is conducive to completely blocking the current conduction state of the wheel 111.

[0055] Preferably, the thickness of the insulating tape 211 is 3-5mm.

[0056] The thickness of the insulating tape in this embodiment is 4mm. A suitable thickness of the insulating tape 211 is conducive to ensuring good insulation effect. An insulating tape 211 with a thickness less than 3mm is difficult to block the current connection between the wheels 111. An insulating tape 211 with a thickness greater than 5mm is easy to hinder the travel of the transfer robot, and the wheels 111 of the transfer robot are difficult to climb the insulating tape 211.

[0057] Embodiment 3

[0058] As Figure 1 and Figure 2As shown, this embodiment provides a collision avoidance system for a transport robot, including: a transport robot body 11 and an object to be parked; the wheels 111 of the transport robot body 11 are provided with a conductive layer; a resistance change element is provided at the location of the object to be parked, which causes a change in the resistance between the wheels 111 due to contact with the wheels 111; the transport robot body 11 is provided with a main controller and a resistance detector for detecting the resistance between the wheels 111; the resistance detector is connected to the main controller and to the conductive layer; the main controller is used to force the transport robot body 11 to stop and / or issue a warning message when the resistance changes abruptly.

[0059] Preferably, when the transport robot body 11 travels on an insulated surface, the resistance change element is a copper mesh tape 221; the copper mesh tape 221 is provided on both sides of the preset route of the wheel 111; the copper mesh tape 221 is connected to each other by wires.

[0060] like Figure 2 As shown, in this embodiment, the insulating ground is an epoxy resin ground 22, and the object to be parked is a temporary storage rack 12. The copper mesh layer is the main conductive part of the copper mesh tape 221, which is woven from copper wire and has excellent conductivity and mechanical strength. A total of four copper mesh tapes 221 are provided on the preset route of the two wheels 111, and the copper mesh tapes 221 are connected by wires 23. When the handling robot body 11 deviates from the preset route and is about to collide with the temporary storage rack 12, the two front wheels 111 will first contact the copper mesh tapes 221. The current between the wheels 111 will quickly change from an open circuit state on the epoxy resin ground 22 to a closed circuit state on the copper mesh tapes 221, and the resistance between this wheel 111 and other wheels 111 will change from a high resistance value to a low resistance value. Setting the conductive copper mesh tapes 221 on the high-resistance epoxy resin ground 22 is beneficial to achieving the above-mentioned resistance change between the wheels 111.

[0061] Optionally, when the object to be parked is a conductive object, the end of the copper mesh tape 221 away from the main body 11 of the handling robot is connected to the object to be parked.

[0062] Connect one end of the copper mesh tape 221 to the conductive temporary storage rack 12. At this time, the temporary storage rack 12 is equivalent to the connecting wire between the copper mesh tapes 221. No additional wire 23 is needed, which facilitates the positioning of the copper mesh tape 221 and the conduction of current.

[0063] Preferably, the width of the copper mesh tape 221 is greater than the width of the wheel 111.

[0064] The fact that the width of the copper mesh tape 221 is greater than the width of the wheel 111 helps to increase the contact area between the wheel 111 and the copper mesh tape 221, thereby promoting current conduction and resistance change between the wheels 111.

[0065] Preferably, the thickness of the copper mesh tape 221 is 3-5mm.

[0066] In this embodiment, the thickness of the copper mesh tape 221 is 4mm. A suitable thickness of the copper mesh tape 221 is conducive to ensuring good conductivity. If the thickness of the copper mesh tape 221 is less than 3mm, it is difficult to achieve good conduction effect on the current communication between the wheels 111. If the thickness of the copper mesh tape 221 is greater than 5mm, it is easy to hinder the movement of the transport robot, and the wheels 111 of the transport robot are difficult to climb the copper mesh tape 221.

[0067] Embodiment 4

[0068] As shown in Figure 1 and Figure 2 The present embodiment provides a transport robot anti-collision system, which comprises a transport robot body 11 and a to-be-parked object. The wheels 111 of the transport robot body 11 are provided with a conductive layer. The to-be-parked object is provided with a resistance mutation member which causes the resistance between the wheels 111 to change when the wheels 111 are in contact. The transport robot body 11 is provided with a main controller and a resistance detector for detecting the resistance between the wheels 111. The resistance detector is connected to the main controller and the conductive layer. The main controller is used to make the transport robot body 11 stop and / or send a prompt message when the resistance changes.

[0069] Preferably, the conductive layer is a conductive silver paste layer.

[0070] Specifically, the wheels 111 are rubber wheels, and the conductive silver paste has high conductivity, excellent adhesion and flexibility. The resistance detector is connected to the conductive silver paste layer, and has more stable performance and sensitive detection performance.

[0071] Preferably, the resistance detector comprises a loop resistance tester. The loop resistance tester is connected to the conductive layer. The loop resistance tester is connected to the main controller.

[0072] The loop resistance tester can be used to measure the resistance value of the conductor. When the resistance between the wheels 111 changes beyond the threshold set by the loop resistance tester, the main controller detects the abnormality of the loop resistance tester, and instructs the transport robot body 11 to stop moving and sends a warning or other prompt information to remind personnel to come and adjust.

[0073] Preferably, the resistance mutation member is located at the to-be-parked object and at the edge of the preset route of the wheels 111.

[0074] The stopper is arranged at the edge of the preset route of the wheel 111, and is used for stopping the body 11 of the carrying robot, so that the wheel 111 deviating from the preset route can contact the stopper in advance and stop running, and the collision accident is prevented.

[0075] It can be understood that the above embodiments only express the preferred embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the patent scope of the present application. It should be pointed out that for ordinary skilled in the art, the above technical features can be freely combined without departing from the concept of the present application, and several modifications and improvements can be made, which belong to the protection scope of the present application. Therefore, any equivalent transformation and modification within the scope of the claims of the present application shall belong to the scope of the claims of the present application.

Claims

1. A collision avoidance system for a handling robot, characterized in that, include: Transporting the robot body (11) and the object to be parked; The wheels (111) of the transport robot body (11) are provided with a conductive layer; a resistance change device is provided at the place where the object to be parked, which causes a change in the resistance between the wheels (111) due to contact with the wheels (111); the transport robot body (11) is provided with a main controller and a resistance detector for detecting the resistance between the wheels (111); the resistance detector is connected to the main controller and to the conductive layer; the main controller is used to force the transport robot body (11) to stop and / or issue a prompt message when the resistance changes abruptly.

2. The anti-collision system for a handling robot according to claim 1, characterized in that, When the transport robot body (11) travels on a conductive ground, the resistance change element is an insulating tape (211). The insulating tape (211) is placed at the object to be parked and is located outside or inside the preset route of the wheel (111), and the insulating tape (211) is close to the preset route of the wheel (111).

3. The anti-collision system for a handling robot according to claim 2, characterized in that, The width of the insulating tape (211) is greater than the width of the wheel (111).

4. The anti-collision system for a handling robot according to claim 2, characterized in that, The thickness of the insulating tape (211) is 3-5 mm.

5. The anti-collision system for a handling robot according to claim 1, characterized in that, When the transport robot body (11) travels on an insulated ground, the resistance change element is a copper mesh tape (221); the copper mesh tape (221) is provided on both the inner and outer sides of the preset route of the wheel (111) at the location of the object to be parked; the copper mesh tapes (221) are connected by wires.

6. The anti-collision system for a handling robot according to claim 5, characterized in that, The width of the copper mesh tape (221) is greater than the width of the wheel (111).

7. The anti-collision system for a handling robot according to claim 5, characterized in that, The thickness of the copper mesh tape (221) is 3-5mm.

8. The anti-collision system for a handling robot according to claim 1, characterized in that, The conductive layer is a conductive silver paste layer.

9. The anti-collision system for a handling robot according to claim 1, characterized in that, The resistance detector includes a loop resistance detector.

10. A collision avoidance system for a handling robot according to claim 1, characterized in that, The object to be parked is a temporary storage rack (12), a wall, or an automatic retractor; the resistance change element is located at the edge of the preset route of the wheel (111) at the temporary storage rack (12), wall, or automatic retractor.

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