Material handling device

Abstract

The utility model belongs to material transfer technical field discloses a kind of material handling devices, protective cover is at least partly protruding device body front wall, when device body moves to front existence goods shelf, wall or personnel and so on obstacles, protective cover will be prior to device body and mechanical arm and obstacle contact, provide physical protection effect for mechanical arm.After protective cover and obstacle collision, compared with the opposite direction of device body moving direction displacement is generated, so that anti-collision brake module switches to enable state, brake piece is reset under the action of elastic component and slides to brake running wheel, interrupt the movement process of device body, improve the protection reliability of mechanical arm.Set up anti-collision brake module to guarantee the safety of material handling platform handling operation, the anti-collision effect of the material handling device proposed in the utility model is realized by the mechanical protection of protective cover and brake assembly to mechanical arm and device body, and the protection cost of mechanical arm is low and the protection response speed is fast.

Description

Technical Field

[0001] This utility model relates to the field of material transfer technology, and in particular to a material handling device. Background Technology

[0002] Traditional material handling relies on manual labor, resulting in poor continuity and long processing times. To improve material handling efficiency, automated guided vehicles (AGVs) or robotic handling robots are now used in existing supply chains for processes such as material sorting, transfer, and distribution.

[0003] However, automated guided vehicles (AGVs) or material handling robots are prone to collisions with surrounding shelves, walls, or people during operation, which can damage the top-mounted material handling actuators, interfere with or interrupt material handling operations, and affect the safety of the operations. To improve the collision avoidance capabilities of the material handling actuators, related technologies typically add electronic sensors to the equipment to collect environmental information in real time and issue adjustment commands to the drive mechanism via a controller to reduce the risk of collisions. However, this solution is costly to prevent collisions and the adjustment commands have a significant lag, making it impossible to completely eliminate the risk of collisions.

[0004] Therefore, there is an urgent need to develop a new material handling device to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a material handling device that can improve the real-time performance and reliability of the robotic arm's protection, reduce protection costs, and improve the safety of material handling operations.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] This utility model discloses a material handling device, including a device body, with wheels rotatably mounted on the lower part of the device body, and a robotic arm for handling materials mounted on the upper part of the device body. The material handling device also includes an anti-collision braking module, which includes: a protective cover, placed on the upper part of the device body and at least partially protruding from the front wall of the device body, the protective cover and the device body together forming a protective space for protecting the robotic arm; and a braking assembly, including an elastic element, a braking element, and a stop element. The device body has a receiving groove along its height direction, and the elastic element... The upper end is fixedly connected to the bottom of the receiving groove, and the lower end is fixedly connected to the brake component. At least part of the brake component is slidably disposed in the receiving groove. The stop component is slidably disposed on the device body and connected to the protective cover. The stop component can be inserted into the brake component to restrict the brake component from sliding in the vertical direction. The anti-collision braking module has an idle state and an active state. When the anti-collision braking module is in the idle state, the stop component is inserted into the brake component, and the brake component compresses the elastic component and disengages from the traveling wheel. When the anti-collision braking module is in the active state, the stop component disengages from the brake component, and the brake component slides to the brake traveling wheel under the reset action of the elastic component.

[0008] Optionally, the braking assembly also includes an overload release member with a load threshold. The overload release member is configured such that: when the impact force on the protective cover is not higher than the load threshold, the overload release member connects the protective cover and the device body to restrict the sliding of the stop; when the impact force on the protective cover is higher than the load threshold, the overload release member disengages from the protective cover and / or the device body, so that the anti-collision braking module switches from an idle state to an active state.

[0009] For example, the overload release device is a shear pin or a friction clutch.

[0010] Specifically, a rotating shaft is rotatably arranged at the bottom of the device body, the traveling wheel is fixedly connected to the rotating shaft, and the braking component can slide to engage with the rotating shaft to brake the traveling wheel.

[0011] More specifically, of the rotating shaft and the braking component, one is provided with multiple meshing teeth, and the other is provided with multiple tooth grooves that mesh with the meshing teeth one by one.

[0012] Optionally, the anti-collision braking module also includes a flexible anti-collision component, which is disposed on the outer periphery of the device body.

[0013] Specifically, the flexible anti-collision component includes a flexible anti-collision barrier and multiple mounting supports. The multiple mounting supports are fixedly connected to the flexible anti-collision barrier, which is located on the outer periphery of the device body. Each mounting support is set on the device body at an adjustable angle.

[0014] More specifically, the flexible anti-collision component also includes a controller and multiple warning trigger switches. The multiple warning trigger switches are electrically connected to the controller. The multiple warning trigger switches are spaced apart on the outer periphery of the device body and located on the inner side of the flexible anti-collision barrier. When the flexible anti-collision barrier is subjected to an impact, it can come into contact with one or more warning trigger switches. The controller is configured to output different levels of warning signals according to the number of warning trigger switches triggered.

[0015] For example, the material of flexible guardrails includes aluminum foam.

[0016] Optionally, the protective cover is U-shaped, and the robotic arm is located on the opening side of the protective cover; or, the protective cover is annular, and the robotic arm is located within the annular protective space formed by the protective cover and the device body.

[0017] The beneficial effects of this utility model are:

[0018] This invention proposes a material handling device. A protective cover at least partially protrudes from the front wall of the device body. The protective cover and the device body together form a protective space for the robotic arm. When the device body moves to an obstacle such as a shelf, wall, or personnel, the protective cover will contact the obstacle before the device body and robotic arm, thus preventing the robotic arm from directly colliding with the obstacle and causing structural damage. The protective cover provides physical protection for the robotic arm. Furthermore, after the protective cover collides with an obstacle, it will displace in the opposite direction to the movement of the device body, causing the stop to slide relative to the device body and releasing the restraint on the braking component. This activates the anti-collision braking module. The braking component slides to the brake wheel under the reset action of the elastic component, interrupting the movement of the device body and preventing further damage to the robotic arm from continued movement. The braking component improves the real-time protection of the robotic arm, preventing further cumulative impact from the device body's continuous movement, and enhancing the reliability of the protection. When the anti-collision braking module is idle, the stop can be inserted into the brake and restrict the vertical displacement of the brake, allowing the brake to continuously disengage from the traveling wheels and ensuring the normal handling operation of the material handling device. The anti-collision braking module significantly enhances the protection of the robotic arm, thereby ensuring the safety of the material handling platform's handling operations. Compared to existing technologies that use electronic sensors to receive environmental signals and then control the drive mechanism with a controller, the anti-collision effect of the material handling device proposed in this invention is achieved through the mechanical protection of the robotic arm and the device body using a protective cover and braking components. This results in low-cost protection of the robotic arm and a fast response time. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the material handling device described in this embodiment of the utility model. Figure 1 ;

[0020] Figure 2 This is a schematic diagram of the structure of the material handling device described in this embodiment of the utility model. Figure 2 ;

[0021] Figure 3 yes Figure 2 Enlarged view of the structure at point A in the middle.

[0022] In the picture:

[0023] 1. Device body; 11. Traveling wheel; 12. Receiving groove; 121. Limiting part; 13. Rotating shaft; 14. Slide groove; 2. Anti-collision braking module; 21. Protective cover; 22. Braking assembly; 221. Elastic element; 222. Braking element; 2221. Limiting protrusion; 223. Stop element; 224. Overload release element. Detailed Implementation

[0024] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0025] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0027] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0028] To improve the efficiency of material handling, existing supply chains utilize Automated Guided Vehicles (AGVs) or transport robots for processes such as material sorting, transfer, and distribution. Most AGVs or transport robots are equipped with electronic sensors to collect environmental information in real time and send adjustment commands to the drive mechanism via a controller, reducing the risk of collisions during material handling. However, obstacle avoidance systems formed by adding electronic sensors and controllers typically have the following drawbacks: the cost of the obstacle avoidance system accounts for a large proportion of the total cost, resulting in high overall maintenance costs; the performance of electronic sensors degrades or even fails in rain, fog, dust, strong light, or darkness, creating blind spots; and there is a significant delay in the process from signal acquisition and processing to drive execution, leading to slow response times.

[0029] like Figures 1-3 As shown, this embodiment provides a material handling device, including a device body 1. A traveling wheel 11 is rotatably mounted on the lower part of the device body 1, and a robotic arm for handling materials is mounted on the upper part of the device body 1. The material handling device also includes an anti-collision braking module 2, which includes a protective cover 21 and a braking assembly 22. The protective cover 21 is placed on the upper part of the device body 1 and at least partially protrudes from the front wall of the device body 1. The protective cover 21 and the device body 1 together form a protective space for protecting the robotic arm. The braking assembly 22 includes an elastic element 221, a braking element 222, and a stop element 223. The device body 1 has a receiving groove 12 along its height direction, and the upper end of the elastic element 221 is fixedly connected to... At the bottom of the receiving groove 12, the lower end is fixedly connected to the brake member 222. At least part of the brake member 222 is slidably disposed in the receiving groove 12. The stop member 223 is slidably disposed on the device body 1 and connected to the protective cover 21. The stop member 223 can be inserted into the brake member 222 to restrict the brake member 222 from sliding in the vertical direction. The anti-collision braking module 2 has an idle state and an active state. When the anti-collision braking module 2 is in the idle state, the stop member 223 is inserted into the brake member 222, and the brake member 222 compresses the elastic member 221 and disengages from the traveling wheel 11. When the anti-collision braking module 2 is in the active state, the stop member 223 disengages from the brake member 222, and the brake member 222 slides to the brake traveling wheel 11 under the reset action of the elastic member 221. It is understandable that the initial engagement of the stop 223 with the brake 222 is achieved through manual operation. When the protective cover 21 is subjected to an impact, it can trigger the sliding process of the stop 223, so that the anti-collision braking module 2 can switch from an idle state to an active state.

[0030] In this embodiment, the protective cover 21 protrudes at least partially from the front wall of the device body 1. The protective cover 21 and the device body 1 together form a protective space for protecting the robotic arm. When the device body 1 moves to an area in front of an obstacle such as a shelf, wall, or person, the protective cover 21 will contact the obstacle before the device body 1 and the robotic arm, thereby preventing the robotic arm from directly colliding with the obstacle and causing structural damage. The protective cover 21 can provide physical protection for the robotic arm. Furthermore, after the protective cover 21 collides with an obstacle, it will displace in the opposite direction to the movement direction of the device body 1, thereby causing the stop 223 to slide relative to the device body 1 and release the restriction on the brake 222. This allows the anti-collision braking module 2 to switch to the active state. Under the reset action of the elastic member 221, the brake 222 slides to the brake wheel 11, thereby interrupting the movement of the device body 1 and preventing further damage to the robotic arm caused by the device body 1 continuing to move forward. The braking component 22 improves the real-time protection of the robotic arm and avoids the further superposition of the impact effect on the robotic arm caused by the continuous movement of the device body 1, thus improving the reliability of the protection of the robotic arm. When the anti-collision braking module 2 is in an idle state, the stop 223 can be inserted into the brake 222 and restrict the vertical displacement of the brake 222, so that the brake 222 continues to disengage from the wheel 11, ensuring the normal handling operation of the material handling device. The anti-collision braking module 2 proposed in this embodiment significantly enhances the protection effect on the robotic arm, thereby ensuring the safety of the material handling platform's handling operations. Compared with the prior art, which uses electronic sensors to receive environmental signals and then controls the drive mechanism with a controller, the anti-collision effect of the material handling device proposed in this embodiment is achieved through the mechanical protection of the robotic arm and the device body 1 by the protective cover 21 and the braking component 22. The protection cost of the robotic arm is low and the protection response speed is fast. Moreover, the protection effect on the robotic arm is not affected by environmental factors such as light, dust or electromagnetic interference, and it has strong environmental adaptability and strong protection stability.

[0031] Specifically, the device body 1 has a sliding groove 14 along the horizontal direction. The sliding groove 14 is not connected to the receiving groove 12. In this embodiment, the stop member 223 is L-shaped. The sliding groove 14 improves the sliding stability of the stop member 223. For ease of description, the part of the stop member 223 that extends vertically is referred to as the vertical extension, and the part that extends horizontally is referred to as the horizontal extension. The upper end of the vertical extension is fixedly connected to the protective cover 21, the lower end is connected to the rear end of the horizontal extension, and the front end of the horizontal extension is inserted into the brake member 222.

[0032] Optionally, such as Figures 1-3As shown, the braking assembly 22 also includes an overload release member 224, which has a load threshold. The overload release member 224 is configured such that when the impact force on the protective cover 21 is not higher than the load threshold, the overload release member 224 connects the protective cover 21 and the device body 1 to restrict the sliding of the stop member 223; when the impact force on the protective cover 21 is higher than the load threshold, the overload release member 224 disengages from the protective cover 21 and / or the device body 1, so that the anti-collision braking module 2 switches from an idle state to an active state. The overload release component 224 increases the triggering requirements for the anti-collision braking module 2 to be activated, so that the braking component 22 is not triggered when the protective cover 21 is subjected to a small impact. The protective cover 21 provides physical protection for the robotic arm, avoiding the unnecessary braking effect caused by the braking component 222 being triggered when the device body 1 is moving due to accidental vibration or slight collision. The overload release component 224 reduces the number of braking times of the braking component 222, limits the unnecessary wear and tear on the robotic arm and device body 1 caused by frequent activation of the anti-collision braking module 2, and extends the service life of the material handling device.

[0033] In some embodiments, the overload release component 224 can be a shear pin, whose shear load threshold is precisely determined by parameters such as its material or size, resulting in high triggering accuracy and low failure rate for the active state of the anti-collision braking module 2. Specifically, the protective cover 21 is connected to the device body 1 via the shear pin. When the impact force borne by the protective cover 21 is not higher than the shear load threshold of the shear pin, the shear pin normally maintains the connection between the protective cover 21 and the device body 1, and the protective cover 21, together with the device body 1, bears the load borne by the impact obstacle. When the impact force borne by the protective cover 21 is higher than the shear load threshold of the shear pin, the shear pin breaks, and the protective cover 21 drives the stop component 223 connected to it to slide backward, realizing the switching of the anti-collision braking module 2 from the idle state to the active state.

[0034] In some other embodiments, the overload release component 224 can also be a friction clutch. A friction clutch transmits torque through friction. During slippage, it dissipates some impact energy through friction, preventing the impact force from being directly transmitted to the device body 1 or the robotic arm, thus reducing damage to components from instantaneous impacts. Furthermore, by adjusting the clamping force of its internal structure, it can change its own load-bearing threshold. It has strong versatility and can be reused after a reset operation, exhibiting high reusability. The specific structure and working principle of the friction clutch are prior art and will not be elaborated upon further here.

[0035] Specifically, such as Figure 2 and Figure 3As shown, a rotating shaft 13 is rotatably mounted below the device body 1. The traveling wheel 11 is fixedly connected to the rotating shaft 13. The brake element 222 can slide to engage with the rotating shaft 13 to brake the traveling wheel 11. The braking effect of the brake element 222 on the traveling wheel 11 is achieved by engaging with the rotating shaft 13, simplifying the braking process. The braking principle is simple and easy to implement. A limiting protrusion 2221 can be provided at the end of the brake element 222 near the elastic element 221. Correspondingly, a limiting part 121 is provided at the opening of the receiving groove 12 near the traveling wheel 11. The brake element 222 can abut against the limiting part 121 under the reset action of the elastic element 221, avoiding excessive sliding path of the brake element 222 and thus avoiding additional impact on the rotating shaft 13. The limiting protrusion 2221 and the limiting part 121 improve the braking safety and reliability of the brake element 222 on the traveling wheel 11.

[0036] Furthermore, of the rotating shaft 13 and the brake element 222, one is provided with multiple meshing teeth, and the other is provided with multiple tooth grooves that mesh one-to-one with the meshing teeth. The engagement effect between the rotating shaft 13 and the brake element 222 is achieved through the meshing connection between the meshing teeth and the tooth grooves, which improves the braking reliability and braking stability of the brake element 222, ensuring that the traveling wheel 11 will not continue to move forward after the rotating shaft 13 and the brake element 222 are engaged, thus ensuring the braking accuracy of the device body 1.

[0037] In one embodiment, the protective cover 21 is U-shaped or C-shaped, and the robotic arm is set on the opening side of the protective cover 21, which not only achieves the protective effect of the robotic arm, but also reserves operating space for the robotic arm, thereby improving the flexibility and convenience of the robotic arm's handling operations.

[0038] In another embodiment, the protective cover 21 is annular, and the robotic arm is positioned within the annular protective space formed by the protective cover 21 and the device body 1, achieving multi-directional protection for the robotic arm and significantly improving the protective effect. It should be noted that the wall of the protective cover 21 is not completely in contact with the robotic arm, to prevent the protective cover 21 from directly transmitting the impact effect to the robotic arm after impact, which could lead to swaying or structural damage to the robotic arm.

[0039] In this embodiment, the anti-collision braking module 2 further includes a flexible anti-collision component, which is disposed on the outer periphery of the device body 1. The addition of the flexible anti-collision component prevents the robotic arm from swaying or being damaged due to collisions with obstacles whose height is lower than the height of the protective cover 21 during the movement of the device body 1. The flexible anti-collision component improves the overall anti-collision performance of the material handling device.

[0040] Specifically, the flexible anti-collision component includes a flexible anti-collision barrier and multiple mounting supports. The mounting supports are fixedly connected to the flexible anti-collision barrier, which is located on the outer periphery of the device body 1. Each mounting support is angle-adjustably mounted on the device body 1. The flexible anti-collision barrier absorbs the impact energy borne by the device body 1 through its flexible deformation, improving the protection effect on the device body 1. The mounting supports are angle-adjustably mounted on the device body 1 and fixedly connected to the flexible anti-collision barrier. The mounting supports, together with the flexible anti-collision barrier, meet the protection requirements of the device body 1 with varying collision positions, enhancing the reliability of the flexible anti-collision component's protection of the device body 1, and minimizing the degree of structural deformation of the device body 1 caused by impact. The flexible anti-collision component, together with the protective cover 21 and the braking component 22, achieves a multi-directional protection effect for the entire material handling device.

[0041] For example, the mounting bracket is a universal buffer bracket, which integrates a pressure spring and a damper. The pressure spring absorbs part of the impact energy transmitted from the flexible crash barrier to the device body 1, reducing the impact load borne by the device body 1. The damper slows down the rebound speed of the pressure spring through damping, preventing the pressure spring from transmitting the impact energy to the device body 1 again when it rebounds. The damper can be a pneumatic damper or a hydraulic damper. The specific structure of the damper and the principle of slowing down the rebound speed of the pressure spring are existing technologies and will not be described in detail here.

[0042] In this embodiment, the flexible crash barrier is made of aluminum foam, which has high energy absorption efficiency, high structural strength, and light weight. Other metal honeycomb energy-absorbing materials can also be used for the flexible crash barrier, and will not be listed here.

[0043] Furthermore, the flexible anti-collision component also includes a controller and multiple warning trigger switches. These multiple warning trigger switches are electrically connected to the controller and are spaced apart on the outer periphery of the device body 1 and located inside the flexible anti-collision barrier. When the flexible anti-collision barrier is subjected to an impact, it can contact one or more warning trigger switches. The controller is configured to output different levels of warning signals based on the number of trigger switches. The controller and multiple warning trigger switches enable timely monitoring of the impact severity on the device body 1. The controller can provide a warning of the current impact situation before the braking component 222 brakes the traveling wheels 11, working in conjunction with the braking component 22 and the protective cover 21 to achieve comprehensive protection for the device body 1 and the robotic arm, effectively improving the overall protection reliability and handling safety of the material handling device. The operating principle of the warning trigger switches and controller is existing technology. The warning signals output by the controller can be flexibly adjusted according to the actual type of materials being handled and the handling requirements, and are not specifically limited here.

[0044] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A material handling device, comprising a device body (1), wherein a traveling wheel (11) is rotatably mounted on the lower part of the device body (1), and a robotic arm for handling materials is mounted on the upper part of the device body (1), characterized in that, The material handling device also includes an anti-collision braking module (2), which includes: A protective cover (21) is placed on the upper part of the device body (1) and at least partially protrudes from the front wall of the device body (1). The protective cover (21) and the device body (1) together form a protective space, which is used to protect the robotic arm. The braking assembly (22) includes an elastic element (221), a braking element (222), and a stop (223). The device body (1) has a receiving groove (12) along its height direction. The upper end of the elastic element (221) is fixedly connected to the bottom of the receiving groove (12), and the lower end is fixedly connected to the braking element (222). At least part of the braking element (222) is slidably disposed in the receiving groove (12). The stop (223) is slidably disposed on the device body (1) and connected to the protective cover (21). The stop (223) can be inserted into the braking element (222) to restrict the braking element (222) from sliding in the vertical direction. The anti-collision braking module (2) has an idle state and an active state. When the anti-collision braking module (2) is in the idle state, the stop (223) is inserted into the brake (222), and the brake (222) compresses the elastic member (221) and disengages from the traveling wheel (11). When the anti-collision braking module (2) is in the active state, the stop (223) disengages from the brake (222), and the brake (222) slides to brake the traveling wheel (11) under the reset action of the elastic member (221).

2. The material handling device of claim 1, wherein, The braking assembly (22) further includes an overload release member (224), which has a load threshold. The overload release member (224) is configured such that when the impact force on the protective cover (21) is not higher than the load threshold, the overload release member (224) connects the protective cover (21) and the device body (1) to restrict the sliding of the stop member (223); when the impact force on the protective cover (21) is higher than the load threshold, the overload release member (224) disengages from the protective cover (21) and / or the device body (1) so that the anti-collision braking module (2) switches from the idle state to the active state.

3. The material handling device of claim 2, wherein, The overload release component (224) is a shear pin or a friction clutch.

4. The material handling device of claim 1, wherein, A rotating shaft (13) is rotatably disposed below the main body (1) of the device. The walking wheel (11) is fixedly connected to the rotating shaft (13). The brake (222) can slide to engage with the rotating shaft (13) to brake the walking wheel (11).

5. The material handling device of claim 4, wherein, Of the rotating shaft (13) and the brake (222), one is provided with a plurality of meshing teeth, and the other is provided with a plurality of tooth grooves that mesh with the meshing teeth one by one.

6. The material handling device according to claim 1, characterized in that, The anti-collision braking module (2) also includes a flexible anti-collision component, which is disposed on the outer periphery of the device body (1).

7. The material handling device of claim 6, wherein, The flexible anti-collision component includes a flexible anti-collision barrier and multiple mounting supports. The multiple mounting supports are fixedly connected to the flexible anti-collision barrier. The flexible anti-collision barrier is disposed on the outer periphery of the device body (1). Each mounting support is disposed on the device body (1) at an adjustable angle.

8. The material handling device of claim 7, wherein, The flexible anti-collision component also includes a controller and multiple warning trigger switches. The multiple warning trigger switches are electrically connected to the controller. The multiple warning trigger switches are spaced apart on the outer periphery of the device body (1) and located on the inner side of the flexible anti-collision barrier. When the flexible anti-collision barrier is subjected to an impact, it can contact one or more of the warning trigger switches. The controller is configured to output different levels of warning signals according to the number of triggers of the warning trigger switches.

9. The material handling device of claim 7, wherein, The flexible crash barrier is made of aluminum foam.

10. The material handling device of any of claims 1-9, wherein, The protective cover (21) is U-shaped, and the robotic arm is located on the opening side of the protective cover (21); or, the protective cover (21) is annular, and the robotic arm is located within the annular protective space formed by the protective cover (21) and the device body (1).

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