Carrying trolley composite damping brake enhancing structure and carrying trolley

Abstract

According to the composite damping brake enhancing structure of the carrying trolley and the carrying trolley, impact force generated when the carrying trolley is collided can be reduced through a damping assembly and an anti-collision assembly, and braking force is generated on the carrying trolley through contact friction force between a gasket and the ground; the anti-collision structure can reduce displacement and inclination of the carrying trolley when the carrying trolley is collided. The device is characterized in that the device is composed of an anti-collision assembly and a supporting assembly, the anti-collision assembly is composed of fixing clamping plates, rubber wheels, gaskets, second dampers, fifth telescopic rods, third springs, damping connecting plates and fixing blocks, and a rotating shaft is arranged between the two fixing clamping plates; the two ends of the rotating shafts are rotationally arranged on the two fixing clamping plates through bearings respectively, the rubber wheels are arranged on the rotating shafts in a sleeving mode through through holes formed in the middles of the rotating shafts, and the multiple rotating shafts are arranged at equal intervals in the length direction of the fixing clamping plates.

Description

Technical Field

[0001] The present invention discloses a composite shock-absorbing and braking reinforcement structure for a transport trolley and the transport trolley, which relate to a braking reinforcement structure installed on the transport trolley and belong to the field of intelligent logistics technology. In particular, the present invention relates to a braking reinforcement structure which can reduce the impact force generated when the transport trolley is hit by a collision through a shock-absorbing component and an anti-collision component, generate a braking force on the transport trolley through the contact friction between a gasket and the ground, and reduce the displacement and tilt of the transport trolley when it is hit. Background Art

[0002] With the development of society, online shopping has become the main shopping method for consumers. In the process of sending express parcels from the origin to the destination, it is first necessary to sort and stack the express parcels to multiple different sorting ports according to the different destinations, and then manually move the express parcels stacked at different sorting ports to mobile devices such as carts, and then use mobile devices such as carts to move the express parcels stacked at different sorting ports to the express parcel loading points corresponding to the sorting ports, and finally manually transfer the express parcels in the mobile device to the loading vehicle to realize the transportation of express parcels. The labor efficiency is low and the labor intensity is high, so a transport trolley came into being. The existing transport trolley includes a walking mechanism, a clamping mechanism and a carriage mechanism. The clamping mechanism clamps the express parcel corresponding to the sorting port into the carriage mechanism. The walking mechanism moves from the sorting port to the loading point according to the preset travel route, and then the express parcel in the carriage mechanism is clamped into the loading vehicle by the clamping mechanism. The transportation efficiency is high and the labor cost is low. However, the existing transport trolley's walking mechanism is not equipped with an anti-collision device. In the process of moving from the sorting port to the loading point, if the control system fails, multiple transport trolleys cannot move from the sorting port to the loading point according to the preset travel route, and may collide with each other, causing damage to the transport trolley. Or if the obstacle avoidance camera fails, the transport trolley fails to avoid obstacles encountered in time during the movement, and a collision may also occur, causing damage to the transport trolley, affecting the normal movement of the transport trolley and low transport efficiency. In addition, the existing transport trolley uses a single suction cup to move express parcels from the stacking point to the carriage, which is not suitable for large-sized ones. Small express parcels can be easily adsorbed and moved. For larger express parcels, a single suction cup can only adsorb a part of the express parcel, and the adsorption force is small. The other parts of the express parcel have no supporting force, which may cause the express parcel to fall during the movement to the carriage, causing damage to the express parcel; at the same time, after the existing transport cart moves the express parcel to the top of the carriage, the express parcel will be scattered at different positions in the carriage under the action of gravity. During the movement of the carriage, the stacked express parcels will be squeezed and displaced against each other as the carriage shakes and sways, increasing the risk of damage to the express parcels and low space utilization in the carriage.

[0003] Publication No. CN117484470A discloses a mobile collaborative robot, including a manipulator, a mobile chassis and a camera, the mobile chassis including a base plate and a driving mechanism, the manipulator is installed on the base plate, and the driving mechanism is used to drive the base plate to move; the manipulator has at least one section that forms an angle of less than 60° relative to the horizontal plane when grabbing express delivery, and this section is called a transverse arm; the camera is movably installed on the transverse arm of the manipulator and is used to shoot the oblique lower part of the manipulator; a control module is installed on the base plate, and the control module is electrically connected to the camera, the driving mechanism and the manipulator. The above-mentioned mobile collaborative robot is not equipped with an anti-collision device. If the control system fails and multiple mobile collaborative robots cannot travel according to the preset route, they may collide with each other, causing damage to the fuselage and affecting the normal movement of the mobile collaborative robot. At the same time, the manipulator of the above-mentioned mobile collaborative robot grabs express parcels in a way that simulates human hands. For express parcels with smaller sizes, it can be easily clamped and moved. For express parcels with larger sizes, the hand-grasped mechanical gripper cannot effectively clamp the express parcel or can only clamp part of the express parcel. The clamping force is small. In the process of moving the express parcel to the corresponding container, the express parcel may fall and cause damage to the express parcel. Moreover, the above-mentioned mobile collaborative robot is not equipped with a carriage device. The express parcel is moved to the storage device by a manipulator. When the storage device is full, the storage device is transported to the express parcel loading point corresponding to the sorting port by manual or other machines to realize the transfer of the express parcel. It cannot be directly transported to the corresponding express parcel loading point under the drive of the mobile collaborative robot, which is time-consuming, labor-intensive, costly and has low handling efficiency.

[0004] In order to improve the above problems, the applicant filed a Chinese invention patent application entitled "A Transport Cart". When the control system or the first camera fails, the anti-collision mechanism can reduce the impact of the collision between transport carts or the collision of obstacles on the transport cart, thereby reducing the wear of the transport cart. However, the arc-shaped connector and the anti-collision connecting rod of the anti-collision mechanism in the above transport cart are large in size, far away from the car body, and the space occupied by the transport cart is large, and the car body part other than the car body part cannot be covered. When other transport carts or obstacles collide with the parts not covered by the anti-collision mechanism, they will still produce a large impact force on the transport cart, causing wear of the transport cart and affecting the transport efficiency; when the transport cart is impacted by a collision, it will be displaced and tilted. The above transport cart is not provided with a deceleration structure. The transport cart needs a long time to stop sliding under its own inertia and return to the preset route, which affects the transport efficiency. Summary of the invention

[0005] In order to improve the above situation, the present invention provides a composite shock-absorbing and braking enhancement structure for a transport trolley and a transport trolley, which can reduce the impact force generated when the transport trolley is hit by a collision through a shock-absorbing component and an anti-collision component, and generate a braking force on the transport trolley through the contact friction between the gasket and the ground, thereby reducing the displacement and tilt of the transport trolley when it is hit by a collision.

[0006] The composite shock-absorbing and braking reinforcement structure of a transport trolley and the transport trolley of the present invention are realized as follows: The composite shock-absorbing and braking reinforcement structure of a transport trolley of the present invention is composed of an anti-collision component and a support component. The anti-collision assembly is composed of a fixed clamping plate, a rubber wheel, a gasket, a second damper, a fifth telescopic rod, a third spring, a shock-absorbing connecting plate and a fixed block. A rotating shaft is disposed between the two fixed clamping plates, and both ends of the rotating shaft are rotatably disposed on the two fixed clamping plates through bearings. The rubber wheel is placed on the rotating shaft through a through hole in the middle. Preferably, there are multiple rotation axes, and the multiple rotation axes are arranged equidistantly along the length direction of the fixed clamping plate. Preferably, the side of the rubber wheel protrudes from the fixing clamping plate. Preferably, the distance between two adjacent rubber wheels is less than 5 mm. Preferably, a buffer layer is disposed on the side of the fixing splint, and the buffer layer has two layers, which are a sponge layer and a fiber layer from the inside to the outside. The two ends of the top surface of the fixing clamp plate located above are respectively provided with fixing blocks. One end of the shock-absorbing connecting plate is placed on one side of the top surface of the fixing block, and the other end of the shock-absorbing connecting plate extends obliquely upward in a direction away from the fixing block. One end of the fifth telescopic rod is placed on the bottom surface of the shock absorbing connecting plate. The other end of the fifth telescopic rod is placed on one end of the second damper, and the other end of the second damper is placed obliquely on the top surface of the gasket. Preferably, the gasket is made of rubber, and the diameter of the gasket is larger than the diameter of the second damper. Preferably, the suction cup is placed on the side of the gasket through a connecting tube, and there are multiple suction cups, which are arranged equidistantly along the side of the gasket, and the distances and heights of the multiple suction cups to the gasket are different. The support assembly is composed of a vehicle shell, a vehicle compartment, a traction member, a connecting block, a hinge, a shock absorbing spring, a first connecting rod and a second connecting rod. One end of the traction member is placed on the top surface of the vehicle shell, and the other end of the traction member is provided with a connecting hole. The carriage is a structure with an open top surface, and a connecting block is arranged in the middle of one side of the top surface of the carriage. The connecting block and the traction member are screwed together through a fixed shaft and a connecting hole. The fixing clamp is located on the outside of the vehicle shell, and covers the outside of the vehicle shell except for the vehicle compartment. Both ends of the fixing clamp are bent in an arc shape and extend to both sides of the vehicle compartment. The shock absorbing assembly is placed between the fixed clamping plate and the vehicle shell, and the shock absorbing assembly includes two hinges, a shock absorbing spring, a first connecting rod and a second connecting rod. A first connecting rod and a second connecting rod are arranged between the two hinged parts. One end of the second connecting rod is rotatably disposed on the side of the vehicle shell through one of the hinged parts. One end of the first connecting rod is rotatably disposed on the side of the upper fixed clamping plate through another hinged member. A shock absorbing spring is disposed between the second connecting rod and the first connecting rod, and two ends of the shock absorbing spring are disposed on the side of the second connecting rod and the side of the first connecting rod respectively, and the shock absorbing spring is close to the hinge. The other end of the first connecting rod and the other end of the second connecting rod are hinged, and the height of the hinged portion is less than the height of the hinge. Preferably, there are multiple shock absorbing assemblies, and the multiple shock absorbing assemblies are arranged equidistantly along the length direction of the fixed clamping plate. Preferably, a rubber column is arranged between the upper fixing clamp and the vehicle shell, and the two ends of the rubber column are respectively arranged on the upper fixing clamp and the side of the vehicle shell correspondingly, and there are multiple rubber columns, and the multiple rubber columns are arranged equidistantly along the length direction of the fixing clamp, and each rubber column is located between two adjacent shock absorbing components, and the diameter of the rubber column gradually decreases from the middle to the two ends. Preferably, a foam inflatable pad is placed between the other fixed clamping plate located below and the vehicle shell, and the two ends of the foam inflatable pad are respectively placed on the fixed clamping plate located below and the side of the vehicle shell, and there are multiple foam inflatable pads, and the multiple foam inflatable pads are arranged equidistantly along the length direction of the fixed clamping plate, and each foam inflatable pad is located between an adjacent shock absorbing assembly and a rubber column. Furthermore, an anti-skid pad is disposed on the bottom surface of the gasket, and the edge of the anti-skid pad is connected to the edge of the bottom surface of the gasket; Furthermore, a plurality of rubber protrusions are evenly arranged on the side of the rubber wheel, and the rubber protrusions are hemispherical structures; The present invention also relates to a transport trolley, which is composed of a walking mechanism, an anti-collision mechanism, a storage mechanism and a clamping mechanism. The walking mechanism is composed of a bottom plate, a first driven gear plate, a first driving gear plate, a steering shaft, a steering motor, a first rotating motor, a shaft, a traveling wheel, a transmission shaft, a traveling wheel slot, a traveling motor, a traveling motor slot, a rotating wheel and a vehicle shell. The bottom plate is a triangular structure, and the edge of the bottom plate is an arc structure. The vehicle shell is placed on the bottom plate, and the edge of the vehicle shell and the top edge of the bottom plate are detachably connected. The first rotating motor is placed at the center of the top surface of the bottom plate and is located inside the vehicle shell. One end of the rotating shaft is connected to the motor shaft of the first rotating motor, The steering motor is placed on the top surface of the bottom plate. One end of the steering shaft is connected to the motor shaft of the steering motor, and the other end of the steering shaft is connected to the wheel shaft of the first driving gear plate. The first driven gear plate is meshed with the first driving gear plate, and the first driven gear plate is close to one end of the bottom plate. One end of the anti-deflection column is placed on the top surface of the bottom plate. The anti-deflection ball is rotatably embedded in the other end of the anti-deflection column and is rotatably in contact with the bottom edge of the first driven gear plate. Preferably, there are a plurality of anti-bias columns, and the plurality of anti-bias columns are equidistantly arranged along the circumferential edge of the bottom surface of the first driven gear plate. The universal seat passes through the through hole on the bottom plate and is connected to the axle of the first driven gear plate. The rotating wheel is rotatably placed on the bottom surface of the bottom plate through the universal seat. The top surface of the bottom plate is provided with a driving motor slot. The top surface of the bottom plate is provided with two traveling wheel grooves, and the two traveling wheel grooves are respectively located on both sides of the traveling motor groove, and the traveling motor groove and the two traveling wheel grooves are close to the other end of the bottom plate. The driving motor is placed in the driving motor slot. The two traveling wheels are rotatably located in the traveling wheel grooves respectively. One end of the two transmission shafts is connected to the two ends of the motor shaft of the travel motor respectively, and the other ends of the two transmission shafts are connected to the wheel axles of the two travel wheels respectively. The anti-collision mechanism is composed of a fixed rod, an anti-collision connecting rod, a fixed plate, an arc-shaped anti-collision member, a second telescopic rod, a first spring, a damper, a connecting plate, an ultrasonic ranging module, a first camera and a traction member. The first camera is placed on the top surface of the vehicle shell, and the first camera is close to the rotating wheel. The ultrasonic distance measuring module is on the top surface of the vehicle shell, and the ultrasonic distance measuring module is close to the traveling wheel. One end of the traction member is placed on the top surface of the vehicle shell, the traction member is located in the middle of the other end of the vehicle shell, and the other end of the traction member is provided with a connection hole. Connecting plates are respectively arranged on both sides of the top surface of the vehicle shell. One end of the fixing rod is placed on the connecting plate. Preferably, there are multiple fixing rods, and the multiple fixing rods are arranged equidistantly along the length direction of the connecting plate. One end of the anti-collision connecting rod is hinged to the other end of the fixing rod, and the other end of the anti-collision connecting rod is placed on one side of the fixing plate. One end of the damper is placed on the side of the vehicle shell. One end of the second telescopic rod is placed on the other end of the damper, the other end of the second telescopic rod is placed on a side surface of the fixing plate, and the first spring sleeve is placed on the second telescopic rod. Preferably, there are a plurality of dampers on both sides of the vehicle shell, and the plurality of dampers on the same side are arranged equidistantly along the length direction of the fixing plate, and each damper is located between two adjacent anti-collision connecting rods. The two ends of the arc-shaped anti-collision member are respectively placed at the two ends of the other side surface of the fixing plate. Preferably, a rubber column is disposed between the other side surface of the fixing plate and the arc-shaped anti-collision component, and two ends of the rubber column are respectively disposed on the other side surface of the fixing plate and the side surface of the arc-shaped anti-collision component. There are a plurality of rubber columns, and the plurality of rubber columns are arranged equidistantly along the length direction of the fixing plate. The storage mechanism is composed of a first sliding groove, a first sliding block, a universal wheel, a second sliding block, a carriage, a connecting block, a fixed shaft, a second sliding groove, a buffer plate, a second spring, a third telescopic rod and a limit plate. The carriage is a structure with an open top surface, and a connecting block is arranged in the middle of one side of the top surface of the carriage. The connecting block and the traction member are screwed together through a fixed shaft and a connecting hole. The carriage has two built-in limit plates. One end of a third telescopic rod is disposed on the left and right inner sides of the carriage respectively, and the other end of the third telescopic rod is disposed on one side of the limit plate. Preferably, there are multiple third telescopic rods, and the multiple third telescopic rods are arranged equidistantly along the length direction of the limiting plate. The front and rear inner sides of the carriage are respectively provided with first sliding grooves, and the inner bottom sides of the carriage are respectively provided with second sliding grooves. The two ends of the limiting plate are respectively provided with first sliding blocks, and the first sliding blocks correspond to the first sliding grooves. Second sliding blocks are respectively arranged on both sides of the bottom surface of the limiting plate, and the second sliding blocks correspond to the second sliding grooves. The limiting plate is slidably placed in the carriage through the first sliding block cooperating with the first sliding groove and the second sliding block cooperating with the second sliding groove. Two buffer plates are arranged between the two limit plates, and the two buffer plates are respectively arranged on the other side surfaces of the two limit plates through second springs. Preferably, the second springs are provided in multiple groups, and the multiple groups of the second springs are arranged equidistantly along the length direction of the buffer plate. There are multiple second springs in each group, and the multiple second springs are arranged equidistantly along the width direction of the buffer plate. The four universal wheels are respectively disposed at the four corners of the bottom surface of the carriage. The clamping mechanism is composed of a rotating disk, a support column, a second driven gear disk, a second rotating motor, a second driving gear disk, a fourth telescopic rod, a split fixed plate, a first fixed column, a support plate, a fixed connecting rod, a suction cup, a vacuum pump, a mounting block and a first telescopic rod. The other end of the rotating shaft passes through the top surface of the vehicle shell and is placed at the bottom center of the rotating disk. The rotating disk is rotatably placed at the top center of the vehicle shell through the rotating shaft. One end of the two support columns is respectively placed on both sides of the top surface of the rotating disk. The support plate is placed on the side of the support column, and the support plate is close to the other end of the support column. The second rotating motor is placed on the support plate. The axle of the second driving gear plate is connected to the motor shaft of the second rotating motor, A second fixing column is disposed between the other ends of the two supporting columns, and the two ends of the second fixing column are rotatably disposed on the side surfaces of the other ends of the two supporting columns through bearings. The two second driven gear plates are sleeved on the second fixed column through the through holes in the middle, and the two second driven gear plates correspond to the two ends close to the second fixed column respectively. One end of the two fixed connecting rods is located between the two second driven gear plates, and one end of the two fixed connecting rods is respectively placed on the side of the second fixed column through the through holes opened in the middle, and is respectively close to the two second driven gear plates. One end of the split fixing plate is placed in the center of the side surface of the second fixing column through a through hole in the middle. A first fixing column is arranged between one of the fixing connecting rods and the split fixing plate, one end of the first fixing column is arranged on a side surface of one of the fixing connecting rods, the other end of the first fixing column is arranged on a side surface of the other end of the split fixing plate, the other end of the split fixing plate is located between the two ends of the fixing connecting rod and close to one end of the fixing connecting rod, One end of the fourth telescopic rod is placed on the other side of the other end of the split fixed plate, and the other end of the fourth telescopic rod is placed on the side of another fixed connecting rod. One end of the first telescopic rod is placed on the other end of the fixed connecting rod. The other end of the first telescopic rod is connected to the vacuum pump through a mounting block. Two suction cups are arranged between the other ends of the two first telescopic rods, and the two suction cups are respectively arranged on the side surfaces of the other ends of the two first telescopic rods. One end of the connecting pipe is connected to the air outlet of the vacuum pump and communicates with each other, and the other end of the connecting pipe is connected to the suction cup and communicates with each other. The second camera is placed at the other end of one of the fixed connecting rods. The present invention also relates to a transport trolley steering system, characterized in that the transport trolley steering system is composed of a speed sensor, a direction sensor, a central processor and a central controller, the speed sensor is connected to the central processor via a data line, the direction sensor is connected to the central processor via a data line, the central controller is connected to the steering motor via a data transmission line, the central processor converts a digital signal into an electrical signal, and the transport trolley steering system implements the following steps when executed: The speed sensor collects the speed of the transport trolley and transmits the real-time signal to the central processor. When the transport trolley turns, the direction sensor transmits the expected signal to the central processor. The central processor calculates the deviation by comparing the expected signal with the real-time signal, and adjusts the rotation direction and the number of revolutions of the steering motor in real time according to the deviation. The steering motor drives the first driving gear plate to rotate, the first driving gear plate drives the first driven gear plate to rotate, the first driven gear plate drives the rotating wheel to rotate, and the rotating wheel drives the two traveling wheels to rotate, so as to achieve the purpose of steering the transport trolley.

[0007] Preferably, the transport vehicle further comprises a control system, wherein the control system comprises a monitoring background, a signal converter, a data processor and a controller. The signal converter is placed on the vehicle shell, the data processor is placed on the vehicle shell, and the controller is placed on the vehicle shell. The first camera and the second camera are connected to the signal converter via a data line. The steering motor, the driving motor, the first rotating motor, the second rotating motor, the vacuum suction pump, the first telescopic rod, the third telescopic rod, and the fourth telescopic rod are connected to the controller via data transmission lines, respectively. The signal converter is connected to the data processor via a data transmission line, and the data processor is connected to the controller via a data transmission line. The signal converter can convert the electrical signals of the image data collected by the first camera and the second camera into digital signals. The controller may be implemented by one or at least two application specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing instructions of the data processing device. The data processor and the signal converter perform information exchange, When the control system is executed, the following steps are mainly implemented: When the transport trolley moves between the sorting port and the loading point, the controller controls the travel motor to start, the travel motor drives the transmission shaft to rotate, the transmission shaft drives the traveling wheel to rotate, the traveling wheel drives the rotating wheel to rotate, so that the transport trolley starts to travel in a straight line according to the preset travel route, the speed sensor collects the speed of the transport trolley and transmits the real-time signal to the central processor. When the transport trolley turns, the direction sensor transmits the expected signal to the central processor, and the central processor calculates the deviation by comparing the expected signal with the real-time signal, and controls the steering motor to rotate forward or reverse and the rotation angle in real time according to the deviation. The steering motor drives the first active gear plate to rotate, the first active gear plate drives the first driven gear plate to rotate, the first driven gear plate drives the rotating wheel to rotate, and the rotating wheel drives the two traveling wheels to rotate, so as to achieve the purpose of steering the transport trolley; When the transport trolley is used to transport the express parcels at the sorting port, the monitoring background controls the start of the first rotating motor, the start of the two second rotating motors, and the extension and retraction of the first telescopic rod according to the distance between the suction cup and the target express parcel. The first rotating motor drives the rotating disk to rotate, and the rotating disk drives the supporting column and the two suction cups to rotate. The second rotating motor drives the second driving gear disk to rotate, and the second driving gear disk drives the second driven gear disk to rotate, and the second driven gear disk drives the second fixed column to rotate, and the second fixed column drives the two fixed connecting rods to rotate, and the fixed connecting rod drives the first telescopic rod to rotate, and the first telescopic rod drives the suction cup to approach the target express parcel; The second camera collects images of the target express package and sends the collected image data signal to the signal converter. The signal converter converts the electrical signal of the received image data signal into a digital signal and sends it to the data processor. The data processor calculates the pixel size of the image data, calculates the actual size of the express package according to the ratio coefficient between the preset pixel size and the actual size, and compares the actual size with the preset size. If the actual size is smaller than the preset size, the two suction cups fall on both sides of the target express package, the controller controls the fourth telescopic rod to shrink, and the controller controls the vacuum pump to pump air so that the two suction cups suck the two sides of the target express package. If the actual size is larger than the preset size, the controller controls the fourth telescopic rod to extend, increase the distance between the two suction cups, and the two suction cups fall on both sides of the target express package. Then the fourth telescopic rod is controlled to shrink, and the controller controls the vacuum pump to pump air so that the two suction cups suck the two sides of the target express package. The two fourth telescopic rods support the two sides of the express package. The second rotating motor drives the first telescopic rod to rise, and the first rotating motor drives the rotating disk to rotate, so that the target express package reaches the top of the carriage. The controller controls the vacuum pump to stop working, and the target express package loses the adsorption force and falls from the suction cup into the carriage. Before the express parcel is stored in the carriage, the third telescopic rod drives the limit plate to move along the first sliding groove and the second sliding groove in the carriage, so that the two limit plates are close to each other, and the express parcel falls into the carriage between the two limit plates under the action of gravity, and the buffer plate can reduce the impact of the express parcel on the limit plate; as more and more express parcels are piled up in the carriage, the extrusion force between the express parcel and the buffer plate pushes the limit plate along the first sliding groove and the second sliding groove to approach the left and right sides of the carriage, and the buffer plate can limit the express parcels in the carriage, reduce the express parcels scattered in different positions of the carriage, and improve the space utilization rate of the carriage. At the same time, during the movement of the carriage, the buffer plate can reduce the mutual extrusion and displacement of the stacked express parcels with the bumps and shakes of the carriage, and reduce the damage of the express parcels; the ultrasonic ranging module monitors the express parcels in the carriage in real time. When the express parcels in the carriage are fully loaded, a reminder signal is sent to the controller, and the controller controls the transport trolley to arrive at the loading point corresponding to the sorting port according to the preset route, and then the express parcels in the carriage are clamped into the loading vehicle by the suction cup, which can improve the handling efficiency; When the transport trolley moves between the sorting port and the loading point according to the preset route, when the control system or the first camera fails, different transport trolleys collide with each other or the transport trolley fails to avoid obstacles in time, the arc-shaped anti-collision member, multiple dampers, the second telescopic rod and the first spring can reduce the impact force of the transport trolley caused by the collision between the transport trolleys or the collision of obstacles, thereby reducing the wear of the transport trolley; Furthermore, the buffer plate is provided with anti-skid patterns, the anti-skid patterns include transverse anti-skid patterns and vertical anti-skid patterns, and the transverse anti-skid patterns and the vertical anti-skid patterns are staggered; Furthermore, a reinforcing rib is disposed between one end of the support column and the rotating disk, one side surface of the reinforcing rib is disposed on a side surface of one end of the support column, and the other side surface of the reinforcing rib is disposed on a top surface of the rotating disk. Beneficial Effects

[0008] 1. The shock-absorbing components and anti-collision components can reduce the impact force generated when the transport trolley is hit, and reduce the wear of the transport trolley.

[0009] Second, the contact friction between the gasket and the ground generates braking force on the transport trolley, reducing the displacement and tilt of the transport trolley when it is hit. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a three-dimensional structural diagram of a transport trolley of the present invention; Figure 2 This is a three-dimensional structural diagram of a transport trolley of the present invention, which only shows the structures of the anti-collision mechanism, the storage mechanism and the clamping mechanism; Figure 3 It is a three-dimensional structural diagram of a second embodiment of a transport trolley of the present invention; Figure 4 It is a three-dimensional structural diagram of a third embodiment of a transport trolley of the present invention; Figure 5 It is a three-dimensional structural diagram of a composite shock-absorbing and braking reinforcement structure of a transport trolley of the present invention; Figure 6 This is a three-dimensional structural diagram of a composite shock-absorbing and braking reinforcement structure of a transport trolley of the present invention, in which only the structure of the shock-absorbing component is shown; Figure 7 It is a three-dimensional structural diagram of Embodiment 2 of a composite shock-absorbing and braking reinforcement structure of a transport trolley of the present invention; Figure 8 It is a three-dimensional structural diagram of Example 3 of a composite shock-absorbing and braking reinforcement structure for a transport trolley of the present invention. Attached photos

[0011] The components include: a bottom plate (1), a first driven gear plate (2), a first driving gear plate (3), a steering shaft (4), a steering motor (5), a first rotating motor (6), a shaft (7), a traveling wheel (8), a transmission shaft (9), a traveling wheel groove (10), a traveling motor (11), a traveling motor groove (12), a rotating wheel (13), a suction cup (14), a vacuum pump (15), a mounting block (16), a first telescopic rod (17), a fixed rod (18), an anti-collision connecting rod (19), a fixed plate (20), an arc-shaped anti-collision member (21), a second telescopic rod (22), a first spring (23), a damper (24), a vehicle shell (25), a first sliding groove (26), a first sliding block (27), a universal wheel (28), a second sliding block (29), a vehicle body (30), a traction member (31), a connecting block (32), a fixed shaft (33), a second sliding groove (34), a buffer plate ( 35), a second spring (36), a third telescopic rod (37), a limit plate (38), an ultrasonic ranging module (39), a connecting plate (40), a rotating disk (41), a supporting column (42), a second driven gear disk (43), a second rotating motor (44), a second driving gear disk (45), a fixed connecting rod (46), a fourth telescopic rod (47), a split fixed plate (48), a first fixed column (49), a supporting plate (50), a first camera (51), an anti-skid pattern (52), a reinforcing rib (53), a shock absorbing spring (54), a first connecting rod (55), a hinge (56), a fixed splint (57), a rubber wheel (58), a gasket (59), a second damper (60), a fifth telescopic rod (61), a third spring (62), a shock absorbing connecting plate (63), a fixing block (64), a second connecting rod (65), an anti-skid gasket (66), and a rubber protrusion (67). DETAILED DESCRIPTION Example 1

[0012] The composite shock-absorbing and braking reinforcement structure of a transport trolley of the present invention is composed of an anti-collision component and a support component. The anti-collision assembly is composed of a fixed clamping plate (57), a rubber wheel (58), a gasket (59), a second damper (60), a fifth telescopic rod (61), a third spring (62), a shock-absorbing connecting plate (63) and a fixed block (64). A rotating shaft is disposed between the two fixed clamping plates (57), and two ends of the rotating shaft are rotatably disposed on the two fixed clamping plates (57) via bearings. The rubber wheel (58) is sleeved on the rotating shaft through a through hole opened in the middle. Preferably, there are multiple rotation axes, and the multiple rotation axes are arranged equidistantly along the length direction of the fixed clamping plate (57). Preferably, the side surface of the rubber wheel (58) protrudes from the fixing clamping plate (57). Preferably, the distance between two adjacent rubber wheels (58) is less than 5 mm. Preferably, a buffer layer is disposed on the side of the fixing splint (57), and the buffer layer has two layers, which are a sponge layer and a fiber layer from the inside to the outside. The two ends of the top surface of the fixing clamp plate (57) located above are respectively provided with fixing blocks (64). One end of the shock-absorbing connecting plate (63) is placed on one side of the top surface of the fixing block (64), and the other end of the shock-absorbing connecting plate (63) extends obliquely upward in a direction away from the fixing block (64). One end of the fifth telescopic rod (61) is placed on the bottom surface of the shock-absorbing connecting plate (63). The other end of the fifth telescopic rod (61) is placed on one end of the second damper (60), and the other end of the second damper (60) is placed obliquely on the top surface of the gasket (59). Preferably, the gasket (59) is made of rubber, and the diameter of the gasket (59) is greater than the diameter of the second damper (60). Preferably, the suction cup (14) is placed on the side of the gasket (59) through a connecting tube, there are multiple suction cups (14), the multiple suction cups (14) are arranged equidistantly along the side of the gasket (59), and the multiple suction cups (14) have different distances and heights from the gasket (59). The support assembly is composed of a vehicle shell (25), a vehicle compartment (30), a traction member (31), a connecting block (32), a hinge member (56), a shock absorbing spring (54), a first connecting rod (55), and a second connecting rod (65). One end of the traction member (31) is placed on the top surface of the vehicle shell (25), and the other end of the traction member (31) is provided with a connection hole. The carriage (30) is a structure with an open top surface. A connecting block (32) is disposed in the middle of one side of the top surface of the carriage (30). The connecting block (32) and the traction member (31) are screwed together via a fixed shaft (33) and a connecting hole. The fixing clamp (57) is located on the outside of the vehicle shell (25), and the fixing clamp (57) covers the outside of the vehicle shell (25) except the vehicle compartment (30). Both ends of the fixing clamp (57) are bent in an arc shape and extend to both sides of the vehicle compartment (30). The fixing clamp (57) wraps around the vehicle shell (25). The shock absorbing assembly is disposed between the fixed clamping plate (57) and the vehicle shell (25), and the shock absorbing assembly comprises five parts: two hinged parts (56), a shock absorbing spring (54), a first connecting rod (55), and a second connecting rod (65). A first connecting rod (55) and a second connecting rod (65) are disposed between the two hinged parts (56). One end of the second connecting rod (65) is rotatably disposed on a side surface of the vehicle shell (25) via one of the hinged parts (56). One end of the first connecting rod (55) is rotatably placed on the side of an upper fixed clamping plate (57) through another hinged member (56). A shock absorbing spring (54) is disposed between the second connecting rod (65) and the first connecting rod (55), and two ends of the shock absorbing spring (54) are disposed correspondingly on the side surface of the second connecting rod (65) and the side surface of the first connecting rod (55), respectively. The shock absorbing spring (54) is close to the hinge (56). The other end of the first connecting rod (55) and the other end of the second connecting rod (65) are hinged, and the height of the hinged portion is less than the height of the hinged member (56). Preferably, there are a plurality of shock absorbing assemblies, and the plurality of shock absorbing assemblies are arranged equidistantly along the length direction of the fixing clamping plate (57). Preferably, the fixing clamp (57) is made of PVC. Preferably, a rubber column is disposed between the upper fixing plate (57) and the vehicle shell (25), and the two ends of the rubber column are disposed correspondingly on the upper fixing plate (57) and the side surfaces of the vehicle shell (25), respectively. There are a plurality of rubber columns, and the plurality of rubber columns are arranged equidistantly along the length direction of the fixing plate (57), and each rubber column is disposed between two adjacent shock absorbing assemblies. The diameter of the rubber column gradually decreases from the middle to the two ends. Preferably, a foam inflatable cushion is placed between the other fixed clamping plate (57) located below and the vehicle shell (25), and two ends of the foam inflatable cushion are respectively placed on the side of the fixed clamping plate (57) located below and the vehicle shell (25) correspondingly, and there are multiple foam inflatable cushions, and the multiple foam inflatable cushions are arranged equidistantly along the length direction of the fixed clamping plate (57), and each foam inflatable cushion is located between an adjacent shock absorbing component and a rubber column; When in use, the anti-collision structure is installed on the transport trolley. When the transport trolley moves between the sorting port and the loading point according to a preset route, when the control system or the first camera (51) fails, different transport trolleys collide with each other or the transport trolleys fail to avoid obstacles in time, the rubber wheel (58) and the shock-absorbing assembly can reduce the impact force on the transport trolley caused by the collision between the transport trolleys or the collision of obstacles, thereby reducing the wear of the transport trolley; when the transport trolley is displaced and tilted due to a collision, the gasket (59) contacts the ground, which can generate braking force and supporting force on the transport trolley, decelerate the transport trolley, reduce the displacement and tilt of the transport trolley, and reduce the damage to the express parcel; Example 2

[0013] The difference between this embodiment and embodiment 1 is that: the anti-skid pad (66) is placed on the bottom surface of the pad (59), and the edge of the anti-skid pad (66) is connected to the edge of the bottom surface of the pad (59); when in use, the anti-skid pad (66) can increase the friction between the pad (59) and the ground, further increasing the braking force on the transport trolley when the transport trolley is hit, so that the transport trolley can be decelerated faster, reducing the displacement and tilt of the transport trolley, and reducing the damage to the express parcel; Example 3

[0014] The difference between this embodiment and embodiment 1 is that: a plurality of rubber protrusions (67) are evenly arranged on the side of the rubber wheel (58), and the rubber protrusions (67) are hemispherical structures; when in use, the rubber protrusions (67) cooperate with the rubber wheel (58) to further absorb the impact force generated when the transport trolley is hit, thereby reducing damage to the transport trolley and the rubber wheel (58); The design of the side of the rubber wheel (58) protruding from the fixed clamping plate (57) can avoid direct contact with the fixed clamping plate (57) when other transport carts or obstacles collide with the transport cart, thereby reducing damage to the fixed clamping plate (57) caused by collision or extrusion, and can increase the contact area between the rubber wheel (58) and other transport carts or obstacles, thereby achieving a better buffering and anti-collision effect; The distance between two adjacent rubber wheels (58) is designed to be less than 5 mm. The smaller spacing can enable the adjacent rubber wheels (58) to participate in the buffering effect more densely when they are hit, effectively reducing the transmission of impact force and improving the buffering effect. The smaller spacing can ensure that the rubber wheels (58) bear the external collision impact force more evenly, avoiding damage caused by excessive local force, thereby extending the service life of the rubber wheels (58); A buffer layer is disposed on the side of the fixed splint (57), and the buffer layer has two layers, which are a sponge layer and a fiber layer from the inside to the outside. The buffer layer can reduce the impact force generated when other transport carts or obstacles collide with the fixed splint (57), thereby reducing damage to the fixed splint (57). At the same time, the fiber layer has good wear resistance and tensile strength, thereby reducing excessive deformation or damage to the fixed splint (57) when it is hit. The suction cup (14) is placed on the side of the gasket (59) through a connecting pipe. There are a plurality of suction cups (14), and the plurality of suction cups (14) are arranged equidistantly along the side of the gasket (59). The plurality of suction cups (14) are designed to be at different distances and heights from the gasket (59). When the transport trolley is displaced and tilted by a collision, the suction cup (14) cooperates with the gasket (59) to increase the contact area with the ground and increase the friction force. When the transport trolley is collided, the braking force on the transport trolley is further increased, so that the transport trolley can be decelerated more quickly. The plurality of suction cups (14) at different distances and heights can adapt to uneven ground. When the transport trolley is collided, the suction cups (14) at different distances and heights can ensure that at least a portion of them can effectively contact the ground, thereby providing additional adsorption force and stability, and having a better braking effect on the transport trolley. A rubber column is arranged between the upper fixed clamping plate (57) and the vehicle shell (25), and the two ends of the rubber column are respectively arranged on the side of the upper fixed clamping plate (57) and the vehicle shell (25). There are a plurality of rubber columns, and the plurality of rubber columns are arranged equidistantly along the length direction of the fixed clamping plate (57). Each rubber column is located between two adjacent shock absorbing components. The diameter of the rubber column is gradually reduced from the middle to the two ends. The rubber column cooperates with the shock absorbing component to further reduce the impact and vibration generated when the transport trolley is hit, thereby reducing the impact of external impact and vibration on the transport trolley and express parcels. The rubber column with a diameter gradually reduced from the middle to the two ends can cause the rubber column to undergo greater deformation when impacted, thereby absorbing more impact energy, thereby improving the shock absorbing performance of the transport trolley.

[0015] The purpose is to reduce the impact force generated when the transport trolley is hit by a collision by using the shock absorbing component and the anti-collision component, and to generate a braking force on the transport trolley by using the contact friction between the gasket (59) and the ground, thereby reducing the displacement and tilt of the transport trolley when it is hit.

[0016] It should be noted that the composite shock-absorbing brake enhancement structure needs to be installed on the following transport trolley for use; The composite shock-absorbing and braking enhanced structure of a transport trolley and the transport trolley of the present invention are realized as follows: The composite shock-absorbing and braking enhanced structure of a transport trolley and the transport trolley of the present invention are composed of a walking mechanism, an anti-collision mechanism, a storage mechanism and a clamping mechanism. The walking mechanism comprises a base plate (1), a first driven gear plate (2), a first driving gear plate (3), a steering shaft (4), a steering motor (5), a first rotating motor (6), a shaft (7), a traveling wheel (8), a transmission shaft (9), a traveling wheel groove (10), a traveling motor (11), a traveling motor groove (12), a rotating wheel (13) and a vehicle shell (25). The bottom plate (1) is a triangular structure, and the edge of the bottom plate (1) is an arc-shaped structure. The vehicle shell (25) is placed on the bottom plate (1), and the edge of the vehicle shell (25) and the top edge of the bottom plate (1) are detachably connected. The first rotating motor (6) is placed at the center of the top surface of the bottom plate (1) and is located inside the vehicle shell (25). One end of the rotating shaft (7) is connected to the motor shaft of the first rotating motor (6). The steering motor (5) is placed on the top surface of the base plate (1). One end of the steering shaft (4) is connected to the motor shaft of the steering motor (5), and the other end of the steering shaft (4) is connected to the wheel shaft of the first driving gear plate (3). The first driven gear plate (2) is meshed with the first driving gear plate (3), and one end of the first driven gear plate (2) is close to the bottom plate (1). One end of the anti-deflection column is placed on the top surface of the bottom plate (1). The anti-deflection ball is rotatably embedded in the other end of the anti-deflection column and is rotatably in contact with the bottom edge of the first driven gear plate (2). Preferably, there are a plurality of anti-bias columns, and the plurality of anti-bias columns are equidistantly arranged along the circumferential edge of the bottom surface of the first driven gear plate (2). The universal seat passes through a through hole opened on the base plate (1) and is connected to the axle of the first driven gear plate (2). The rotating wheel (13) is rotatably placed on the bottom surface of the base plate (1) via the universal seat. The top surface of the bottom plate (1) is provided with a driving motor slot (12). The top surface of the bottom plate (1) is provided with two traveling wheel grooves (10), the two traveling wheel grooves (10) being respectively located on two sides of the traveling motor groove (12), the traveling motor groove (12) and the two traveling wheel grooves (10) being close to the other end of the bottom plate (1). The travel motor (11) is placed in the travel motor slot (12). The two traveling wheels (8) are respectively and rotatably located in the traveling wheel grooves (10). One end of the two transmission shafts (9) is respectively connected to the two ends of the motor shaft of the travel motor (11), and the other ends of the two transmission shafts (9) are respectively connected to the wheel axles of the two travel wheels (8). The anti-collision mechanism is composed of a fixing rod (18), an anti-collision connecting rod (19), a fixing plate (20), an arc-shaped anti-collision member (21), a second telescopic rod (22), a first spring (23), a damper (24), a connecting plate (40), an ultrasonic distance measurement module (39), a first camera (51) and a traction member (31). The first camera (51) is placed on the top surface of the vehicle shell (25), and the first camera (51) is close to the rotating wheel (13). The ultrasonic distance measuring module (39) is on the top surface of the vehicle shell (25), and the ultrasonic distance measuring module (39) is close to the traveling wheel (8). One end of the traction member (31) is placed on the top surface of the vehicle shell (25), the traction member (31) is located in the middle of the other end of the vehicle shell (25), and the other end of the traction member (31) is provided with a connection hole. Connecting plates (40) are respectively disposed on both sides of the top surface of the vehicle shell (25). One end of the fixing rod (18) is placed on the connecting plate (40). Preferably, there are a plurality of fixing rods (18), and the plurality of fixing rods (18) are arranged equidistantly along the length direction of the connecting plate (40). One end of the anti-collision connecting rod (19) is hinged to the other end of the fixing rod (18), and the other end of the anti-collision connecting rod (19) is placed on a side surface of the fixing plate (20). One end of the damper (24) is placed on the side of the vehicle shell (25). One end of the second telescopic rod (22) is placed on the other end of the damper (24), the other end of the second telescopic rod (22) is placed on a side surface of the fixing plate (20), and the first spring (23) is sleeved on the second telescopic rod (22). Preferably, there are a plurality of dampers (24) on both sides of the vehicle shell (25), and the plurality of dampers (24) on the same side are arranged equidistantly along the length direction of the fixing plate (20), and each damper (24) is located between two adjacent anti-collision connecting rods (19). The two ends of the arc-shaped anti-collision member (21) are respectively disposed at the two ends of the other side surface of the fixing plate (20). Preferably, a rubber column is disposed between the other side surface of the fixing plate (20) and the arc-shaped anti-collision component (21), and two ends of the rubber column are respectively disposed correspondingly on the other side surface of the fixing plate (20) and the side surface of the arc-shaped anti-collision component (21), and there are a plurality of rubber columns, which are arranged equidistantly along the length direction of the fixing plate (20). The storage mechanism comprises a first sliding groove (26), a first sliding block (27), a universal wheel (28), a second sliding block (29), a carriage (30), a connecting block (32), a fixed shaft (33), a second sliding groove (34), a buffer plate (35), a second spring (36), a third telescopic rod (37) and a limit plate (38). The carriage (30) is a structure with an open top surface. A connecting block (32) is disposed in the middle of one side of the top surface of the carriage (30). The connecting block (32) and the traction member (31) are screwed together via a fixed shaft (33) and a connecting hole. The carriage (30) has two internal limit plates (38). One end of a third telescopic rod (37) is respectively disposed on the left and right inner side surfaces of the carriage (30), and the other end of the third telescopic rod (37) is disposed on a side surface of a limiting plate (38). Preferably, there are a plurality of the third telescopic rods (37), and the plurality of the third telescopic rods (37) are arranged equidistantly along the length direction of the limiting plate (38). The front and rear inner side surfaces of the carriage (30) are respectively provided with first sliding grooves (26), and the inner bottom surface of the carriage (30) is respectively provided with second sliding grooves (34). First sliding blocks (27) are respectively disposed at both ends of the limiting plate (38), and the first sliding blocks (27) correspond to the first sliding grooves (26). Second sliding blocks (29) are respectively disposed on both sides of the bottom surface of the limiting plate (38), and the second sliding blocks (29) correspond to the second sliding grooves (34). The limiting plate (38) is slidably placed in the carriage (30) through the first sliding block (27) cooperating with the first sliding groove (26) and the second sliding block (29) cooperating with the second sliding groove (34). Two buffer plates (35) are arranged between the two limit plates (38), and the two buffer plates (35) are respectively arranged on the other side surfaces of the two limit plates (38) via second springs (36). Preferably, the second springs (36) include multiple groups, and the multiple groups of second springs (36) are arranged equidistantly along the length direction of the buffer plate (35); each group includes multiple second springs (36), and the multiple second springs (36) are arranged equidistantly along the width direction of the buffer plate (35); The four universal wheels (28) are respectively disposed at the four corners of the bottom surface of the carriage (30). The clamping mechanism comprises a rotating disk (41), a supporting column (42), a second driven gear disk (43), a second rotating motor (44), a second driving gear disk (45), a fourth telescopic rod (47), a split fixing plate (48), a first fixing column (49), a supporting plate (50), a fixed connecting rod (46), a suction cup (14), a vacuum pump (15), a mounting block (16), and a first telescopic rod (17). The other end of the rotating shaft (7) passes through the top surface of the vehicle shell (25) and is placed at the center of the bottom surface of the rotating disk (41). The rotating disk (41) is rotatably placed at the center of the top surface of the vehicle shell (25) via the rotating shaft (7). One end of the two support columns (42) is respectively placed on two sides of the top surface of the rotating disk (41). The support plate (50) is placed on the side of the support column (42), and the support plate (50) is close to the other end of the support column (42). The second rotating motor (44) is placed on the supporting plate (50). The wheel shaft of the second driving gear plate (45) is connected to the motor shaft of the second rotating motor (44). A second fixing column is disposed between the other ends of the two support columns (42), and the two ends of the second fixing column are rotatably disposed on the side surfaces of the other ends of the two support columns (42) via bearings. The two second driven gear plates (43) are sleeved on the second fixed column through a through hole opened in the middle, and the two second driven gear plates (43) correspond to the two ends close to the second fixed column respectively. One end of the two fixed connecting rods (46) is located between the two second driven gear plates (43), and one end of the two fixed connecting rods (46) is respectively sleeved on the side of the second fixed column through the through hole opened in the middle, and is respectively close to the two second driven gear plates (43). One end of the split fixing plate (48) is placed in the center of the side surface of the second fixing column through a through hole opened in the middle. A first fixing column (49) is disposed between one of the fixing connecting rods (46) and the split fixing plate (48), one end of the first fixing column (49) is disposed on a side surface of one of the fixing connecting rods (46), the other end of the first fixing column (49) is disposed on a side surface of the other end of the split fixing plate (48), the other end of the split fixing plate (48) is located between the two ends of the fixing connecting rod (46) and close to one end of the fixing connecting rod (46), One end of the fourth telescopic rod (47) is placed on the other side of the other end of the split fixed plate (48), and the other end of the fourth telescopic rod (47) is placed on the side of another fixed connecting rod (46). One end of the first telescopic rod (17) is placed on the other end of the fixed connecting rod (46). The other end of the first telescopic rod (17) is connected to the vacuum suction pump via a mounting block (16). Two suction cups (14) are disposed between the other ends of the two first telescopic rods (17), and the two suction cups (14) are disposed correspondingly on the side surfaces of the other ends of the two first telescopic rods (17). One end of the connecting tube is connected to and communicates with the air outlet of the vacuum pump (15), and the other end of the connecting tube is connected to and communicates with the suction cup (14). The second camera is placed at the other end of one of the fixed connecting rods (46). The present invention also relates to a transport trolley steering system, characterized in that the transport trolley steering system is composed of a speed sensor, a direction sensor, a central processor and a central controller, the speed sensor is connected to the central processor via a data line, the direction sensor is connected to the central processor via a data line, the central controller is connected to the steering motor (5) via a data transmission line, the central processor converts a digital signal into an electrical signal, and the transport trolley steering system implements the following steps when executed: The speed sensor collects the speed of the transport trolley and transmits a real-time signal to the central processor. When the transport trolley turns, the direction sensor transmits an expected signal to the central processor. The central processor calculates the deviation by comparing the expected signal with the real-time signal, and adjusts the rotation direction and the number of rotations of the steering motor (5) in real time according to the deviation. The steering motor (5) drives the first driving gear plate (3) to rotate, the first driving gear plate (3) drives the first driven gear plate (2) to rotate, the first driven gear plate (2) drives the rotating wheel (13) to rotate, and the rotating wheel drives the two traveling wheels (8) to rotate, thereby achieving the purpose of steering the transport trolley.

[0017] Preferably, the transport vehicle further comprises a control system, wherein the control system comprises a monitoring background, a signal converter, a data processor and a controller. The signal converter is placed on the vehicle shell (25), the data processor is placed on the vehicle shell (25), and the controller is placed on the vehicle shell (25). The first camera (51) and the second camera are connected to the signal converter via a data line. The steering motor (5), the driving motor (11), the first rotating motor (6), the second rotating motor (44), the vacuum suction pump, the first telescopic rod (17), the third telescopic rod (37), the fourth telescopic rod (47) and the fifth telescopic rod (61) are respectively connected to the controller via data transmission lines. The signal converter is connected to the data processor via a data transmission line, and the data processor is connected to the controller via a data transmission line. The signal converter is capable of converting the electrical signals of the image data collected by the first camera (51) and the second camera into digital signals. The controller may be implemented by one or at least two application specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing instructions of the data processing device. The data processor and the signal converter perform information exchange, When the control system is executed, the following steps are mainly implemented: When the transport trolley moves between the sorting port and the loading point, the controller controls the travel motor (11) to start, the travel motor (11) drives the transmission shaft (9) to rotate, the transmission shaft (9) drives the travel wheel (8) to rotate, the travel wheel (8) drives the rotating wheel (13) to rotate, so that the transport trolley starts to travel in a straight line according to the preset travel route, the travel speed sensor collects the travel speed of the transport trolley and transmits the real-time signal to the central processor, when the transport trolley turns, the travel direction sensor transmits the expected signal to the central processor, the central processor calculates the deviation by comparing the expected signal with the real-time signal, and controls the steering motor (5) to rotate forward or reverse and the rotation angle in real time according to the deviation, the steering motor (5) drives the first driving gear plate (3) to rotate, the first driving gear plate (3) drives the first driven gear plate (2) to rotate, the first driven gear plate (2) drives the rotating wheel (13) to rotate, and the rotating wheel drives the two travel wheels (8) to rotate, so as to achieve the purpose of steering the transport trolley; When a transport trolley is used to transport express parcels at a sorting port, the monitoring background controls the first rotating motor (6) to start, the two second rotating motors (44) to start, and the first telescopic rod (17) to extend and retract according to the distance between the suction cup (14) and the target express parcel. The first rotating motor (6) drives the rotating disk (41) to rotate, the rotating disk (41) drives the supporting column (42) and the two suction cups (14) to rotate, the second rotating motor (44) drives the second driving gear disk (45) to rotate, the second driving gear disk (45) drives the second driven gear disk (43) to rotate, the second driven gear disk (43) drives the second fixed column to rotate, the second fixed column drives the two fixed connecting rods (46) to rotate, the fixed connecting rod (46) drives the first telescopic rod (17) to rotate, and the first telescopic rod (17) drives the suction cup (14) to approach the target express parcel; The second camera captures an image of the target express package and sends the captured image data signal to the signal converter. The signal converter converts the electrical signal of the received image data signal into a digital signal and sends it to the data processor. The data processor calculates the pixel size of the image data and calculates the actual size of the express package based on the ratio coefficient between the preset pixel size and the actual size. The actual size is compared with the preset size. If the actual size is smaller than the preset size, the two suction cups (14) fall on both sides of the target express package. The controller controls the fourth telescopic rod (47) to retract. The controller controls the vacuum pump (15) to pump air so that the two suction cups (14) suck on both sides of the target express package. If the actual size is larger than the preset size, the controller The fourth telescopic rod (47) is controlled to extend, the distance between the two suction cups (14) is increased, the two suction cups (14) fall on both sides of the target express package, and then the fourth telescopic rod (47) is controlled to retract. The controller controls the vacuum pump (15) to pump air, so that the two suction cups (14) suck the two sides of the target express package. The two fourth telescopic rods (47) play a supporting role on the two sides of the express package. The second rotating motor (44) drives the first telescopic rod (17) to rise, and the first rotating motor (6) drives the rotating disk (41) to rotate, so that the target express package reaches the top of the carriage (30). The controller controls the vacuum pump (15) to stop working, and the target express package loses the adsorption force and falls from the suction cups (14) into the carriage (30); Before the express parcel is stored in the carriage (30), the third telescopic rod (37) drives the limiting plate (38) to move along the first sliding groove (26) and the second sliding groove (34) in the carriage (30), so that the two limiting plates (38) are close to each other, and the express parcel falls into the carriage (30) between the two limiting plates (38) under the action of gravity, and the buffer plate (35) can reduce the impact of the express parcel on the limiting plate (38); as more and more express parcels are piled up in the carriage (30), the squeezing force between the express parcels and the buffer plate (35) pushes the limiting plate (38) along the first sliding groove (26) and the second sliding groove (34) to approach the left and right sides of the carriage (30), and the buffer plate (35) can The express parcels play a role of limiting the position of the express parcels, thereby reducing the express parcels from being scattered at different positions in the carriage (30), thereby improving the space utilization rate of the carriage (30); at the same time, during the movement of the carriage (30), the buffer plate (35) can reduce the mutual squeezing and displacement of the stacked express parcels due to the bumping and shaking of the carriage (30), thereby reducing the damage of the express parcels; the ultrasonic ranging module (39) performs real-time monitoring of the express parcels in the carriage (30); when the express parcels in the carriage (30) are fully loaded, a reminder signal is sent to the controller, and the controller controls the transport vehicle to arrive at the loading point corresponding to the sorting port according to the preset travel route, and then the express parcels in the carriage (30) are clamped into the loading vehicle by the suction cup (14), thereby improving the transport efficiency; When the transport trolley moves between the sorting port and the loading point according to a preset route, when the control system or the first camera (51) fails, different transport trolleys collide with each other or the transport trolleys fail to avoid obstacles in time, the arc-shaped anti-collision member (21), the plurality of dampers (24), the second telescopic rod (22) and the first spring (23) can reduce the impact force on the transport trolley caused by collisions between the transport trolleys or collisions with obstacles, thereby reducing the wear of the transport trolleys; Example 2

[0018] The difference between this embodiment and embodiment 1 is that: the buffer plate (35) is provided with anti-skid grooves (52), the anti-skid grooves (52) include transverse anti-skid grooves (52) and vertical anti-skid grooves (52), and the transverse anti-skid grooves (52) and the vertical anti-skid grooves (52) are arranged in a staggered manner; when in use, the anti-skid grooves (52) can increase the friction between the express package and the buffer plate (35), reduce the sliding of the express package during the movement of the transport trolley, reduce the hard collision between the express package and the buffer plate (35), and reduce the damage to the express package; Example 3

[0019] The difference between this embodiment and embodiment 1 is that a reinforcing rib (53) is disposed between one end of the support column (42) and the rotating disk (41), one side of the reinforcing rib (53) is disposed on the side of one end of the support column (42), and the other side of the reinforcing rib (53) is disposed on the top surface of the rotating disk (41); when in use, the reinforcing rib (53) can improve the connection stability between the support column (42) and the rotating disk (41), reduce the loosening or falling off of the connection between the support column (42) and the rotating disk (41) after long-term use, and enable the express parcel to be normally adsorbed by the suction cup (14) and moved into the carriage (30); The first camera (51) is designed such that when the transport trolley moves between the sorting port and the loading point according to a preset route, the first camera (51) collects images in front of the transport trolley's route in real time and sends the collected image data to a signal converter. The signal converter converts the electrical signal of the image data into a digital signal and sends it to a data processor. The data processor processes the digital signal of the image data collected by the first camera (51) and identifies whether there is an obstacle in the image data. When there is an obstacle, the controller controls the steering motor (5) to rotate forward or reverse and the rotation angle in real time according to the deviation. The steering motor (5) drives the first driving gear plate (3) to rotate. The first driving gear plate (3) drives the first driven gear plate (2) to rotate. The first driven gear plate (2) drives the rotating wheel (13) to rotate. The rotating wheel drives the two traveling wheels (8) to rotate, thereby realizing the steering of the transport trolley and enabling the transport trolley to avoid obstacles in advance. A rubber column is arranged between the other side of the fixing plate (20) and the arc-shaped anti-collision member (21), and the two ends of the rubber column are respectively arranged on the other side of the fixing plate (20) and the side of the arc-shaped anti-collision member (21). There are a plurality of rubber columns, and the plurality of rubber columns are arranged equidistantly along the length direction of the fixing plate (20). When a controller fails or a first camera (51) fails, different transport carts collide with each other, or the transport cart fails to avoid obstacles in time, the rubber column can absorb shock and vibration, thereby improving the shock absorption performance of the arc-shaped anti-collision member (21) and reducing the violent shaking or deformation of the arc-shaped anti-collision member (21) when it is impacted. In combination with the damper (24), the second telescopic rod (22) and the first spring (23), the influence of external shock and vibration on the transport cart can be further reduced. The first sliding groove (26) and the second sliding groove (34) are designed to cooperate with the third telescopic rod (37). The limiting plate (38) can be driven by the third telescopic rod (37) to move along the first sliding groove (26) and the second sliding groove (34), so that the initial distance between the two limiting plates (38) is small, thereby reducing the express parcels scattered at different positions in the carriage (30) and improving the space utilization rate of the carriage (30). When the express parcels are piled up more and more, the squeezing force between the express parcels and the buffer plate (35) can push the limiting plate (38) along the first sliding groove (26) and the second sliding groove (34) to approach the left and right sides of the carriage (30). The limiting plate (38) drives the third telescopic rod (37) to contract, which can increase the distance between the two limiting plates (38) and increase the storage space for the express parcels. The fourth telescopic rod (47) is designed to cooperate with the first telescopic rod (17). The first telescopic rod (17) is extended and retracted according to the distance between the suction cup (14) and the target express package, so that the suction cup (14) can be close to the target express package. The fourth telescopic rod (47) is extended and retracted according to the size of the target express package monitored by the second camera, so that the two suction cups (14) can be respectively adsorbed to the two sides of the target express package, and the adsorption force is stronger. At the same time, the contraction of the fourth telescopic rod (47) can provide clamping support force for the two sides of the express package, thereby reducing the drop of the express package. The traveling mechanism, the clamping mechanism and the storage mechanism are designed to cooperate with each other. The clamping mechanism moves the express parcels at the sorting port to the storage mechanism. After the traveling mechanism drives the storage mechanism to move to the loading point according to the preset route, the clamping mechanism moves the express parcels in the storage mechanism to the loading vehicle, thereby completing the transfer of the express parcels and improving the handling efficiency. The anti-collision mechanism and the traveling mechanism are designed to cooperate with each other, and when the traveling mechanism moves between the sorting port and the loading point according to a preset route, the anti-collision mechanism can reduce the impact force on the transport cart caused by collisions between the transport carts or collisions with obstacles, reduce the wear of the transport cart, and reduce damage to express parcels.

[0020] The purpose of enabling the transport trolley to move forward through the walking mechanism, reducing the wear of the transport trolley through the anti-collision mechanism, and realizing the transfer of express parcels through the clamping mechanism and the storage structure.

[0021] It should be noted that, unless otherwise clearly specified and limited, the terms "placed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection method such as a folding connection, a rivet connection, a pin connection, a bonding connection and a welding connection, or a detachable connection method such as a threaded connection, a snap connection and a hinge connection, or an integral connection, or an electrical connection, or a direct connection, or an indirect connection through an intermediate medium, or the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] It should be further pointed out that, when describing the above specific embodiment, for the sake of simplicity and clarity, only the differences between the above specific embodiment and other embodiments are described, but those skilled in the art should know that the above specific embodiment itself is also an independent technical solution.

Claims

1. A composite shock-absorbing and braking enhanced structure for a transport trolley, characterized by: The invention claims a first spring, wherein the first spring is an elastic member of the first and second spring members, and the elastic member is a spring which is fixed to the first and second ends of the cam. The elastic member is a spring which is fixed to the first and second ends of the cam. The elastic member is a spring which is fixed to the first and second ends of the cam. A connecting block is arranged in the middle of one side of the top surface, and the connecting block and the traction member are screwed together through a fixed shaft and a connecting hole, and the fixing splint is located on the outer side of the vehicle shell, and the fixing splint covers the part of the outer side of the vehicle shell except the vehicle compartment, and the shock-absorbing assembly is arranged between the fixing splint and the vehicle shell, and the shock-absorbing assembly comprises five parts: two hinges, a shock-absorbing spring, a first connecting rod and a second connecting rod, and a first connecting rod and a second connecting rod are arranged between the two hinges, one end of the second connecting rod is rotatably placed on the side of the vehicle shell through one of the hinges, and one end of the first connecting rod is rotatably placed on the side of the upper fixing splint through another hinge, and a shock-absorbing spring is arranged between the second connecting rod and the first connecting rod, and two ends of the shock-absorbing spring are respectively arranged on the side of the second connecting rod and the side of the first connecting rod, and the other end of the first connecting rod is hinged to the other end of the second connecting rod, and the height of the hinged joint is less than the height of the hinge.

2. The composite shock-absorbing and braking reinforcement structure of a transport trolley according to claim 1 is characterized in that The bottom surface of the gasket is provided with an anti-skid gasket, and the edge of the anti-skid gasket is connected to the edge of the bottom surface of the gasket.

3. The composite shock-absorbing and braking reinforcement structure of a transport trolley according to claim 1 is characterized in that A plurality of rubber protrusions are evenly arranged on the side of the rubber wheel, and the rubber protrusions are hemispherical structures.

4. The composite shock-absorbing and braking reinforcement structure of a transport trolley according to claim 1 is characterized in that There are multiple rotating shafts, and the multiple rotating shafts are equidistantly arranged along the length direction of the fixed clamping plate. The side of the rubber wheel protrudes from the fixed clamping plate, which can avoid direct contact with the fixed clamping plate when other transport carts or obstacles collide with the transport cart, thereby reducing damage to the fixed clamping plate caused by collision or extrusion, and can increase the contact area between the rubber wheel and other transport carts or obstacles, and the buffering and anti-collision effect is better; the distance between two adjacent rubber wheels is less than 5mm, and the smaller spacing can make the adjacent rubber wheels more densely participate in the buffering effect when they are collided, effectively Reduce the transmission of impact force and improve the buffering effect. The smaller spacing can ensure that the rubber wheel bears the external collision impact force more evenly, avoiding damage caused by excessive local force, thereby extending the service life of the rubber wheel; a buffer layer is arranged on the side of the fixed splint, and the buffer layer has two layers, which are a sponge layer and a fiber layer from the inside to the outside. The buffer layer can reduce the impact force generated when other transport carts or obstacles collide with the fixed splint, and reduce damage to the fixed splint. At the same time, the fiber layer has good wear resistance and tensile strength, which can reduce excessive deformation or damage of the fixed splint when it is hit.

5. The composite shock-absorbing and braking reinforcement structure of a transport trolley according to claim 1 is characterized in that The other end of the shock-absorbing connecting plate extends obliquely upward in a direction away from the fixing block. The gasket is made of rubber, and the diameter of the gasket is greater than the diameter of the second damper.

6. The composite shock-absorbing and braking reinforcement structure of a transport trolley according to claim 1 is characterized in that A suction cup is placed on the side of the gasket through a connecting pipe, and the connecting pipe is a hose. There are multiple suction cups, which are equidistantly arranged along the side of the gasket. The distances and heights of the multiple suction cups to the gasket are different. When the transport trolley is displaced and tilted by a collision, the suction cup cooperates with the gasket to increase the contact area with the ground and increase the friction. When the transport trolley is collided, the braking force on the transport trolley is further increased, so that the transport trolley can decelerate faster; multiple suction cups with different distances and heights can adapt to uneven ground. When the transport trolley is collided, the suction cups with different distances and heights can ensure that at least a part of them can effectively contact the ground, thereby providing additional adsorption force and stability, and having a better braking effect on the transport trolley; the two ends of the fixed splint are bent in an arc shape and extend to both sides of the carriage.

7. The composite shock-absorbing and braking reinforcement structure of a transport trolley according to claim 1 is characterized in that The shock absorbing spring is close to the hinge, and there are a plurality of shock absorbing assemblies, which are arranged equidistantly along the length direction of the fixed clamping plate.

8. The composite shock-absorbing and braking reinforcement structure of a transport trolley according to claim 1 is characterized in that A rubber column is arranged between the upper fixed splint and the vehicle shell, and the two ends of the rubber column are respectively arranged on the upper fixed splint and the side of the vehicle shell correspondingly. There are multiple rubber columns, and the multiple rubber columns are arranged equidistantly along the length direction of the fixed splint. Each rubber column is located between two adjacent shock-absorbing assemblies. The diameter of the rubber column gradually decreases from the middle to the two ends. The rubber column cooperates with the shock-absorbing assembly to further reduce the impact and vibration generated when the transport cart is hit, and reduce the impact of external impact and vibration on the transport cart and express parcels. The rubber column whose diameter gradually decreases from the middle to the two ends can make the rubber column undergo greater deformation when impacted, thereby absorbing more impact energy, thereby improving the shock-absorbing performance of the transport cart.

9. The composite shock-absorbing and braking reinforcement structure of a transport vehicle according to claim 4 is characterized in that A foam inflatable cushion is placed between the other fixed splint located below and the vehicle shell, and the two ends of the foam inflatable cushion are respectively placed on the fixed splint located below and the side of the vehicle shell. There are multiple foam inflatable cushions, and the multiple foam inflatable cushions are arranged equidistantly along the length direction of the fixed splint, and each foam inflatable cushion is located between an adjacent shock absorbing assembly and a rubber column.

10. The composite shock-absorbing and braking reinforcement structure of a transport trolley according to claim 1 is characterized in that The transport trolley is composed of a walking mechanism, an anti-collision mechanism, a storage mechanism and a clamping mechanism. The walking mechanism is composed of a base plate, a first driven gear plate, a first driving gear plate, a steering shaft, a steering motor, a first rotating motor, a shaft, a traveling wheel, a transmission shaft, a traveling wheel groove, a traveling motor, a traveling motor groove, a rotating wheel and a vehicle shell. The base plate is a triangular structure, and the edge of the base plate is an arc structure. The vehicle shell is placed on the base plate, and the edge of the vehicle shell and the edge of the top surface of the base plate are detachably connected. The first rotating motor is placed at the center of the top surface of the base plate and is located in the vehicle shell. One end of the shaft is connected to the motor shaft of the first rotating motor. The steering motor is placed on the top surface of the base plate, and one end of the steering shaft is connected to the steering motor The cam is connected to the motor shaft of the first driving gear plate, the other end of the steering shaft is connected to the wheel shaft of the first driving gear plate, the first driven gear plate is meshed with the first driving gear plate, the first driven gear plate is close to one end of the bottom plate, one end of the anti-bias column is placed on the top surface of the bottom plate, the anti-bias ball is rotatably embedded in the other end of the anti-bias column, and is rotatably in contact with the bottom edge of the first driven gear plate, there are multiple anti-bias columns, and the multiple anti-bias columns are equidistantly arranged along the circumferential edge of the bottom edge of the first driven gear plate, the universal seat passes through the through hole opened on the bottom plate and is connected to the wheel shaft of the first driven gear plate, the rotating wheel is rotatably placed on the bottom surface of the bottom plate through the universal seat, the top surface of the bottom plate is provided with a traveling motor slot, and the top of the bottom plate The vehicle body has two traveling wheel grooves, the two traveling wheel grooves are respectively located on both sides of the traveling motor groove, the traveling motor groove and the two traveling wheel grooves are close to the other end of the bottom plate, the traveling motor is placed in the traveling motor groove, the two traveling wheels are respectively and rotatably located in the traveling wheel grooves, one end of the two transmission shafts are respectively connected to the two ends of the motor shaft of the traveling motor, the other ends of the two transmission shafts are respectively connected to the wheel axles of the two traveling wheels, the anti-collision mechanism is composed of a fixed rod, an anti-collision connecting rod, a fixed plate, an arc-shaped anti-collision member, a second telescopic rod, a first spring, a damper, a connecting plate, an ultrasonic ranging module, a first camera and a traction member, the first camera is placed on the top surface of the vehicle body, and the first camera is close to the A rotating wheel, an ultrasonic ranging module is disposed on the top surface of the vehicle shell, the ultrasonic ranging module is close to the traveling wheel, one end of the traction member is placed on the top surface of the vehicle shell, the traction member is located in the middle of the other end of the vehicle shell, a connecting hole is opened on the other end of the traction member, and connecting plates are disposed on both sides of the top surface of the vehicle shell respectively, one end of the fixing rod is placed on the connecting plate, there are multiple fixing rods, and multiple fixing rods are arranged equidistantly along the length direction of the connecting plate, one end of the anti-collision connecting rod is hinged to the other end of the fixing rod, the other end of the anti-collision connecting rod is placed on one side of the fixing plate, one end of the damper is placed on the side of the vehicle shell, one end of the second telescopic rod is placed on the other end of the damper, and the other end of the second telescopic rod is placed on one side of the fixing plate,The first spring sleeve is placed on the second telescopic rod, and there are multiple dampers on both sides of the car shell, and the multiple dampers on the same side are arranged equidistantly along the length direction of the fixed plate, and each damper is located between two adjacent anti-collision connecting rods, and the two ends of the arc-shaped anti-collision member are respectively placed at the two ends of the other side of the fixed plate, and a rubber column is placed between the other side of the fixed plate and the arc-shaped anti-collision member, and the two ends of the rubber column are respectively placed on the other side of the fixed plate and the side of the arc-shaped anti-collision member. There are multiple rubber columns, and the multiple rubber columns are arranged equidistantly along the length direction of the fixed plate. The storage mechanism consists of a first sliding groove, a first sliding block, a universal wheel, a second sliding block, a carriage, a connecting block, a fixed shaft, and a second sliding The traction member is screwed to the locking plate through a fixing hole and a fixing hole, and the locking plate is screwed to the locking plate through a fixing hole and a fixing hole. The traction member ... The two cams are connected by a pair of locks, and the two cams are connected by a pair of locks, and the two cams are connected by a pair of locks. The two cams are connected by a pair of locks, and the two cams are connected by a pair of locks. The invention comprises a support column, a second driven gear plate, a second rotating motor, a second driving gear plate, a fourth telescopic rod, a split fixing plate, a first fixing column, a supporting plate, a fixed connecting rod, a suction cup, a vacuum pump, a mounting block and a first telescopic rod, wherein the other end of the rotating shaft passes through the top surface of the vehicle shell and is placed at the bottom surface center of the rotating disk, and the rotating disk is rotatably placed at the top surface center of the vehicle shell through the rotating shaft, one ends of the two supporting columns are respectively placed on both sides of the top surface of the rotating disk, the supporting plate is placed on the side surface of the supporting column, the supporting plate is close to the other end of the supporting column, the second rotating motor is placed on the supporting plate, the wheel axle of the second driving gear plate is connected to the motor shaft of the second rotating motor, and a second fixing column is placed between the other ends of the two supporting columns.The two ends of the second fixing column are rotatably placed on the side surfaces of the other ends of the two supporting columns through bearings respectively, the two second driven gear plates are placed on the second fixing column through through-holes opened in the middle, the two second driven gear plates are respectively close to the two ends of the second fixing column, one end of the two fixed connecting rods is located between the two second driven gear plates, one end of the two fixed connecting rods is placed on the side surfaces of the second fixing column through through-holes opened in the middle, and close to the two second driven gear plates respectively, one end of the split fixing plate is placed on the side surface center of the second fixing column through through-holes opened in the middle, a first fixing column is placed between one of the fixed connecting rods and the split fixing plate, one end of the first fixing column The first telescopic rod is placed on the side surface of one of the fixed connecting rods, the other end of the first fixed column is placed on a side surface of the other end of the split fixing plate, the other end of the split fixing plate is located between the two ends of the fixed connecting rod and close to one end of the fixed connecting rod, one end of the fourth telescopic rod is placed on the other side surface of the other end of the split fixing plate, the other end of the fourth telescopic rod is placed on the side surface of another fixed connecting rod, one end of the first telescopic rod is placed on the other end of the fixed connecting rod, the other end of the first telescopic rod is connected to the vacuum suction pump through the mounting block, two suction cups are placed between the other ends of the two first telescopic rods, the two suction cups are respectively placed on the other end sides of the two first telescopic rods, one end of the connecting pipe is connected to the air outlet of the vacuum pump, and The other end of the connecting pipe is connected to the suction cup, and the second camera is placed at the other end of one of the fixed connecting rods. The steering system of the transport trolley is composed of a speed sensor, a direction sensor, a central processing unit and a central controller. The speed sensor is connected to the central processing unit through a data line, the direction sensor is connected to the central processing unit through a data line, the central controller is connected to the steering motor through a data transmission line, and the central processing unit converts the digital signal into an electrical signal. When the steering system of the transport trolley is executed, the following steps are implemented: the speed sensor collects the speed of the transport trolley and transmits the real-time signal to the central processing unit. When the transport trolley turns, The direction sensor transmits the expected signal to the central processor, and the central processor calculates the deviation by comparing the expected signal with the real-time signal, and adjusts the rotation direction and the number of revolutions of the steering motor in real time according to the deviation. The steering motor drives the first driving gear plate to rotate, the first driving gear plate drives the first driven gear plate to rotate, the first driven gear plate drives the rotating wheel to rotate, and the rotating wheel drives the two traveling wheels to rotate, so as to achieve the purpose of steering the transport trolley; the transport trolley also includes a control system, which includes a monitoring background, a signal converter, a data processor and a controller, the signal converter is placed on the vehicle shell, the data processor is placed on the vehicle shell, and the controller is placed on the vehicle shell,The first camera and the second camera are connected to the signal converter via a data line, the steering motor, the driving motor, the first rotating motor, the second rotating motor, the vacuum suction pump, the first telescopic rod, the third telescopic rod, and the fourth telescopic rod are respectively connected to the controller via a data transmission line, the signal converter is connected to the data processor via a data transmission line, and the data processor is connected to the controller via a data transmission line. The signal converter can convert the electrical signal of the image data collected by the first camera and the second camera into a digital signal, and the controller can be composed of one or at least two application-specific integrated circuits (ASICs), programmable logic devices (PLDs), or the like. LD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are implemented to execute the instructions of the data processing device, the data processor and the signal converter exchange information, and the control system mainly implements the following steps when being executed: when the transport trolley moves between the sorting port and the loading point, the controller controls the travel motor to start, the travel motor drives the transmission shaft to rotate, the transmission shaft drives the travel wheel to rotate, and the travel wheel drives the rotating wheel to rotate, so that the transport trolley starts to travel in a straight line according to the preset travel route, the speed sensor collects the speed of the transport trolley and transmits the real-time signal to the central processor, when the transport trolley turns, the direction sensor transmits the expected signal to the central processor, and the central processor The processor calculates the deviation by comparing the expected signal with the real-time signal, and controls the steering motor to rotate forward or reverse and the rotation angle in real time according to the deviation. The steering motor drives the first active gear plate to rotate, the first active gear plate drives the first driven gear plate to rotate, the first driven gear plate drives the rotating wheel to rotate, and the rotating wheel drives the two traveling wheels to rotate, so as to achieve the purpose of steering the transport trolley; when the transport trolley is used to transport the express parcels at the sorting port, the monitoring background controls the start of the first rotating motor, the start of the two second rotating motors, the extension and retraction of the first telescopic rod according to the distance between the suction cup and the target express parcel, the first rotating motor drives the rotating disk to rotate, the rotating disk drives the supporting column and the two suction cups to rotate, the second rotating motor drives the second active gear plate to rotate, and the second active gear plate drives the second driven gear plate to rotate. The wheel drives the second driven gear plate to rotate, the second driven gear plate drives the second fixed column to rotate, the second fixed column drives the two fixed connecting rods to rotate, the fixed connecting rod drives the first telescopic rod to rotate, and the first telescopic rod drives the suction cup to approach the target express package; the second camera collects images of the target express package, and sends the collected image data signal to the signal converter, the signal converter converts the electrical signal of the received image data signal into a digital signal and sends it to the data processor, the data processor calculates the pixel size of the image data, calculates the actual size of the express package according to the ratio coefficient between the preset pixel size and the actual size, and compares the actual size with the preset size. If the actual size is smaller than the preset size, the two suction cups fall on both sides of the target express package.The controller controls the fourth telescopic rod to retract, and the controller controls the vacuum pump to pump air, so that the two suction cups suck the two sides of the target express package. If the actual size is larger than the preset size, the controller controls the fourth telescopic rod to extend, increase the distance between the two suction cups, and the two suction cups fall on the two sides of the target express package. Then the fourth telescopic rod is controlled to retract, and the controller controls the vacuum pump to pump air, so that the two suction cups suck the two sides of the target express package. The two fourth telescopic rods support the two sides of the express package, and the second rotating motor drives the first telescopic rod to rise, and the first rotating motor drives the rotating disk to rotate, so that the target When the target express package reaches the top of the carriage, the controller controls the vacuum pump to stop working, and the target express package loses its adsorption force and falls from the suction cup into the carriage; before the express package is stored in the carriage, the third telescopic rod drives the limit plate to move along the first sliding groove and the second sliding groove in the carriage, so that the two limit plates are close to each other, and the express package falls into the carriage between the two limit plates under the action of gravity, and the buffer plate can reduce the impact of the express package on the limit plate; as more and more express packages are piled up in the carriage, the extrusion force between the express packages and the buffer plate pushes the limit plate along the first sliding groove The movable groove and the second sliding groove are close to the left and right sides of the carriage. The buffer plate can limit the express parcels in the carriage, reduce the express parcels scattered in different positions of the carriage, and improve the space utilization rate of the carriage. At the same time, during the movement of the carriage, the buffer plate can reduce the mutual squeezing and displacement of the stacked express parcels due to the bumps and shakes of the carriage, and reduce the damage of the express parcels; the ultrasonic ranging module monitors the express parcels in the carriage in real time. When the carriage is fully loaded with express parcels, it sends a reminder signal to the controller, and the controller controls the transport trolley to follow the preset route to the destination. When the transport cart moves between the sorting port and the loading point according to the preset route, if the control system or the first camera fails, different transport carts collide with each other or the transport cart fails to avoid obstacles in time, the arc-shaped anti-collision member, multiple dampers, the second telescopic rod and the first spring can reduce the impact of collisions between transport carts or collisions with obstacles on the transport cart, thereby reducing the wear of the transport cart.

Images