Carrying trolley

Abstract

The utility model relates to the technical field of logistics machines, and discloses a carrying trolley. The carrying trolley comprises a trolley body, the trolley body comprises a chassis and wheels, and the wheels are arranged on the chassis; the mechanical arm is arranged on the chassis and is used for grabbing objects; the two-dimensional coordinate positioning assembly is arranged on the chassis and comprises positioning wheels and an information processing module, the positioning wheels rotate along with movement of the carrying trolley, and the information processing module is used for calculating position coordinates of the carrying trolley according to displacement information of the positioning wheels so as to control the carrying trolley to move. According to the carrying trolley provided by the utility model, the displacement movement information of the carrying trolley can be metered through the positioning wheels, so that the position coordinates of the carrying trolley can be accurately and quickly confirmed in a specified walking area, the movement control is convenient, the accurate control on the working process of the carrying trolley is realized, and the working efficiency is improved. And the influence of the environment on the unmanned trolley is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics machines, in particular to a transport trolley. Background Art

[0002] Unmanned object handling trolleys can be used in various logistics such as pick and place, palletizing / depalletizing, and packaging industries. They are used to improve material handling efficiency, flexibility, and stability in the manufacturing process. Using object handling trolleys in production plants can not only reduce ergonomic threats, but also help improve the company's lean management system.

[0003] Existing unmanned vehicles such as AGV transport robots mainly rely on magnetic navigation. However, in a workshop environment, the magnetic strips can be easily crushed and broken by other pedestrians or vehicles, resulting in discontinuity or difficulty in identifying the route, inaccurate positioning, and the need for frequent maintenance of the magnetic stripe facilities. Therefore, such transport robots are easily affected by the working environment when moving, resulting in inaccurate navigation.

[0004] Therefore, the unmanned transport vehicle in the prior art uses magnetic navigation, which is easily affected by the working environment and causes inaccurate positioning. Utility Model Content

[0005] In view of the above problems, the utility model aims to provide a transport trolley, which can solve the problem that the unmanned transport trolley in the prior art uses magnetic navigation and is easily affected by the working environment and has inaccurate positioning.

[0006] The above technical objectives of the utility model are achieved through the following technical solutions:

[0007] A transport trolley, comprising:

[0008] A trolley body, the trolley body comprising a chassis and wheels, the wheels being arranged on the chassis;

[0009] a mechanical arm, the mechanical arm being disposed on the chassis and being used for grabbing objects; and

[0010] A two-dimensional coordinate positioning component is arranged on the chassis, and includes a positioning wheel and an information processing module. The positioning wheel rotates as the transport trolley moves. The information processing module is used to calculate the position coordinates of the transport trolley according to the displacement information of the positioning wheel to control the movement of the transport trolley.

[0011] Preferably, the positioning wheel is an omnidirectional wheel, two of which are provided with rotation axes perpendicular to each other, and the information processing module includes an encoder and a processor, and the encoder is provided on the positioning wheel and rotates synchronously with the positioning wheel to record the displacement of the positioning wheel.

[0012] Preferably, the mechanical arm comprises:

[0013] Turntable;

[0014] A boom assembly, the boom assembly comprising a boom, a first connecting rod mechanism and a joint connecting piece; the boom is rotatably arranged on the turntable, and the joint connecting piece is rotatably arranged at the end of the boom; one end of the first connecting rod mechanism is rotatably arranged on the turntable, and the other end is rotatably connected to the joint connecting piece; the boom, the joint connecting piece and the first connecting rod mechanism constitute a first parallelogram mechanism; and

[0015] A forearm assembly, the forearm assembly comprising a forearm, a mounting platform and a second connecting rod mechanism; the forearm is rotatably arranged at the end of the upper arm, and the mounting platform is rotatably arranged at the end of the forearm; one end of the second connecting rod mechanism is rotatably arranged on the joint connecting piece, and the other end is rotatably connected to the mounting platform; the forearm, the mounting platform, the second connecting rod mechanism and the joint connecting piece constitute a second parallelogram mechanism; the mounting platform can move in a horizontal posture under the drive of the first parallelogram mechanism and the second parallelogram mechanism.

[0016] Preferably, a first driving member is provided on the turntable, and the first driving member is used to drive the boom to rotate; the first driving member is a dual-axis servo, and the first driving member is arranged between the turntable and the boom, one end of the boom is straddled on the first driving member, and both sides of the end are respectively connected to the rotating shaft of the first driving member.

[0017] Preferably, the first connecting rod mechanism includes a support rod and an auxiliary rod, the support rod is fixedly arranged on the turntable, one end of the auxiliary rod is rotatably arranged on the support rod, and the other end is rotatably connected to the joint connecting piece.

[0018] Preferably, the robotic arm also includes a driving rod, and a second driving member is arranged on the turntable. One end of the driving rod is connected to the output shaft of the second driving member, and the other end is rotatably connected to the end of the forearm away from one end of the mounting platform. The driving rod can drive the forearm to move under the drive of the second driving member.

[0019] Preferably, the joint connecting member is provided with three rotation center holes arranged in a triangle, namely the first rotation center hole, the second rotation center hole and the third rotation center hole. The upper arm, the lower arm and the joint connecting member are rotationally connected to each other through the first rotation center hole, the first connecting rod mechanism and the joint connecting member are rotationally connected through the second rotation center hole, and the second connecting rod mechanism and the joint connecting member are rotationally connected through the third rotation center hole.

[0020] Preferably, a mounting surface is provided on the mounting platform, and a clamping mechanism can be horizontally arranged on the mounting surface, and the clamping mechanism includes a third driving member and two mechanical claws, the third driving member is arranged on the mounting platform, and the mechanical claws are rotatably arranged on the mounting platform, and the third driving member is used to drive the two mechanical claws to clamp objects to each other.

[0021] Preferably, a visual recognition module is provided on the installation platform, and the visual recognition module is used to identify environmental information so as to control the operation of the transport vehicle according to the environmental information.

[0022] Preferably, a material tray is rotatably arranged on the chassis, and a plurality of material slots are arranged on the material tray.

[0023] Due to the adoption of the above technical solution, the utility model has at least the following beneficial effects:

[0024] The transport trolley provided by the utility model is provided with a two-dimensional coordinate positioning component, specifically, by providing a positioning wheel in combination with an information processing module, so that the information of the displacement movement of the transport trolley can be measured by the positioning wheel, so that the position coordinates of the transport trolley can be accurately and quickly confirmed within a specified walking area, which is convenient for mobile control, thereby realizing precise control of the working process of the transport trolley and reducing the impact of the environment on the unmanned vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of a transport trolley provided in an embodiment of the utility model;

[0026] Figure 2 It is a schematic diagram of the structure of a two-dimensional coordinate positioning component provided in an embodiment of the utility model;

[0027] Figure 3 It is a schematic diagram of the structure of the mechanical arm provided in the embodiment of the utility model from the first perspective;

[0028] Figure 4 It is a schematic diagram of the structure of the mechanical arm from a second viewing angle provided in an embodiment of the utility model;

[0029] Figure 5 It is a schematic diagram of the structure of the joint connection member provided in the embodiment of the utility model;

[0030] Figure 6 It is a schematic structural diagram of the cooperation between the mounting platform and the clamping mechanism provided in the embodiment of the utility model.

[0031] In the accompanying drawings, 1. the main body of the trolley; 11. the chassis; 12. the wheels; 2. the mechanical arm; 21. the turntable; 22. the upper arm assembly; 221. the upper arm; 222. the first connecting rod mechanism; 2221. the supporting rod; 2222. the auxiliary rod; 223. the joint connecting part; 2231. the first rotating center hole; 2232. the second rotating center hole; 2233. the third rotating center hole; 23. the small arm assembly; 231. the small arm; 232. the mounting platform; 2321. the mounting surface; 233. the second connecting rod mechanism; 24. the first driving member; 25. the driving rod; 26. the second driving member; 261. the rocker arm; 27. the clamping mechanism; 271. the third driving member; 272. the mechanical claw; 3. the two-dimensional coordinate positioning assembly; 31. the positioning wheel; 32. the bracket; 4. the visual recognition module; 5. the material tray; 51. the material trough; 6. the power module. DETAILED DESCRIPTION

[0032] The following is a clear and complete description of the technical solution of the utility model patent in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by technicians in this field without creative work are within the scope of protection of the utility model.

[0033] In the description of the present invention, it should be noted that if the terms "center", "upper", "lower", "left",

[0034] The directions or positional relationships indicated by “right”, “vertical”, “horizontal”, “inside”, “outside”, etc. are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as a limitation on the present invention.

[0035] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0036] See also Figure 1 , Figure 1 : is a structural diagram of a transport trolley. A transport trolley provided in this embodiment includes:

[0037] A trolley body 1, the trolley body 1 comprising a chassis 11 and wheels 12, the wheels 12 being arranged on the chassis 11;

[0038] A mechanical arm 2, the mechanical arm 2 is arranged on the chassis 11 and is used to grab objects; and

[0039] A two-dimensional coordinate positioning component 3 is arranged on the chassis 11, and includes a positioning wheel 31 and an information processing module. The positioning wheel 31 rotates as the transport trolley moves. The information processing module is used to calculate the position coordinates of the transport trolley according to the displacement information of the positioning wheel 31 to control the movement of the transport trolley.

[0040] It can be understood that the chassis 11 of the vehicle body 1 is mainly used to support the robotic arm 2 and other components. Its structure and the materials used can be selected or simply deformed according to actual needs. For example, the material of the chassis 11 is preferably carbon plate material, so as to reduce weight while ensuring structural strength.

[0041] Furthermore, the wheel 12 is preferably a Mecanum wheel. Specifically, in the present embodiment, the chassis 11 is a single-layer plate structure, with four Mecanum wheels as the wheel 12. Four parallel motors are used to output power to drive the four Mecanum wheels respectively, thereby achieving flexible lateral and longitudinal movement and rotation in situ.

[0042] In the embodiment of the present utility model, Figure 2 As shown, Figure 2 The schematic diagram of the structure of the two-dimensional coordinate positioning component provided in this embodiment is that the positioning wheel 31 is an omnidirectional wheel, two of which are provided and the rotation axes are perpendicular to each other, and are specifically provided through a bracket 32. The information processing module includes an encoder and a processor, and the encoder is provided on the positioning wheel 31 and rotates synchronously with the positioning wheel 31 to record the rotation and displacement of the positioning wheel 31. In this embodiment, displacement information is obtained by relying on two perpendicular orthogonal omnidirectional wheels and an internal encoder, and then the processor solves the coordinates of the transport trolley on the plane to feed back to the main controller of the transport trolley to perform two-dimensional plane positioning and control of the whole vehicle, wherein the omnidirectional wheel can move at any angle and direction, so the two mutually perpendicular omnidirectional wheels can simultaneously measure various possible movement modes of the transport trolley, and the omnidirectional wheel is a mature component in this field, and the encoder and processor are also commonly used equipment, which will not be illustrated or further described here.

[0043] Specifically, the workshop environment generally has high requirements for the flatness of the ground, so the ground of the work scene is equivalent to a two-dimensional plane. A coordinate system is pre-established on this two-dimensional plane, and a reference point is set, which can be the origin. When the transport cart moves, it is equivalent to moving on this two-dimensional plane. The distance moved in the direction of the coordinate system relative to the reference point can be determined by driving the positioning wheel 31 to move when the transport cart moves. The information processing module calculates and converts the direction and distance traveled by the positioning wheel 31 based on the radius of the positioning wheel 31 and the angular displacement or number of rotations of the positioning wheel 31 measured by the encoder. Combined with the two coordinate axis directions of the two-dimensional coordinates corresponding to the two positioning wheels 31, the position of the transport cart in the coordinate system, i.e., the two-dimensional plane (ground), can be calculated, thereby facilitating the control of the direction and distance of the movement of the transport cart. For example, if the transport cart moves in a direction parallel to the axis of one of the omnidirectional wheels, then the omnidirectional wheel will not rotate, while the other omnidirectional wheel will rotate, so the travel distance of the transport cart can be calculated based on the rotation of the rotating omnidirectional wheel; if there is an angle between the axes of the two omnidirectional wheels, the travel distance and the angle can be calculated based on the values ​​measured by each of the two omnidirectional wheels, thereby confirming the travel direction and distance of the transport cart. More situations are not further described here.

[0044] In the embodiment of the present utility model, Figure 3 and Figure 4 As shown, Figure 3 and Figure 4 They are schematic diagrams of the structure of the robot arm from two different perspectives. The robot arm 2 includes:

[0045] Turntable 21;

[0046] A boom assembly 22, the boom assembly 22 comprising a boom 221, a first link mechanism 222 and a joint connection member 223; the boom 221 is rotatably disposed on the turntable 21, and the joint connection member 223 is rotatably disposed at the end of the boom 221; one end of the first link mechanism 222 is rotatably disposed on the turntable 21, and the other end is rotatably connected to the joint connection member 223; the boom 221, the joint connection member 223 and the first link mechanism 222 constitute a first parallelogram mechanism; and

[0047] The forearm assembly 23 includes a forearm 231, a mounting platform 232 and a second connecting rod mechanism 233; the forearm 231 is rotatably arranged at the end of the upper arm 221, and the mounting platform 232 is rotatably arranged at the end of the forearm 231; one end of the second connecting rod mechanism 233 is rotatably arranged on the joint connecting member 223, and the other end is rotatably connected to the mounting platform 232; the forearm 231, the mounting platform 232, the second connecting rod mechanism 233 and the joint connecting member 223 constitute a second parallelogram mechanism; the mounting platform 232 can move in a horizontal posture under the drive of the first parallelogram mechanism and the second parallelogram mechanism.

[0048] It can be understood that in this embodiment, a mounting structure corresponding to the turntable 21 is provided on the chassis 11, such as a commonly used base, so that the robot arm 2 as a whole can rotate around the turntable 21 to achieve horizontal rotation, which is convenient for moving and placing objects. No further description is given here.

[0049] It can be understood that horizontal posture movement mainly refers to a movement posture without rotation, tilt, etc., which can be a single movement or a combination of movements maintaining horizontality up, down, left, and right. For details, please refer to the common sense of the prior art and will not be further elaborated here.

[0050] It is understandable that, for the upper arm 221 and the lower arm 231 as the main trunk parts of the robot 2, their shape mechanisms can be simply deformed and designed by those skilled in the art according to actual needs, and are described here only as examples. As for the joint connector 223, it mainly serves to connect the upper arm assembly 22 and the lower arm assembly 23. Whether it is the joint connector 223 or the upper arm 221, the lower arm 231, and the first and second connecting rod mechanisms 233, their rotational connections can be understood as existing technical implementations of rotating shafts, rotating hole matching or similar structures, and will not be further described in detail here.

[0051] Furthermore, the joint connector 223 in the present embodiment serves as an intermediate connector between the first parallelogram mechanism and the second parallelogram mechanism, which is equivalent to the joint connector 223 serving as one of the sides of the first parallelogram mechanism and the second parallelogram mechanism at the same time, so that the angle between the two sides of the first parallelogram mechanism and the second parallelogram mechanism corresponding to the joint connector 223 remains unchanged during the movement of the robot arm 2. At the same time, according to the characteristics of the parallelogram structure, the angles between the other sides of the first parallelogram mechanism and the second parallelogram mechanism parallel to the two sides remain unchanged. Specifically, one side of the second parallelogram mechanism corresponding to the mounting platform 232 in the forearm assembly 23 The angle between the side and the side of the corresponding joint connecting part 223 on the first parallelogram mechanism remains unchanged. Therefore, as long as one side of the upper arm 221 and the first connecting rod mechanism 222 in the first parallelogram mechanism between the rotation center point of the turntable 21 is fixed, the angle of the mounting platform 232 in the small arm 231 mechanism can be indirectly fixed to remain unchanged, thereby realizing the movement of the mounting platform 232 without changing its horizontal posture, and realizing the xyz three-degree-of-freedom stable movement of the robot arm maintaining a horizontal posture in space, thereby meeting the stable control demand for horizontal posture movement. Compared with the prior art, it can meet the targeted control demand for a single horizontal posture movement, the overall structure is simple and easy to control, the design is reasonable and the structure space is compact.

[0052] Specifically, Figure 4 As shown in the figure, the upper arm 221, the joint connecting member 223 and the first connecting rod mechanism 222 respectively serve as the A side, B side and C side (dashed line part, the same below) of the first parallelogram mechanism. In this embodiment, since one end of the first connecting rod mechanism 222 is rotatably set on the turntable 21, the first connecting rod mechanism 222 and the upper arm 221 are equivalent to the D side of the first parallelogram mechanism fixedly set between the rotation center points on the turntable 21, and the small arm 231, the mounting platform 2323, the second connecting rod mechanism 233 and the joint connecting member 2232 are respectively equivalent to the a side, b side, c side and d side of the second connecting rod mechanism 233, and the B side and the d side are simultaneously used as the joint connecting member. The connecting piece 223 is a part of the connecting piece 223, so the angle between the side B and the side d is fixed. Therefore, according to the properties of the parallelogram, the side B and the side D are parallel, and the side b and the side d are parallel, and the angle between the two sets of sides is fixed. Since the side D is fixed on the turntable 21, its inclination angle remains unchanged, which is equivalent to the inclination angle of the side b remaining unchanged. Therefore, no matter how the robot 2 moves, the inclination angle of the mounting platform 232 corresponding to the side b remains unchanged during the process. Therefore, the technicians in this field only need to reasonably set the angle of the mounting surface 2321 on the mounting platform 232 according to the needs to ensure that the end of the robot 2 can move in a fixed horizontal posture.

[0053] In an embodiment of the utility model, a first driving member 24 is provided on the turntable 21, and the first driving member 24 is used to drive the upper arm 221 to rotate; the first driving member 24 is a dual-axis servo, and the first driving member 24 is arranged between the turntable 21 and the upper arm 221, and one end of the upper arm 221 is straddled on the first driving member 24, and the two sides of the end are respectively connected to the rotating shaft of the first driving member 24.

[0054] It is understandable that the first driving member 24 is mainly a common rotating driving member such as a motor and a steering gear. The conventional methods that can be implemented are not further listed here. Technical personnel with skills in this field can understand and select according to actual needs.

[0055] It can be understood that the driving motors of the robot arm 2 in the prior art are all arranged on the sides of the upper arm 221 and the lower arm 231, which makes the motors relatively protruding and the overall structure bloated; while in this embodiment, a dual-axis servo is adopted and the structure of the upper arm 221 is improved, so that the upper arm 221 can be mounted on the first driving member 24, so that the first driving member 24 can be arranged between the turntable 21 and the upper arm 221, and the position of the first driving member 24 is retracted toward the center of the robot arm 2, so that the overall design space is more compact.

[0056] In the embodiment of the utility model, the first connecting rod mechanism 222 includes a support rod 2221 and an auxiliary rod 2222. The support rod 2221 is fixedly arranged on the turntable 21, and one end of the auxiliary rod 2222 is rotatably arranged on the support rod 2221, and the other end is rotatably connected to the joint connector 223.

[0057] Specifically, as described above, in the present embodiment, one end of the first connecting rod mechanism 222 is rotatably set on the turntable 21, and the D side of the first parallelogram mechanism is invisible. The D side is mainly formed by the fixed relationship between the end of the fixed support rod 2221 and the upper arm 221 set on one end of the first driving member 24. In order to adapt to the height at which the upper arm 221 is set on the first driving member 24, the auxiliary rod 2222 is set through the support rod 2221. In other embodiments, the support rod 2221 may not be required according to actual conditions, and the auxiliary rod 2222 may be directly rotatably set on the turntable 21, mainly to ensure that the first parallelogram mechanism is formed.

[0058] In an embodiment of the utility model, the robotic arm 2 also includes a driving rod 25, and a second driving member 26 is arranged on the turntable 21. One end of the driving rod 25 is connected to the output shaft of the second driving member 26, and the other end is rotatably connected to the end of the small arm 231 away from the mounting platform 232. The driving rod 25 can drive the small arm 231 to move under the drive of the second driving member 26.

[0059] It is understandable that most of the driving methods of the forearm 231 in the prior art are to set a motor at the joint connection for driving, but this method undoubtedly increases the burden on the upper arm 221, and the structure of the robot arm 2 also appears bloated; in this embodiment, the second driving member 26 is set on the turntable 21, and the second driving member 26 and the forearm 231 are connected by a driving rod 255 to realize the driving of the forearm 231, so that the structure of the robot arm 2 is more compact and the load on the upper arm 221 is also reduced.

[0060] Further, such as Figure 3 As shown in , in the embodiment of the utility model, one end of the driving rod 255 is rotatably connected to the end of the small arm 231 away from the mounting platform 232, and the end is located at the rear end of the connection between the upper arm 221 and the small arm 231, so that the driving mechanisms of the upper arm 221 and the small arm 231 are located at the rear side of the mechanical arm 2, and the driving rod 255 is prevented from colliding with other parts of the mechanical arm 2, especially from interfering with the second connecting rod mechanism 233. In this way, the parallelogram mechanism will not be excessively moved and the reverse angle will not cause jamming, and the structure will be more compact and reasonable. Further, as Figure 3 As shown in the figure, the output shaft of the second driving member 26 is provided with a rocker rod 261, and the rocker rod 261 swings as the second driving member 26 rotates. The driving rod 255 is rotationally connected to the rocker rod 261, so that the second driving member 26 drives the driving rod 255 to move and then drives the small arm 231 to move.

[0061] In the embodiment of the present utility model, Figure 3 to Figure 5 As shown, Figure 5 This is a structural schematic diagram of the joint connector provided in this embodiment, wherein the joint connector 223 is provided with three rotation center holes arranged in a triangle, namely the first rotation center hole 2231, the second rotation center hole 2232 and the third rotation center hole 2233, the upper arm 221, the lower arm 231 and the joint connector 223 are rotationally connected to each other through the first rotation center hole 2231, the first connecting rod mechanism 222 and the joint connector 223 are rotationally connected through the second rotation center hole 2232, and the second connecting rod mechanism 233 and the joint connector 223 are rotationally connected through the third rotation center hole 2233.

[0062] It is understandable that the focus of the joint connector 223 is the triangular arrangement of the three rotating center holes, and the structural shape of the joint connector 223 itself can be deformed according to actual needs, such as being designed into a triangle, a quadrilateral or a circle, etc., which will not be described in detail here.

[0063] In the embodiment of the present utility model, Figure 3 to Figure 6 As shown, Figure 6 23 is a schematic diagram of the structure of the cooperation between the mounting platform 232 and the clamping mechanism 27 in this embodiment. The mounting platform 232 is provided with a mounting surface 2321, and the mounting surface 2321 can horizontally set the clamping mechanism 27. The clamping mechanism 27 includes a third driving member 271 and two mechanical claws 272. The third driving member 271 is set on the mounting platform 232, and the mechanical claws 272 are rotatably set on the mounting platform 232. The third driving member 271 is used to drive the two mechanical claws 272 to clamp objects to each other. Specifically, the third driving member 271 drives the gear through the rotating shaft to drive the two mechanical claws 272 to move closer to or away from each other to achieve clamping.

[0064] It is understandable that in order to make the robot arm 2 maintain a horizontal posture after clamping an object, the mounting surface 2321 can be designed as a horizontal plane, so that the clamping mechanism 27 installed can also be kept horizontal, and the horizontal posture can be maintained after clamping the object. In other embodiments of the utility model, the mounting surface 2321 can also be designed as other planes, and the clamping mechanism 27 can be designed and installed according to the situation of the mounting surface 2321, mainly to keep the clamping mechanism 27 horizontal after clamping the object to achieve the fixation of the horizontal posture.

[0065] It is understandable that in addition to the clamping mechanism 27 illustrated in this embodiment, those skilled in the art may also select mechanical claws 272 of other shapes and structures to be installed on the mounting platform 232 according to actual needs, and further examples of the clamping mechanism 27 are not provided here.

[0066] In the embodiment of the utility model, a visual recognition module 4 is provided on the installation platform 232, and the visual recognition module 4 is used to recognize environmental information so as to control the operation of the transport vehicle according to the environmental information.

[0067] Specifically, Figure 6As shown in , the visual recognition module 4 can be a conventional module in the prior art. For example, in this embodiment, OpenMV4 is used as the visual recognition module 4 as an example. OpenMV4 is composed of a monocular camera and a driving circuit board. There are assembly holes on the PCB board, which are fastened and fixed with the end of the mechanical arm 2 (which can be the end of the mounting platform 232 or the arm 231) by screws; the environmental information can be the image information of the object or the image information of the placement station, and then judge whether the object needs to be clamped or whether the station position of the object needs to be placed, so as to control the operation of the transport trolley. For example, when working, the transport trolley and the mechanical arm 2 move to the corresponding position, start the visual recognition module 4, obtain the video information of the object under the mechanical arm 2, analyze and process the video stream, and return the analysis and processing result data to the controller of the transport trolley to control the mechanical arm 2 to perform corresponding clamping or movement and other actions. It can be understood that the program corresponding to the above control process belongs to the program control that can be made by those skilled in the art based on the product of the utility model, and will not be further described here.

[0068] In the embodiment of the present utility model, Figure 1 As shown in , the material tray 5 is rotatably arranged on the chassis 11, and the material tray 5 is provided with a plurality of material slots 51. It can be understood that, in this embodiment, taking the material tray 5 provided with three material slots 51 as an example, when the transport cart transports items, three items can be transported at the same time, and even one item can be clamped by the mechanical arm 2, so that four items can be transported at the same time. In other embodiments, the number of material slots 51 can be changed according to actual needs, and more situations are not listed here. In addition, the material tray 5 can be rotated to adapt to the operation of the mechanical arm 2. For example, when placing the first item, the material tray 5 can be controlled to rotate so that the empty material slot 51 faces the side of the mechanical arm 2. After placing the item, it can be rotated and switched to the next empty material slot 51, so as to facilitate the loading of items by the mechanical arm 2 and improve the handling efficiency.

[0069] In addition, the transport trolley is also provided with a power supply module 6, which can be a battery, and can be arranged at the bottom of the chassis 11 or other positions, which will not be further described here.

[0070] The working process and principle of the transport trolley of the utility model:

[0071] The transport trolley is driven to move by the wheel 12. During the movement, the positioning wheel 31 in the two-dimensional coordinate positioning assembly 3 starts to measure as the trolley moves. The encoder records the rotation of the positioning wheel 31 and feeds it back to the processor. The processor calculates the direction and position of the positioning wheel 31 based on the feedback information, thereby calculating the position information of the transport trolley, which is convenient for controlling the transport trolley to move to the specified position, and then the mechanical arm 2 is used to grab the object. During the grabbing process, the movement of the upper arm 221 and the lower arm 231 can be controlled as needed to move the clamping mechanism 27 to the position to grab the object and then keep the horizontal posture to move; when controlling the movement of the upper arm 221, the upper arm 221 can be driven to swing by the rotation of the first driving member 24; when controlling the movement of the lower arm 231, the swing rod 261 is driven to swing by the second driving member 26, and the driving rod 255 is driven to pull the lower arm 231, thereby realizing the movement of the lower arm 231. When clamping the object, the mechanical claw 272 is driven to clamp by the third driving member 271. At the same time, in the process of marriage, the recognition function of the visual recognition module 4 can be combined to further improve the grasping accuracy.

[0072] Due to the adoption of the above technical solution, the utility model has at least the following beneficial effects:

[0073] The transport trolley provided by the utility model is provided with a two-dimensional coordinate positioning component 3, specifically, by providing a positioning wheel 31 in combination with an information processing module, so that the positioning wheel 31 can measure the displacement information of the transport trolley, so that the position coordinates of the transport trolley can be accurately and quickly confirmed within the specified walking area, which is convenient for mobile control, thereby realizing precise control of the working process of the transport trolley and reducing the impact of the environment on the unmanned vehicle.

[0074] Although the utility model has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the utility model. Therefore, these modifications or improvements made without departing from the spirit of the utility model are within the scope of protection claimed by the utility model.

Claims

1. A transport trolley, characterized in that: include: A trolley body, the trolley body comprising a chassis and wheels, the wheels being arranged on the chassis; a mechanical arm, the mechanical arm being disposed on the chassis and being used for grabbing objects; and A two-dimensional coordinate positioning component is arranged on the chassis, and includes a positioning wheel and an information processing module. The positioning wheel rotates as the transport trolley moves. The information processing module is used to calculate the position coordinates of the transport trolley according to the displacement information of the positioning wheel to control the movement of the transport trolley.

2. The transport trolley according to claim 1, characterized in that: The positioning wheel is an omnidirectional wheel, two of which are provided and whose rotation axes are perpendicular to each other. The information processing module includes an encoder and a processor. The encoder is provided on the positioning wheel and rotates synchronously with the positioning wheel to record the displacement of the positioning wheel.

3. The transport trolley according to claim 1, characterized in that: The robotic arm comprises: Turntable; A boom assembly, the boom assembly comprising a boom, a first connecting rod mechanism and a joint connecting piece; the boom is rotatably arranged on the turntable, and the joint connecting piece is rotatably arranged at the end of the boom; one end of the first connecting rod mechanism is rotatably arranged on the turntable, and the other end is rotatably connected to the joint connecting piece; the boom, the joint connecting piece and the first connecting rod mechanism constitute a first parallelogram mechanism; and A forearm assembly, the forearm assembly comprising a forearm, a mounting platform and a second connecting rod mechanism; the forearm is rotatably arranged at the end of the upper arm, and the mounting platform is rotatably arranged at the end of the forearm; one end of the second connecting rod mechanism is rotatably arranged on the joint connecting piece, and the other end is rotatably connected to the mounting platform; the forearm, the mounting platform, the second connecting rod mechanism and the joint connecting piece constitute a second parallelogram mechanism; the mounting platform can move in a horizontal posture under the drive of the first parallelogram mechanism and the second parallelogram mechanism.

4. The transport trolley according to claim 3, characterized in that: A first driving member is arranged on the turntable, and the first driving member is used to drive the boom to rotate; the first driving member is a dual-axis servo, and the first driving member is arranged between the turntable and the boom, one end of the boom is straddled on the first driving member, and both sides of the end are respectively connected to the rotating shaft of the first driving member.

5. The transport trolley according to claim 4, characterized in that: The first link mechanism comprises a support rod and an auxiliary rod, wherein the support rod is fixedly arranged on the turntable, one end of the auxiliary rod is rotatably arranged on the support rod, and the other end is rotatably connected to the joint connecting member.

6. The transport trolley according to claim 3, characterized in that: The robotic arm also includes a driving rod, and a second driving member is arranged on the turntable. One end of the driving rod is connected to the output shaft of the second driving member, and the other end is rotatably connected to the end of the forearm away from the mounting platform. The driving rod can drive the forearm to move under the drive of the second driving member.

7. The transport trolley according to claim 3, characterized in that: The joint connecting member is provided with three rotation center holes arranged in a triangle, which are the first rotation center hole, the second rotation center hole and the third rotation center hole. The upper arm, the lower arm and the joint connecting member are rotationally connected to each other through the first rotation center hole, the first connecting rod mechanism and the joint connecting member are rotationally connected through the second rotation center hole, and the second connecting rod mechanism and the joint connecting member are rotationally connected through the third rotation center hole.

8. The transport trolley according to claim 3, characterized in that: The mounting platform is provided with a mounting surface, and a clamping mechanism can be horizontally arranged on the mounting surface. The clamping mechanism includes a third driving member and two mechanical claws. The third driving member is arranged on the mounting platform, and the mechanical claws are rotatably arranged on the mounting platform. The third driving member is used to drive the two mechanical claws to clamp objects to each other.

9. The transport trolley according to claim 3, characterized in that: A visual recognition module is arranged on the installation platform, and the visual recognition module is used to recognize environmental information so as to control the operation of the transport vehicle according to the environmental information.

10. The transport trolley according to claim 1, characterized in that: A material tray is rotatably arranged on the chassis, and a plurality of material slots are arranged on the material tray.

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