Intelligent logistics carrying trolley

Abstract

The utility model discloses an intelligent logistics carrying trolley, which belongs to the technical field of intelligent logistics carrying robots and comprises a traveling mechanism, a lifting mechanism, a collecting device, a control system and a grabbing device. The control system comprises a visual module and a control module connected with the visual module; a lifting mechanism is fixedly arranged at the top of the walking mechanism, a collecting device is fixedly arranged beside one side of the lifting mechanism, a grabbing device used for clamping and grabbing materials is fixedly arranged on the lifting mechanism, a visual module is fixedly arranged at the top of the grabbing device, and a control module is fixedly arranged in the walking mechanism. The control module is in control connection with the grabbing device, the lifting mechanism, the collecting device and the walking mechanism, and automatic and rapid grabbing of carried objects is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of intelligent logistics handling robots, and in particular relates to an intelligent logistics handling trolley. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] With the rapid development of e-commerce, traditional logistics handling methods can no longer meet the needs of fast and efficient logistics. The application of mobile handling robots in the logistics field to transport goods has become more and more extensive, greatly reducing labor costs and improving handling efficiency.

[0004] However, the existing handling robot has a simple mechanical arm structure, which is just a combination of multiple mechanical arms; the grabbing device set at the same time cannot effectively grab in a narrow environment. The moving device of the existing handling robot is simple, cannot rotate on its own axis in a limited space, and is not equipped with a collection device, resulting in low handling efficiency. Utility Model Content

[0005] In order to solve the technical problems existing in the prior art, the utility model provides an intelligent logistics transport trolley, which can adapt to complex working environments and realize automatic and rapid grabbing of transported items.

[0006] To achieve the above purpose, the utility model is implemented through the following technical solutions:

[0007] An intelligent logistics handling vehicle includes a walking mechanism, a lifting mechanism, a collecting device, a control system and a grabbing device; the control system includes a visual module and a control module connected thereto;

[0008] A lifting mechanism is fixedly provided on the top of the traveling mechanism, a collecting device is fixedly provided on one side of the lifting mechanism, a grabbing device for clamping and grabbing materials is fixedly provided on the lifting mechanism, a visual module is fixedly provided on the top of the grabbing device, and a control module is fixedly provided inside the traveling mechanism, and the control module is respectively controlled and connected with the grabbing device, the lifting mechanism, the collecting device and the traveling mechanism.

[0009] According to a further technical solution, the lifting mechanism comprises a fixed base, a rotating base is fixedly arranged on the top of the fixed base, a lifting connecting rod is fixedly arranged on the rotating base, and an end of the lifting connecting rod is fixedly connected to the grasping device.

[0010] A further technical solution is that the lifting link includes a CD link, and the two sides of the arc end of the CD link are respectively movably connected with one end of the C-axis link and the B-axis link, the other end of the B-axis link is rotatably fixed on one side of the rotating base, and the other end of the C-axis link is movably connected with a C-axis rocker.

[0011] According to a further technical solution, the C-axis rocker is rotatably fixed to the other side of the rotating base and is fixedly connected to the output end of the second servo.

[0012] According to a further technical solution, the lifting connecting rod further comprises a BC connecting rod, and two ends of the BC connecting rod are respectively provided with a B-axis rotating shaft and a C-axis rotating shaft, and the B-axis rotating shaft is fixedly connected to the output end of the third steering gear.

[0013] According to a further technical solution, the walking mechanism includes a chassis, and four corners of the bottom of the chassis are rotatably connected to Mecanum wheels, and the Mecanum wheels are fixedly connected to the output end of the motor.

[0014] According to a further technical solution, the gripping device comprises a clamping jaw bracket, and a first finger gear set and a second finger gear set are fixedly provided on both sides of the bottom of the clamping jaw bracket, and the first finger gear set and the second finger gear set are respectively engaged with active teeth arranged therebetween.

[0015] According to a further technical solution, the driving gear is fixedly connected to an output end of the fourth steering gear.

[0016] According to a further technical solution, the collecting device comprises a base and a collecting platform movably arranged above the base, and two groups of supporting arms are arranged between the base and the collecting platform and on opposite sides thereof.

[0017] According to a further technical solution, the support arm is X-shaped, comprising a first support arm and a second support arm, wherein one end of the first support arm and the second support arm in the same direction is fixedly connected to the bottom of the collection platform, the other end of the first support arm is fixedly connected to the side wall in the width direction of the base, and the other end of the second support arm is slidably connected to a slide groove opened on the side wall in the length direction of the base.

[0018] Beneficial effects of the utility model:

[0019] The lifting device of the utility model intelligent logistics handling trolley uses two parallelogram four-bar mechanisms to fix the straight line from the rotation center of the B-axis to the B-axis connecting rod to form a preset angle with the ground. This angle is artificially set to achieve specific handling requirements. Since the angles of the two sides of the parallelogram mechanism change the same during rotation, by setting a preset angle, the grabbing device can maintain a certain angle with the ground regardless of how the lifting device moves.

[0020] The grabbing device of the utility model is designed with a special grabbing claw, so that the grabbing task can be performed in a narrow environment or other bad working conditions.

[0021] The utility model configures a collecting device for a transport trolley, which is convenient for centralized transport of a large number of materials, and the grabbed materials are loaded into the collecting device, thereby reducing repeated transport distances and improving transport efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0023] Figure 1 This is a schematic diagram of the overall structure of the transport trolley according to an embodiment of the utility model;

[0024] Figure 2 It is a structural schematic diagram of the lifting mechanism of the transport trolley in the embodiment of the utility model;

[0025] Figure 3 It is a schematic diagram of the principle of the parallelogram structure in the lifting mechanism of the transport trolley in the embodiment of the utility model;

[0026] Figure 4 It is a structural schematic diagram of the traveling mechanism of the transport trolley in the embodiment of the utility model;

[0027] Figure 5 It is a structural schematic diagram of the visual module of the transport vehicle in the embodiment of the utility model;

[0028] Figure 6 It is a structural schematic diagram of a grabbing device of a transport trolley according to an embodiment of the utility model;

[0029] Figure 7 It is a structural schematic diagram of the bottom of the grabbing device of the transport trolley in an embodiment of the utility model;

[0030] Figure 8 It is a schematic structural diagram of a collecting device of a transport trolley according to an embodiment of the utility model.

[0031] Among them, 1-lifting mechanism, 101-CD connecting rod, 102-C axis connecting rod, 103-B axis connecting rod, 104-third steering gear, 105-rotating base, 106-first steering gear, 107-fixed base, 108-second steering gear, 109-BC connecting rod, 110-C axis rocker, 111-triangular connecting rod, 112-upper horizontal connecting rod, 2-travel mechanism, 201-Mecanum wheel, 202-chassis, 203-motor bracket, 204-speed code disk, 205-motor, 3-vision module, 301-camera Camera module, 302-camera bracket, 4-grasping device, 401-first finger gear set, 402-driving tooth, 403-second finger gear set, 404-fourth servo, 405-gripping bracket, 406-first gearing part, 407-second gearing part, 408-steering disc, 5-collecting device, 501-collecting platform, 502-thrust device, 503-connecting shaft, 504-hydraulic cylinder, 505-first support arm, 506-second support arm, 507-base, 508-bearing seat, 6-control module. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0033] See also Figure 1 As shown, the embodiment of the utility model provides an intelligent logistics handling vehicle, including a walking mechanism 2, a lifting mechanism 1, a collecting device 5, a control system and a grasping device 4; the control system includes a visual module 3 and a control module 6 connected thereto;

[0034] A lifting mechanism 1 is fixedly provided on the top of the walking mechanism 2, a collecting device 5 is fixedly provided on one side of the lifting mechanism 1, a grabbing device 4 for clamping and grabbing materials is fixedly provided on the lifting mechanism 1, and a visual module 3 is fixedly provided on the top of the grabbing device 4; a control module 6 is fixedly provided inside the walking mechanism 2, and the control module 6 is respectively controlled and connected with the grabbing device 4, the lifting mechanism 1, the collecting device 5 and the walking mechanism 2.

[0035] In this embodiment, if Figure 2 As shown, the lifting mechanism 1 includes a fixed base 107, a rotating base 105 is fixedly arranged on the top of the fixed base 107, a lifting connecting rod is fixedly arranged on the rotating base 105, and the end of the lifting connecting rod is fixedly connected to the grasping device; the rotating base enables the lifting mechanism to rotate within a certain range, and then the grasping device can be raised or lowered or rotated at an angle by extending and retracting the lifting connecting rod, so as to adapt to the working requirements of different angles and directions. This flexibility enables the lifting mechanism to cope with more complex working environments and tasks.

[0036] A first steering gear 106 is provided inside the rotating base 105, and an output end of the first steering gear 106 is rotatably connected to the rotating base 105 to drive the rotating base 105 to rotate horizontally. The output end of the first steering gear 106 is fixedly connected to a gear, and the gear is connected to the rotating base 105 through a synchronous belt. When the first steering gear 106 receives a control signal output by the control module 6, the target angle to be rotated is determined according to the control signal. The first steering gear 106 rotates the corresponding angle to drive the gear to rotate, and drives the rotating base 105 to rotate the corresponding angle through the transmission of the synchronous belt, so that the lateral rotation of the lifting link on the rotating base 105 can be achieved.

[0037] The lifting link is a combination of a CD link 101, a C-axis link 102, a B-axis link 103, a BC link 109 and a C-axis rocker 110, which work together to achieve the lifting function. The two sides of the arc end of the CD connecting rod 101 are movably connected with one end of the C-axis connecting rod 102 and the B-axis connecting rod 103 respectively, the other end of the B-axis connecting rod 103 is rotatably fixed on one side of the rotating base 105, the other end of the C-axis connecting rod 102 is movably connected with the C-axis rocker 110, the C-axis rocker 110 is rotatably fixed on the other side of the rotating base 105 and fixedly connected to the output end of the second steering gear 108; the two ends of the BC connecting rod 109 are respectively provided with a B-axis rotating shaft and a C-axis rotating shaft, the B-axis rotating shaft is fixedly connected to the output end of the third steering gear 104, the top of the rotating base 105 is adapted to be embedded with a B-axis rotating shaft, so that the BC connecting rod 109 can reciprocate around the B-axis rotating shaft in the front and rear directions, and the bottom of the CD connecting rod 101 near the arc end is rotatably connected with the C-axis rotating shaft, that is, the BC connecting rod is rotatably connected to the rotating base 105 through the B-axis rotating shaft, and is rotatably connected to the CD connecting rod 101 through the C-axis rotating shaft.

[0038] The CD connecting rod 101 and the B-axis connecting rod 103 are movably connected through the triangular connecting rod 111 to play a connecting role. Figure 3 As shown, the CD link 101, C-axis link 102, B-axis link 103, BC link 109 and C-axis rocker 110 of the lifting link in this embodiment form two parallelogram four-bar mechanisms, and the two parallelograms are connected by a triangular link 11, so that the straight line from the fixed B-axis rotation center to the B-axis link 103 forms a preset angle with the ground, and this angle is artificially preset to achieve specific handling requirements. Since the angle changes of the two sides of the parallelogram mechanism are the same during rotation, by setting a predetermined angle, the grabbing device can maintain a certain angle with the ground regardless of how the lifting device moves.

[0039] It should be noted that the horizontal rotation center of the rotating base 105 in the left-right direction relative to the fixed base 107 is set as the A-axis rotation center, the rotation center of the lifting link in the front-back direction relative to the rotating base 105 is set as the B-axis rotation center, and the rotation center of the CD link 101 in the up-down direction relative to the BC link 109 is set as the C-axis rotation center.

[0040] The second servo 108 can also be called a C-axis servo. When the second servo 108 receives a control signal output by the control module 6, the rotation angle of the servo is accurately controlled according to the control signal. Since the C-axis rocker 110 is fixedly connected to the output end of the second servo 108, the C-axis rocker 110 will also rotate with the rotation of the second servo. The rotation affects the C-axis connecting rod 102 movably connected to the C-axis rocker 110. As the C-axis connecting rod 102 moves, the CD connecting rod 101 will be driven to rotate around the C-axis rotation axis, thereby realizing the adjustment of the height position of the lifting mechanism, and then the height position of the grabbing device can be adjusted. The third steering gear 104 can also be called a B-axis steering gear. When the third steering gear 104 receives the control signal output by the control module 6, the steering gear's rotation angle is precisely controlled according to the control signal. Since the B-axis rotation shaft is fixedly connected to the output end of the third steering gear 104, and the B-axis rotation shaft is adapted to be embedded in the top of the rotating base 105, the BC connecting rod 109 can reciprocate around the B-axis rotation shaft in the front-back direction. That is to say, when the third steering gear 104 rotates forward, the B-axis rotation shaft will also rotate forward, which will drive the BC connecting rod 109 to rotate forward around the B-axis rotation shaft. Conversely, when the third steering gear 104 reverses, the B-axis rotation shaft will drive the BC connecting rod 109 to rotate backward. This reciprocating rotation will affect the CD connecting rod 101 connected to the BC connecting rod 109. The rotation of the BC connecting rod 109 will drive the reciprocating motion of the CD connecting rod 101, realizing the adjustment of the distance position of the lifting mechanism, and then being able to accurately adjust the distance position of the grabbing device.

[0041] like Figure 1 , Figure 2 As shown, the straight ends of the CD connecting rod 101 extend outward on both sides to form mounting side panels on both sides, and upper horizontal connecting rods 112 on both sides are fixedly provided at relative positions above the mounting side panels on both sides. A certain accommodating space is reserved between the mounting side panels on both sides, and openings are respectively provided on the mounting plates on both sides. An accommodating space and openings are also reserved between the upper horizontal connecting rods 112 on both sides for realizing the fixed installation of the grasping device 4.

[0042] Through the above technical solution, the lifting mechanism is precisely controlled by the first servo 106, the second servo 108 and the third servo 104. The first servo 106 controls the overall rotation angle of the lifting link by controlling the rotation angle of the rotating base 105. The second servo 108 precisely controls the height position of the CD link 101. The third servo 104 precisely controls the distance position of the CD link 101. The above control can accurately adjust the position and angle of the grasping device to ensure accurate grasping of the target object.

[0043] In this embodiment, if Figure 1 , Figure 4 As shown, the walking mechanism 2 includes a chassis 202 , and the four corners of the bottom of the chassis 202 are rotatably connected to Mecanum wheels 201 , and the Mecanum wheels 201 are fixedly connected to the output end of the motor 205 .

[0044] In some embodiments, the walking mechanism is provided with four motors 205, which are respectively connected to the Mecanum wheels 201 arranged at the four corners to drive the Mecanum wheels 201 to rotate. By controlling the speed and direction of the motor, the rotation of the Mecanum wheels can be accurately controlled to achieve the movement of the walking mechanism. The motor 205 is stably fixed to the chassis 202 through the motor bracket 204 to ensure the stability and reliability of the motor during the movement and prevent the motor from vibrating and displacing when running at high speed.

[0045] In some embodiments, the Mecanum wheel is also called an omnidirectional wheel, which can translate in any direction or rotate on the spot. This feature enables the walking mechanism to move flexibly.

[0046] The walking mechanism also includes a speed measuring code disk 204, which is installed on the motor 205. It can record the position, speed and rotation angle of the motor in real time, and provide feedback information of the motor to the control module 6 through the output pulse signal, so as to more accurately control the parameters such as the position, speed and acceleration of the motor, thereby improving the operation efficiency of the transport trolley.

[0047] Through the above technical solutions, the walking mechanism can achieve omnidirectional movement and precise control, can reach the destination quickly and accurately, and move flexibly in complex environments, greatly improving work efficiency and safety.

[0048] In this embodiment, if Figure 6 As shown, the grasping device 4 includes a clamping claw bracket 405, and the first finger gear group 401 and the second finger gear group 403 are fixedly provided on both sides of the bottom of the clamping claw bracket, respectively. The first finger gear group 401 and the second finger gear group 403 are respectively engaged with the active gear 402 arranged therebetween, and the active gear 402 is fixedly connected to the output end of the fourth servo 404, thereby jointly realizing the flexible grasping of the grasping device.

[0049] The clamping claw bracket 405 includes a mounting seat and a fixed bracket fixedly arranged at the bottom of the mounting seat. Two openings are respectively provided on both sides of the mounting seat, and the two openings are opposite to each other up and down, so as to realize the fixed installation of the grabbing device 4 and the lifting mechanism 1. The lower end of the mounting seat is placed between the mounting side plates on both sides of the CD connecting rod 101, so that the openings on the mounting side plates on both sides are opposite to the openings at the lower end of the mounting seat, and the two are fixedly connected by bolts. The upper end of the mounting seat is placed between the upper horizontal connecting rods 112 on both sides, so that the openings of the upper horizontal connecting rods 112 on both sides are opposite to the openings at the upper end of the mounting seat, and the two are fixedly connected by bolts, so that the grabbing device is fixedly installed on the lifting mechanism. The side of the fixed bracket is fixedly connected to the fourth steering gear 404, and the two sides of the bottom of the fixed bracket are respectively fixedly connected to the first finger gear set 401 and the second finger gear set 403.

[0050] In some embodiments, the first finger gear set 401 and the second finger gear set 403 are fixed by bolts.

[0051] like Figure 7 As shown, the first finger gear set 401 includes a first finger plate and a first toothed member 406 fixedly connected to the inner side of one end of the first finger plate, and the second finger gear set 403 includes a second finger plate and a second toothed member 407 fixedly connected to the inner side of one end of the second finger plate, and an active tooth 402 is provided between the first finger plate and the second finger plate, and the first toothed member 406 and the second toothed member 407 are respectively engaged with the active tooth 402 on both sides to jointly realize the switching action of the first finger plate and the first finger plate.

[0052] The active gear 402 is fixedly connected to the output end of the fourth servo 404. When the fourth servo 404 receives the control signal output by the control module 6, the rotation angle of the servo can be accurately controlled according to the control signal, driving the active gear 402 to rotate the corresponding angle. Since the active gear 402 is respectively engaged with the first gear and the second gear, the active gear 402 rotates to drive the first gear and the second gear, and then drives the first finger plate and the second finger plate on both sides to open or close the corresponding angle, so as to achieve precise control of the action of the grasping device 4 and grasp and release the transported object. When the first finger plate and the second finger plate are in a closed state, one end of the two contacts, so that the grasping device is closed.

[0053] A steering plate 408 is fixedly provided at the central axis of the driving gear, and the driving gear is tightly connected to the fourth steering gear 404 on the steering plate by screws to prevent the driving gear from falling off.

[0054] Through the above technical solution, the gear transmission between the active tooth and the first toothed part and the second toothed part ensures the accuracy and reliability of the action of the grabbing device, and by controlling the rotation angle of the servo through the control signal, the precise control of the action of the grabbing device can be achieved, which is convenient for delicate grabbing and handling tasks.

[0055] In this embodiment, if Figure 8 As shown, the collecting device includes a base 507 and a collecting platform 501 movably arranged above the base 507, and two groups of supporting arms are arranged between the base 507 and the collecting platform 501 and on opposite sides thereof. The supporting arms are X-shaped, including a first supporting arm and a second supporting arm, one end of the first supporting arm and the second supporting arm in the same direction is fixedly connected to the bottom of the collecting platform 501, the other end of the first supporting arm is fixedly connected to the side wall in the width direction of the base 507, and the other end of the second supporting arm is slidably connected to the slide groove provided in the side wall in the length direction of the base 507. The two groups of supporting arms are arranged oppositely, and a link shaft 503 is horizontally fixed between the two groups of supporting arms, and the two ends of the link shaft 503 are respectively fixed at the intersection of the first supporting arm and the second supporting arm of the two groups of supporting arms, and a thrust device 502 is sleeved on the link shaft 503, and the thrust device 502 is fixedly connected to a hydraulic cylinder 504, and the other end of the hydraulic cylinder is fixed to the side wall in the width direction of the base 507, and is located between the two groups of first supporting arms, so as to realize the lifting and lowering of the collecting device to adapt to various clamping angles and collect bar materials.

[0056] The hydraulic cylinder control process is as follows: the control module 6 outputs a control signal to the hydraulic cylinder based on the feedback information of the grabbing device and the lifting mechanism, and the hydraulic cylinder executes the received control signal to perform the corresponding rising or falling action. When the collection platform needs to be raised, the telescopic rod of the hydraulic cylinder begins to extend, pushing the thrust device to move. Due to the fixed connection between the thrust device and the link shaft, the two sets of support arms begin to move, the first support arm remains fixed, and the second support arm slides in the slide slot, so that the collection platform rises. The lowering operation is a reverse action, which will not be described in detail here, and those skilled in the art will know it.

[0057] In some embodiments, the hydraulic cylinder and the first support arm are fixed by a bearing seat 508 fixed on the side wall in the width direction of the base 507.

[0058] In this embodiment, if Figure 1 , Figure 5 As shown, the control system includes a visual module 3 and a control module 6 connected thereto. The visual module 3 is fixed on the top of the mounting seat of the grasping device. The visual module 3 includes a camera bracket fixedly connected to the mounting seat. A camera module is fixedly connected to the top of the camera bracket to obtain images of the transported object and the surrounding environment and transmit them to the control module 6. It is convenient to capture images of the grasping device and its surrounding environment in real time, and provide real-time visual feedback to the control module 6. The control module 6 can identify the position and posture of the transported object through image processing technology, and realize accurate grasping operation of the transported object through coordinated control of the walking mechanism, lifting mechanism and grasping mechanism. It can also help the trolley avoid obstacles and realize autonomous movement according to image information.

[0059] The control module 6 is arranged in the inner cavity of the walking mechanism 2 and fixed on the top of the chassis 202. The control module 6 is respectively connected to the first steering gear 106, the second steering gear 108, the third steering gear 104, the fourth steering gear 404, the four motors 205 of the walking mechanism, the speed code disk 204, the hydraulic cylinder 504 and the visual module 3. By controlling the above components, the coordinated action of the walking mechanism, the lifting mechanism, the grasping device and the collecting device is realized, so as to realize the grasping, transportation and collection of the transported objects.

[0060] The control board in the control module 66 integrates openmv and arduino esp32 chips, adopts the existing component structure, and realizes the control function of the control system on each component based on the existing algorithm and control method, and does not involve improvements in software programs.

[0061] Working principle details:

[0062] The transport trolley robot observes the exact position of the material through the visual module and transmits it to the control module. The control module adjusts the relative position of the robot and the lifting mechanism according to the visual information to make it correspond to the position of the material, so that the grasping device and the material can be accurately corresponded, achieving precise grasping, loading into the collection device, and transporting, which can realize automatic and rapid grasping of the transported items.

[0063] Among them, the lifting mechanism uses two parallelogram four-bar mechanisms and sets a predetermined angle, so that the grasping device can maintain a certain angle with the ground no matter how the lifting device moves; the grasping device is designed with a special grasping claw so that it can perform grasping tasks in narrow environments or other poor working conditions.

[0064] Although the above describes the specific implementation methods of the utility model in combination with the accompanying drawings, it is not intended to limit the scope of protection of the utility model. Technical personnel in the relevant field should understand that on the basis of the technical solution of the utility model, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the scope of protection of the utility model.

Claims

1. An intelligent logistics transport vehicle, characterized in that: It includes a walking mechanism, a lifting mechanism, a collecting device, a control system and a grasping device; the control system includes a visual module and a control module connected thereto; A lifting mechanism is fixedly provided on the top of the traveling mechanism, a collecting device is fixedly provided on one side of the lifting mechanism, a grabbing device for clamping and grabbing materials is fixedly provided on the lifting mechanism, a visual module is fixedly provided on the top of the grabbing device, and a control module is fixedly provided inside the traveling mechanism, and the control module is respectively controlled and connected with the grabbing device, the lifting mechanism, the collecting device and the traveling mechanism.

2. The intelligent logistics transport vehicle according to claim 1, characterized in that: The lifting mechanism comprises a fixed base, a rotating base is fixedly arranged on the top of the fixed base, a lifting connecting rod is fixedly arranged on the rotating base, and the end of the lifting connecting rod is fixedly connected to the grasping device.

3. The intelligent logistics transport vehicle according to claim 2, characterized in that: The lifting link includes a CD link, and the two sides of the arc end of the CD link are respectively movably connected to one end of the C-axis link and the B-axis link, the other end of the B-axis link is rotatably fixed on one side of the rotating base, and the other end of the C-axis link is movably connected to the C-axis rocker.

4. The intelligent logistics transport vehicle according to claim 3, characterized in that: The C-axis rocker is rotatably fixed on the other side of the rotating base and is fixedly connected to the output end of the second steering gear.

5. The intelligent logistics transport vehicle according to claim 2, characterized in that: The lifting connecting rod also includes a BC connecting rod, and the two ends of the BC connecting rod are respectively provided with a B-axis rotating shaft and a C-axis rotating shaft, and the B-axis rotating shaft is fixedly connected to the output end of the third steering gear.

6. The intelligent logistics transport vehicle according to claim 1, characterized in that: The walking mechanism comprises a chassis, and four corners of the bottom of the chassis are rotatably connected to Mecanum wheels respectively, and the Mecanum wheels are fixedly connected to the output end of the motor.

7. The intelligent logistics transport vehicle according to claim 1, characterized in that: The gripping device comprises a clamping jaw bracket, and a first finger gear set and a second finger gear set are fixedly arranged on both sides of the bottom of the clamping jaw bracket, respectively. The first finger gear set and the second finger gear set are respectively engaged with the driving teeth arranged therebetween.

8. The intelligent logistics transport vehicle according to claim 7, characterized in that: The driving gear is fixedly connected to the output end of the fourth steering gear.

9. The intelligent logistics transport vehicle according to claim 1, characterized in that: The collecting device comprises a base and a collecting platform movably arranged above the base, and two groups of supporting arms are arranged between the base and the collecting platform and on opposite sides thereof.

10. The intelligent logistics transport vehicle according to claim 9, characterized in that: The support arm is X-shaped, including a first support arm and a second support arm. The first support arm and the second support arm have one end in the same direction fixedly connected to the bottom of the collection platform, the other end of the first support arm is fixedly connected to the side wall in the width direction of the base, and the other end of the second support arm is slidably connected to a slide groove opened on the side wall in the length direction of the base.

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