Intelligent Macro-wheel mechanical arm trolley for logistics transportation

Abstract

The utility model discloses an intelligent wheat wheel mechanical arm trolley for logistics transportation, which comprises a trolley body, the trolley body comprises a chassis and two groups of wheat wheels, a mechanical arm is arranged at the top of the chassis, and the mechanical arm comprises a base, a large arm, a small arm and a clamping jaw; the main control module is electrically connected with a Bluetooth module, an OLED (Organic Light Emitting Diode) display module, an ultrasonic ranging module, a power supply module and a three-axis attitude detection and motor driving module respectively. After distance data detected by the ultrasonic sensor and three-axis data detected by the three-axis attitude detection sensor are fed back to the master control module, the data are analyzed and calculated to obtain corresponding instructions to drive other peripherals to complete corresponding actions, and meanwhile, the OLED display unit is driven to display relevant information of the current logistics trolley, so that the logistics trolley is convenient to use. The single-chip microcomputer can also carry out data interaction with a mobile phone APP through Bluetooth wireless communication, and the mobile phone APP can control the trolley to move in all directions.

Description

Technical Field

[0001] The utility model belongs to the field of intelligent trolleys, and in particular relates to an intelligent McLennan mechanical arm trolley for logistics transportation. Background Art

[0002] With the rapid development of industrial automation and artificial intelligence, more and more companies are beginning to adopt smart carts to improve logistics efficiency and reduce operating costs.

[0003] Although the existing smart cars have basic automatic navigation functions, their autonomy is often limited in complex and changing environments. These cars rely on preset paths and environmental markers, and are not able to cope with unknown obstacles, resulting in reduced efficiency. In addition, many existing cars do not perform well in adapting to new or changing working conditions. When faced with non-standardized cargo handling or temporary task adjustments, they often require manual intervention and reconfiguration. In addition, although the degree of automation improves operational efficiency, the high cost of existing smart cars and the subsequent highly complex systems make maintenance costs high and repair time long, affecting logistics efficiency and limiting their popularity in small or medium-sized enterprises. Utility Model Content

[0004] The utility model aims to provide an intelligent McLennan mechanical arm trolley for logistics transportation that solves the above-mentioned problem.

[0005] To achieve the above purpose, the utility model provides the following technical solutions:

[0006] An intelligent wheat wheel mechanical arm trolley for logistics transportation, comprising a vehicle body, the vehicle body comprising a chassis and two groups of wheat wheels respectively arranged on both sides of the chassis, characterized in that: a movable mechanical arm is arranged on the top of the chassis, the mechanical arm comprises a base connected to the chassis, a large arm, a small arm and a clamping claw arranged above the base, the large arm is movably connected to the base and the small arm respectively, and the small arm is movably connected to the clamping claw; it also includes a main control module arranged on the chassis, the main control module is electrically connected to a Bluetooth module, an OLED display module, an ultrasonic ranging module, a power supply module, a three-axis posture detection and a motor drive module, the wheat wheel and the mechanical arm are both connected to a drive motor, and the drive motor is electrically connected to the motor drive module.

[0007] Preferably, the base includes a bottom plate and a placement groove arranged above the bottom plate for placing the drive motor, the placement groove is composed of two mounting plates and a back plate, a plurality of mounting holes are opened on the mounting plate, and a groove is arranged between the mounting plate and the back plate.

[0008] Preferably, the number of the upper arms is at least one, and the upper arm includes a joint part and a connecting part. The length of the joint part is greater than the length of the connecting part. The joint part is concave in shape, and a connecting hole for connecting a driving motor is provided on one side of the joint part, and a rotating hole is provided on the other side; the connecting part is provided with a placement groove for placing the driving motor, and a cylindrical protrusion is provided on one side of the connecting part, and the protrusion can be set in the rotating hole of the other upper arm and cooperate with the rotating hole.

[0009] Preferably, the forearm is concave in shape, with a connecting hole for connecting a driving motor on one side and a rotating hole on the other side, the rotating hole rotatably cooperates with the protrusion, and a step portion is provided at one end of the forearm, with a connecting hole on the step portion, and the step portion is connected to the clamp through the connecting hole.

[0010] Preferably, the clamping jaw comprises a clamping jaw body, a top cover connected to the clamping jaw body, an active jaw and a driven jaw arranged between the clamping jaw body and the top cover, the clamping jaw body is provided with a first through hole and a second through hole, the output shaft of the driving motor passes through the first through hole and is connected to the active jaw, the active jaw and the driven jaw are both provided with gears, and the gears of the active jaw and the driven jaw are meshed, a protrusion connected to the top cover is provided on the clamping jaw body, a cavity for enabling the active jaw and the driven jaw to move is formed between the protrusion and the top cover, and a protrusion is provided on one side end of the clamping jaw body, and the protrusion is connected to the step portion.

[0011] Preferably, the base, the upper arm and the lower arm are all provided with weight-reducing holes and threading holes.

[0012] Preferably, the main control module is a STM32F103C8T6 microcontroller.

[0013] Preferably, the motor drive module is a L9110S chip.

[0014] Preferably, the power module is an AMS1117 step-down chip.

[0015] The beneficial effects of the utility model are as follows: after the distance data detected by the ultrasonic sensor and the three-axis data detected by the three-axis posture detection sensor are fed back to the main control module, the utility model analyzes and calculates the data, and obtains corresponding instructions to drive other peripherals to complete corresponding actions. For example, if the ultrasonic detection shows that the distance in front is too close, the single-chip microcomputer determines that there is an obstacle in front, so it will drive the motor to move the entire trolley backwards and stop after reaching a safe distance. At the same time, it will also drive the OLED display unit to display relevant information of the current logistics trolley, such as three-axis information, distance information, etc. The single-chip microcomputer will also use Bluetooth wireless communication to exchange data with the mobile phone APP, and the mobile phone APP can control the omnidirectional movement of the trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the utility model;

[0017] Figure 2 It is a structural diagram of the base of the robotic arm;

[0018] Figure 3 It is a schematic diagram of the structure of the robot arm;

[0019] Figure 4 It is a schematic diagram of the structure of the forearm of the robotic arm;

[0020] Figure 5 It is a schematic diagram of the structure of the gripper body;

[0021] Figure 6 It is a schematic diagram of the structure of the top plate of the gripper;

[0022] Figure 7 It is a schematic diagram of the structure of the driven claw;

[0023] Figure 8 is a schematic diagram of the structure of the active claw;

[0024] Fig. 9 It is the principle diagram of the utility model;

[0025] Among them, the vehicle body 1, the chassis 2, the wheat wheel 3, the mechanical arm 4, the base 5, the upper arm 6, the lower arm 7, the clamping claw 8, the main control module 9, the Bluetooth module 10, the OLED display module 11, the ultrasonic ranging module 12, the power module 13, the three-axis posture detection 14, the motor drive module 15, the drive motor 16, the bottom plate 17, the placement groove 18, the joint part 19, the connecting part 20, the connecting hole 21, the rotating hole 22, the protrusion 23, the mobile phone app 24, the clamping claw body 26, the top cover 27, the active claw 28, the driven claw 29, the gear 30, the weight reduction hole 31, the mounting plate 32, the back plate 33, the mounting hole 34, the groove 35, the step part 36, the connecting hole 37, the first through hole 38, the second through hole 39, the protrusion 40, and the protrusion 41. DETAILED DESCRIPTION

[0026] The technical solution of this patent is further described in detail below in conjunction with specific implementation methods.

[0027] like Figures 1 to 6As shown, the utility model provides an intelligent wheat wheel mechanical arm trolley for logistics transportation, which includes a vehicle body 1, the vehicle body 1 includes a chassis 2 and two groups of wheat wheels 3 respectively arranged on both sides of the chassis 2. A movable mechanical arm 4 is arranged on the top of the chassis 2, and the mechanical arm 4 includes a base 5 connected to the chassis 2, a large arm 6 arranged above the base 5, a small arm 7 and a clamping claw 8, the large arm 6 is movably connected to the base 5 and the small arm 7 respectively, and the small arm 7 is movably connected to the clamping claw 8. It also includes a main control module 9 arranged on the chassis 2, and the main control module 9 is electrically connected to a Bluetooth module 10, an OLED display module 11, an ultrasonic ranging module 12, a power module 13, a three-axis posture detection module 14 and a motor drive module 15. The wheat wheel 2 and the mechanical arm 4 are both connected to a drive motor 16. The ultrasonic ranging module is arranged at the front end of the vehicle body 1.

[0028] Furthermore, the base 5 includes a bottom plate 17 and a placement groove 18 arranged above the bottom plate 17 for placing the drive motor 16. The placement groove is composed of two mounting plates 32 and a back plate 33. A plurality of mounting holes 34 are opened on the mounting plate 32. A groove 35 is provided between the mounting plate 32 and the back plate 33 for convenient wiring.

[0029] Furthermore, the number of the upper arm 6 is at least one, and the upper arm 6 includes a joint portion 19 and a connecting portion 20. The length of the joint portion 19 is greater than the length of the connecting portion 20, so as to facilitate the connection between the joint portion 19 of the upper arm 6 and the connecting portion 20 of the forearm 7 or another upper arm 6, and facilitate its axial rotation. The joint portion 20 is concave in shape, and a connecting hole 21 for connecting the drive motor 16 is provided on one side of the joint portion 20, and a rotating hole 22 is provided on the other side of the joint portion 20. The connecting portion 20 is provided with a placement groove 18 for placing the drive motor 16, and a groove 35 for routing wires is provided on the side wall of the placement groove 18 of the upper arm 6. A cylindrical protrusion 23 is provided on one side of the connecting portion 20, and the protrusion 23 can be set in the rotating hole 22 of another upper arm 6 or the forearm 7 and cooperate with the rotating hole 22. When in use, the output shaft of the driving motor 16 is connected to the upper arm 6 through the connecting hole 21, driving another upper arm 6 or the lower arm 7 connected to the upper arm 6 to rotate. The upper arm 6 is positioned by the protrusion 23 and rotates axially along the protrusion 23.

[0030] Furthermore, the small arm 7 is in a concave shape, with a connection hole 21 for connecting the drive motor on one side of the small arm 7 and a rotation hole 22 on the other side. When the upper arm 6 is connected to the small arm 7, the drive motor 16 installed in the placement groove 18 of the upper arm 6 drives the small arm 7 to rotate, and the small arm 7 can rotate axially on the upper arm 6 through the protrusion 23. A step portion 36 is provided at one end of the small arm 7, and a connection hole 37 is provided on the step portion 36, and the step portion 36 is connected to the clamping claw 8 through the connection hole 37.

[0031] Further, the clamping jaw 8 is suitable for an assembly line for picking up, placing and assembling parts. The clamping jaw 8 includes a clamping jaw body 26, a top cover 27 connected to the clamping jaw body, an active jaw 28 and a driven jaw 29 arranged between the clamping jaw body 26 and the top cover 27. The clamping jaw body 26 is provided with a first through hole 38 and a second through hole 39, and the output shaft of the driving motor 16 passes through the first through hole 38 and is connected to the active jaw 28. The active jaw 28 and the driven jaw 29 are both provided with a gear 30, and the gears 30 of the active jaw 28 and the driven jaw 29 are meshed. A protrusion 40 is provided on the clamping jaw body 26, and a connecting hole 37 is provided on the protrusion 40, which is connected to the top cover 27, and a cavity is formed between the protrusion 40 and the top cover 27 to facilitate the movement of the active jaw 28 and the driven jaw 29. A protrusion 41 is provided at one end of the clamping jaw body, and a connecting hole 37 is provided on the protrusion 41, and the protrusion 41 is connected to the step portion 36 of the small arm 7. When in use, the output shaft of the driving motor 16 is connected to the active claw 28 to drive the active claw 28 to rotate and drive the driven claw 29 to move, so that the clamping claw 8 can clamp the object.

[0032] Furthermore, both the base 5 and the upper arm 6 may be provided with weight-reducing holes 31 .

[0033] The main control module 9 of the utility model adopts STM32F103C8T6 microcontroller as the main control chip to meet its own new energy needs while reducing the manufacturing cost as much as possible. The motor drive module uses L9110S chip, which can realize the forward, reverse and braking functions of the drive motor 16, and the control is convenient and flexible. The main control module 9 controls the rotation of the drive motor 16 through the motor drive module 15 to realize the activities of the car body 1 and the mechanical arm 4. The power module 13 uses AMS1117 step-down chip to power the main control module 9, the motor module 15, etc. The ultrasonic module 12 is arranged at the front end of the car body 1. As a distance detection module, it can realize ranging within a long range and is suitable for scenes that need to avoid contact. The OLED display module 11 uses a 0.96-inch OLED screen, which can display more content, and has a smaller size, high integration, and adopts IIC drive, which occupies less pin resources. The three-axis attitude detection module 14 uses the mpu6050 three-axis attitude detection sensor. The distance data detected by the ultrasonic sensor and the three-axis data fed back by the three-axis posture detection sensor. After the main control module 9 obtains the data fed back by the sensor, it analyzes and calculates the data, and obtains corresponding instructions to drive other peripherals to complete corresponding actions. For example, if the ultrasonic detection shows that the distance in front is too close, the single-chip microcomputer determines that there is an obstacle in front, so it will drive the motor to move the entire car backwards and stop after reaching a safe distance. At the same time, it will also drive the OLED display unit to display relevant information of the current logistics car, such as three-axis information, distance information, etc. The single-chip microcomputer will also use Bluetooth wireless communication to exchange data with the mobile phone APP24, and the mobile phone APP24 can control the omnidirectional movement of the car.

[0034] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0035] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An intelligent Mechanic Arm Cart for logistics transportation, comprising a car body, the car body comprising a chassis and two sets of Mechanic Arms respectively arranged on both sides of the chassis, characterized in that: A movable mechanical arm is arranged on the top of the chassis, and the mechanical arm includes a base connected to the chassis, an upper arm, a lower arm and a clamping claw arranged above the base, the upper arm is movably connected to the base and the lower arm respectively, and the lower arm is movably connected to the clamping claw; it also includes a main control module arranged on the chassis, and the main control module is electrically connected to a Bluetooth module, an OLED display module, an ultrasonic ranging module, a power supply module, a three-axis attitude detection and a motor drive module respectively, the wheat wheel and the mechanical arm are both connected to a drive motor, and the drive motor is electrically connected to the motor drive module.

2. The intelligent Mecwheel robot arm trolley for logistics transportation according to claim 1 is characterized by: The base includes a bottom plate and a placement groove arranged above the bottom plate for placing the drive motor. The placement groove is composed of two mounting plates and a back plate. A plurality of mounting holes are opened on the mounting plate, and a groove is arranged between the mounting plate and the back plate.

3. The intelligent Mecwheel mechanical arm trolley for logistics transportation according to claim 2 is characterized by: The number of the upper arms is at least one, and the upper arm includes a joint part and a connecting part. The length of the joint part is greater than the length of the connecting part. The joint part is concave in shape, and a connecting hole for connecting a driving motor is provided on one side of the joint part, and a rotating hole is provided on the other side. The connecting part is provided with a placement groove for placing the driving motor, and a cylindrical protrusion is provided on one side of the connecting part. The protrusion can be set in the rotating hole of the other upper arm and cooperate with the rotating hole.

4. The intelligent Mecwheel mechanical arm trolley for logistics transportation according to claim 3 is characterized by: The small arm is concave in shape, with a connecting hole for connecting a driving motor on one side and a rotating hole on the other side. The rotating hole is rotatably matched with the protrusion. A step portion is provided at one end of the small arm, and a connecting hole is provided on the step portion. The step portion is connected to the clamp through the connecting hole.

5. The intelligent Mecwheel mechanical arm trolley for logistics transportation according to claim 4 is characterized in that: The clamping jaw comprises a clamping jaw body, a top cover connected to the clamping jaw body, an active jaw and a driven jaw arranged between the clamping jaw body and the top cover, the clamping jaw body is provided with a first through hole and a second through hole, the output shaft of the driving motor passes through the first through hole and is connected to the active jaw, the active jaw and the driven jaw are both provided with gears, and the gears of the active jaw and the driven jaw are meshed, the clamping jaw body is provided with a protrusion connected to the top cover, a cavity is formed between the protrusion and the top cover for enabling the active jaw and the driven jaw to move, and a protrusion is provided at one end of the clamping jaw body, and the protrusion is connected to the step portion.

6. The intelligent Mecwheel mechanical arm trolley for logistics transportation according to claim 5 is characterized in that: The base, the upper arm and the lower arm are all provided with weight-reducing holes and threading holes.

7. The intelligent Mecwheel mechanical arm trolley for logistics transportation according to claim 1 is characterized by: The main control module is a STM32F103C8T6 microcontroller.

8. The intelligent Mecwheel mechanical arm trolley for logistics transportation according to claim 1 is characterized by: The motor drive module is a L9110S chip.

9. The intelligent Mecwheel mechanical arm trolley for logistics transportation according to claim 1 is characterized by: The power module is an AMS1117 step-down chip.

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