Automatic classification carrying car model

Abstract

The utility model provides an automatic classification carrying car model which solves the problems that an existing car model is poor in accuracy, wastes time and the like. The car model comprises a chassis, walking mechanisms are arranged at the four corners of the chassis, a front supporting frame is arranged at the front end of the chassis, a rear supporting frame is arranged at the rear end of the chassis, a tracking camera is arranged on the front supporting frame forwards, a left camera is arranged on the front supporting frame leftwards, and a right camera is arranged on the front supporting frame rightwards. The bin rotating steering engine is in driving connection with the multiple types of storage bins, the multiple types of storage bins are provided with a plurality of independent classification bins, and mechanical arms are symmetrically arranged on the portions, on the two sides of the multiple types of storage bins, of the chassis. According to the car model, the identification camera and the mechanical arm which are of a symmetrical structure are adopted to be matched with multiple types of storage bins capable of being rotationally adjusted and controlled, card identification and classified storage of racing tracks on the two sides are carried out at the same time, efficiency is improved, and time is saved; by obtaining a large shooting view field, the problems of omission, erroneous judgment and the like are effectively reduced or eliminated, and the accuracy is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of intelligent control vehicles, and relates to a racing car model, in particular to an automatic classification and handling car model. Background Technique

[0002] The intelligent vehicle competition is a comprehensive competition that integrates multidisciplinary knowledge to design and solve practical or specific problems, covering multiple professional fields such as automatic control, pattern recognition, sensing technology, electronics, computer science, and mechanical engineering. In order to adapt to the development of the times, an intelligent vision group has been added to the intelligent vehicle competition in recent years. The basic task of the competition is: the car starts from behind the starting line on the track, searches and identifies single pictures scattered on both sides of the track and picture stacks located at the center of the track roundabout and the center of the cross loop under the guidance of the track, and classifies the accurately identified cards, and transports them to different designated positions according to the picture categories (such as fruit categories, digital categories). If the card cannot be accurately detected and picked up, or the classification is incorrect, a time penalty is required. Except for some classification points for special category cards during the running process, there will be the last three classification positions before the end point. The car model needs to classify and place all the remaining cards carried before crossing the end point, and then cross the finish line.

[0003] Most of the current mainstream participating car model solutions adopt a four-classification structure, that is, the cards are placed in the car model storage bin according to four major categories, use a single camera for track following, and specially set up a color camera to identify the cards. Use a single robotic arm to complete the tasks of picking up and placing the cards. The camera and the robotic arm are both placed in front of the car model.

[0004] Existing car models have problems with the poor coordination of the robotic arm and the storage bin, resulting in too long time to identify and classify the cards, wasting a lot of time in the race. The single color camera located in the middle identifies the cards on both sides of the track, and the shooting range cannot ensure complete coverage of the card placement distance, which is prone to problems such as omission and misidentification. At the doubtful places, the color camera needs to identify multiple times and repeatedly, which will also waste more time. At the classification points set before the end point, most existing car models place the cards one by one, that is, use the robotic arm to pick up a card and place it at the classification point, wait for this card to be placed before picking up the next card. When the number of cards is large, the efficiency is low.

[0005] Existing car models may also have the situation that the cards are not placed flat, which is mainly caused by the incoordination of the robotic arm and the servo motor controlling the classification bin. The uneven placement of the cards may cause the cards to spill out during transportation, and the success rate of taking out the cards from the storage bin will decrease, which is not conducive to loading and unloading after being transported to the designated position.

[0006] For example, a smart home device is disclosed in Chinese Patent Document No. 202021837021.6, which includes an automatic garbage sorting device and a garbage cleaning and collection device. The garbage cleaning and collection device is arranged below the automatic sorting device and the two are connected by a large partition; the automatic garbage sorting device includes four automatic garbage collection bins for separately containing four types of garbage and a manipulator for picking and placing garbage. A two-dimensional code corresponding to each type of garbage is provided on the lid of each automatic garbage collection bin. An annular slideway is sleeved outside the four automatic garbage collection bins. A gearbox is provided at the bottom of the manipulator, and the gearbox is connected to the output end of a sliding motor. A rack is provided in the annular slideway, and the output gear of the gearbox meshes with the rack; a first camera for identifying garbage is provided at each of the front and rear ends of the large partition, and a second camera for garbage classification and two-dimensional code scanning is provided on the manipulator. The utility model provides a smart home device that can effectively realize garbage removal, garbage classification, and climbing up and down ladders.

[0007] In the above technical solution, although the mobile vehicle body and the robotic arm are combined to classify and store garbage, it still cannot meet the requirements of improving the recognition and classification efficiency, and cannot meet the function of uniformly dumping cards, so it cannot be applied to the intelligent vehicle competition. Summary of the Invention

[0008] The purpose of the present utility model is to propose an automatic classification and handling vehicle model in view of the above problems existing in the prior art.

[0009] The purpose of the present utility model can be achieved by the following technical solutions: An automatic classification and handling vehicle model includes a chassis. Traveling mechanisms are arranged at the four corners of the chassis. A front support frame is arranged at the front end of the chassis, and a rear support frame is arranged at the rear end. A tracking camera is arranged forward on the front support frame, a left camera is arranged leftward on the front support frame, and a right camera is arranged rightward. A load-bearing module is arranged in the middle of the chassis. A turret servo is arranged in the load-bearing module. The turret servo is drivingly connected to multiple types of storage bins. The multiple types of storage bins have several independent classification bins. Manipulators are symmetrically arranged on both sides of the multiple types of storage bins on the chassis.

[0010] In the above automatic classification and handling vehicle model, the load-bearing module is an annular platform. The turret servo is fixedly installed in the middle of the annular platform. An annular groove is arranged around the turret servo on the annular platform. A number of balls are arranged in the annular groove to form a rotating bearing. The rotating shaft of the turret servo is fixedly connected to the bottom of the multiple types of storage bins. The bottom wall of the multiple types of storage bins is supported on the top surface of the rotating bearing.

[0011] In the above-mentioned automatic sorting transport vehicle model, the multi-category storage bins have a pentagonal frame body. Each side of the pentagonal frame body is divided into independent sorting bins. An import and export is formed on the outer side of the sorting bin. A switch servo is arranged at the bottom of the import and export. The switch servo is drivingly connected to a movable door, and the movable door blocks the import and export along the outer inclination direction.

[0012] In the above-mentioned automatic sorting transport vehicle model, suspension bridges are symmetrically and fixedly connected to the left and right sides of the load-bearing module. The suspension bridge has a bearing plate. Connecting rods are obliquely arranged on the bearing plate. The connecting rods are installed on the load-bearing module through screws. The inner edge of the bearing plate is installed on the load-bearing module through screws. The bearing plate extends beyond the width of the chassis. A robotic arm is installed on the bearing plate.

[0013] In the above-mentioned automatic sorting transport vehicle model, the robotic arm includes a first base fixed on the bearing plate. A first servo is installed inside the first base. The first servo is drivingly connected to a first arm. A second base is arranged at the end of the first arm. A second servo is installed inside the second base. The second servo is drivingly connected to a second arm. An electromagnet is arranged at the end of the second arm.

[0014] In the above-mentioned automatic sorting transport vehicle model, the first arm includes a first U-shaped frame, a second U-shaped frame, and a third U-shaped frame. The first servo is located inside the opening of the first U-shaped frame and is hinged to the side wall of the first U-shaped frame. The second U-shaped frame and the third U-shaped frame are butted through the opening to form a rectangular frame body. The bottom wall of the first U-shaped frame is fixedly connected to the bottom wall of the second U-shaped frame. The second base is fixedly connected to the bottom wall of the third U-shaped frame.

[0015] In the above-mentioned automatic sorting transport vehicle model, the second arm includes a fourth U-shaped frame. The second servo is located inside the opening of the fourth U-shaped frame and is hinged to the side wall of the fourth U-shaped frame. The electromagnet is fixedly connected to the bottom wall of the fourth U-shaped frame.

[0016] In the above-mentioned automatic sorting transport vehicle model, the front support frame includes a base fixedly connected to the chassis. Two support rods are erected on the base. A main board frame is fixedly arranged at the tops of the two support rods. A front support is fixedly arranged on the front side of the main board frame. A tracking camera is installed on the front support. Left wing frames and right wing frames are symmetrically arranged on the left and right sides of the main board frame. A left camera is installed on the left wing frame. A right camera is installed on the right wing frame.

[0017] In the above-mentioned automatic sorting transport vehicle model, a notch is arranged at the side end of the left wing frame / right wing frame. The left camera / right camera is fixed in the notch through a copper column.

[0018] In the above-mentioned automatic classification transport vehicle model, the traveling mechanism includes a fixed plate fixedly connected to the chassis. A driving motor and an encoder are installed inside the fixed plate. Mecanum wheels are hinged to the outside of the fixed plate through a rotating shaft, and the driving shaft of the driving motor is connected to the rotating shaft.

[0019] Compared with the prior art, the present automatic classification transport vehicle model has the following beneficial effects:

[0020] 1. The vehicle model adopts a symmetric structure of recognition cameras, robotic arms, and rotatable and adjustable multi-category storage bins, and cooperates to simultaneously perform card recognition and classification storage on both sides of the track, improving efficiency and saving time; by obtaining a larger shooting field of view, effectively reducing or eliminating problems such as omission and misjudgment, and improving accuracy, which conforms to the competitive purpose.

[0021] 2. By keeping the movable door of the classification bin in an outward-tilted state, the cards can be placed outward-tilted, making it not easy to get stuck. When it is necessary to take out the cards from the classification bin, the tilt angle makes it easier to take them out, and the picked-up cards are not easy to spill out during the movement of the vehicle model, improving the stability of card storage. In addition, when it is necessary to dump the cards, only the movable door needs to be opened, and all the cards are unloaded at once under the action of gravity, improving the card unloading efficiency. Moreover, the outward-tilted movable door expands the effective area of the classification bin, reduces the possibility of failed card placement, and at the same time reduces the possibility of cards spilling out during turning in the movement process.

[0022] 3. The robotic arm design, combined with the free movement of the first servo motor and the second servo motor, enables the robotic arm to flexibly perform picking and placing operations. The multi-joint design (including the combination of U-shaped frames) provides a larger range of movement, adapts to various shapes and sizes of items, and enhances the flexibility of handling.

[0023] 4. The load-bearing module is designed as an annular platform and is equipped with a rotating bearing and ball bearings, which can effectively disperse the center of gravity and bear the weight, preventing equipment damage. This design improves the overall stability and durability, and is suitable for long-term and high-intensity use.

[0024] 5. The design of the front support frame enables the tracking camera and the left and right cameras to effectively monitor the surrounding environment, realizing an optimized camera layout, enhancing the automatic driving and navigation capabilities, and improving the safety and reliability.

[0025] 6. The symmetric design of the robotic arm and the load-bearing module improves the balance of the transport vehicle model, reduces tilting and swaying during movement, helps to keep the transported items safe and intact, and effectively avoids cards spilling out during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is an overall three-dimensional structure diagram of the present automatic classification transport vehicle model.

[0027] Figure 2 This is the overall front view structure diagram of the automatic classification handling vehicle model.

[0028] Figure 3 This is the top view structure diagram of the load-bearing module in the automatic classification handling vehicle model.

[0029] Figure 4 This is the three-dimensional structure diagram of multiple types of storage bins in the automatic classification handling vehicle model.

[0030] Figure 5 This is the three-dimensional structure diagram of the robotic arm in the automatic classification handling vehicle model.

[0031] Figure 6 This is the three-dimensional structure diagram of the chassis in the automatic classification handling vehicle model.

[0032] In the figure, 1 is the chassis; 2 is the fixing plate; 3 is the driving motor; 4 is the encoder; 5 is the mecanum wheel; 6 is the base; 7 is the support rod; 8 is the main board frame; 9 is the front support; 10 is the left wing frame; 11 is the right wing frame; 12 is the load-bearing module; 13 is the rotating bearing; 14 is the turret servo; 15 is the pentagonal frame; 16 is the switch servo; 17 is the movable door; 18 is the drawbridge; 19 is the first base; 20 is the first servo; 21 is the first U-shaped frame; 22 is the second U-shaped frame; 23 is the third U-shaped frame; 24 is the second base; 25 is the second servo; 26 is the fourth U-shaped frame; 27 is the electromagnet. Detailed implementation manners

[0033] The following are specific embodiments of the present invention and in combination with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

[0034] As Figures 1 to 5 shown, this automatic classification handling vehicle model includes a chassis 1. Walking mechanisms are arranged at the four corners of the chassis 1. A front support frame is arranged at the front end of the chassis 1, and a rear support frame is arranged at the rear end of the chassis 1. A tracking camera is arranged forward on the front support frame, a left camera is arranged leftward on the front support frame, and a right camera is arranged rightward on the front support frame. A load-bearing module 12 is arranged in the middle of the chassis 1. A turret servo 14 is arranged in the load-bearing module 12. The turret servo 14 is drivingly connected to multiple types of storage bins. The multiple types of storage bins have several independent classification bins. Robotic arms are symmetrically arranged on both sides of the multiple types of storage bins on the chassis 1.

[0035] As Figure 6 shown, preferably, the walking mechanism includes a fixing plate 2 fixedly connected to the chassis 1. A driving motor 3 and an encoder 4 are installed inside the fixing plate 2. A mecanum wheel 5 is hinged to the outside of the fixing plate 2 through a rotating shaft. The driving shaft of the driving motor 3 is connected to the rotating shaft. In each group of walking mechanisms, the running state of the mecanum wheel 5 can be sensed through the encoder 4, and further the mecanum wheel 5 can be driven by the driving motor 3 to realize the walking mode of the vehicle model.

[0036] As Figure 1 and 2 shown, preferably, the front support frame includes a base 6 fixedly connected to the chassis 1. Two support rods 7 are erected on the base 6. The support rods 7 are specifically carbon rods. The top of the two support rods 7 is fixedly provided with a main board frame 8. The front side of the main board frame 8 is fixedly provided with a front support 9. A tracking camera is installed on the front support 9 to identify the track for the vehicle model to move forward through the tracking camera. The left and right sides of the main board frame 8 are symmetrically provided with a left wing frame 10 and a right wing frame 11. A left camera is installed on the left wing frame 10, and a right camera is installed on the right wing frame 11.

[0037] The weight of the overall structure is borne by the base 6, the installation height of the camera is achieved through the support rods 7, and the installation space is provided by the main board frame 8. The front support 9 is inclined forward at a certain angle so that the tracking camera can photograph the forward track at a suitable angle. The left wing frame 10 and the right wing frame 11 both extend a certain length out of the chassis 1 to provide a better field of view for the left camera and the right camera.

[0038] The rear support frame also includes a base 6 fixedly connected to the chassis 1. Two support rods 7 are also erected on the base 6, and the support rods 7 are specifically carbon rods.

[0039] Preferably, a notch is provided at the side end of the left wing frame 10 / right wing frame 11, and the left camera / right camera is fixed in the notch through a copper column. The left camera / right camera is a color camera module OpenART, which undertakes two tasks of card detection and recognition. Among them, the task of detecting whether a card exists can be completed by adding a metal detector, and the visual part can focus on improving the accuracy of identifying the category of the card.

[0040] As Figure 3 shown, preferably, the load-bearing module 12 is an annular platform. A turret servo 14 is fixedly installed in the middle of the annular platform. An annular groove is provided around the turret servo 14 on the annular platform, and a number of ball bearings are arranged in the annular groove to form a rotating bearing 13. The rotating shaft of the turret servo 14 is fixedly connected to the bottom of multiple types of storage bins, and the bottom wall of the multiple types of storage bins is supported on the top surface of the rotating bearing 13.

[0041] The rotating bearing 13 formed by arranging a circle of ball bearings is used for load-bearing to prevent the turret servo 14 below from being damaged due to excessive weight. When the turret servo 14 drives the multiple types of storage bins to rotate, the bottom wall of the multiple types of storage bins has static friction with the top surface of the rotating bearing 13, and rolling and sliding motion is achieved through a circle of ball bearings in the rotating bearing 13.

[0042] As Figure 4As shown, preferably, the multi - type storage bin has a pentagonal frame body 15. Each side of the pentagonal frame body 15 is divided into independent classification bins. An inlet and outlet are formed on the outer side of the classification bin. A switch servo 16 is arranged at the bottom of the inlet and outlet. The switch servo 16 is drivingly connected to a movable door 17, and the movable door 17 blocks the inlet and outlet along the outer - inclination direction.

[0043] Specifically, the classification bin is in the shape of a trapezoidal cavity. The inner side of the classification bin is a vertical baffle, and the outer side of the classification bin forms an outer - inclination stop through the movable door 17. A partition is arranged between adjacent classification bins. The switch servo 16 drives the movable door 17 to swing outward to open the inlet and outlet, and the switch servo 16 drives the movable door 17 to swing inward to close the inlet and outlet. In the closed state, the movable door 17 still has a certain outer - inclination angle, so that the stored cards are slightly inclined outward. After the inlet and outlet door is opened, all the cards are dumped under the action of gravity, which is conducive to the rapid removal of all the cards.

[0044] As Figure 1 and 2 As shown, preferably, suspension bridges 18 are symmetrically fixedly connected to the left and right sides of the load - bearing module 12. The suspension bridge 18 has a bearing plate. Connecting rods are inclinedly arranged on the bearing plate. The connecting rods are installed on the load - bearing module 12 through screws. The inner edge of the bearing plate is installed on the load - bearing module 12 through screws. The bearing plate extends beyond the width of the chassis 1, and a robotic arm is installed on the bearing plate. The stability of the overall connection of the suspension bridge 18 is increased through the connecting rods, and at the same time, the bearing strength is increased. The width of the chassis 1 is widened through the bearing plate to provide an installation space for the robotic arms on both sides.

[0045] As Figure 5 As shown, preferably, the robotic arm includes a base one 19 fixed on the bearing plate. A first servo 20 is installed in the base one 19. The first servo 20 is drivingly connected to a first arm. A base two 24 is arranged at the end of the first arm. A second servo 25 is installed in the base two 24. The second servo 25 is drivingly connected to a second arm. An electromagnet 27 is arranged at the end of the second arm.

[0046] The first servo 20 drives the first arm to swing to form the first joint, and then the second servo 25 drives the second arm to swing to form the second joint. The two joints cooperate to achieve the free movement required for the robotic arm to pick up the cards. Finally, the electromagnet 27 cooperates with the relay to adsorb the cards. For the operation of picking up the cards, it can also be replaced by a mechanical claw to grab the cards.

[0047] The robotic arm can increase the number of rotatable joints according to requirements, that is, increase the number of servos used. It can also lengthen or shorten the arm length to become a robotic arm with higher degrees of freedom to complete more complex tasks.

[0048] Preferably, the first arm includes a first U-shaped frame 21, a second U-shaped frame 22, and a third U-shaped frame 23. The first servo 20 is located within the opening of the first U-shaped frame 21 and is hinged to the side wall of the first U-shaped frame 21. The second U-shaped frame 22 and the third U-shaped frame 23 are docked through the opening to form a rectangular frame. The bottom wall of the first U-shaped frame 21 is fixedly connected to the bottom wall of the second U-shaped frame 22, and a second base 24 is fixedly connected to the bottom wall of the third U-shaped frame 23. The required length of the first arm is achieved through the combination of different numbers of U-shaped frames, so as to facilitate the picking action of the robotic arm within a certain range.

[0049] Preferably, the second arm includes a fourth U-shaped frame 26. The second servo 25 is located within the opening of the fourth U-shaped frame 26 and is hinged to the side wall of the fourth U-shaped frame 26. An electromagnet 27 is fixedly connected to the bottom wall of the fourth U-shaped frame 26. The rotating shaft of the first servo 20 / the second servo 25 extends out of the first base 19 / the second base 24 to form a free rotation. One side wall of the U-shaped frame is fixedly connected through the rotating shaft, and the other side wall of the U-shaped frame is correspondingly hinged to the first base 19 / the second base 24. Thus, the rotation of the rotating shaft of the servo drives the corresponding U-shaped frame to swing synchronously.

[0050] The operation process of this automatic classification and handling vehicle model is as follows:

[0051] 1. The image of the front track is captured by the tracking camera located at the front end, and the tracking control is performed according to the image, so that the vehicle model travels in the direction of the track laying.

[0052] 2. During the travel of the vehicle model, the left camera and the right camera simultaneously capture the color pictures on both sides of the track. When a card is detected on one side of the track, the vehicle model pauses, identifies which category the card belongs to, drives the robotic arm on the corresponding side to pick up the card, and after picking up the card, the vehicle model continues to move forward. While moving forward, the rotating bin servo 14 rotates the classification bin corresponding to the target card category to the corresponding position, and controls the robotic arm to place the card in the classification bin.

[0053] Among them, after picking up the card, there is no need to wait for the classification bin to arrive. After the robotic arm picks up the card, the vehicle model can move forward, and the classification and dropping work is carried out during the movement, reducing the running time.

[0054] 3. When the tracking camera detects the position of the classification point before the end point, the switch servo 16 of the corresponding classification bin is controlled to open the movable door 17 to dump the card. Until all the cards are unloaded, it crosses the finish line.

[0055] The specific embodiments described herein are merely illustrative of the spirit of the present utility model. Those skilled in the art to which the present utility model pertains may make various modifications or supplements to the described specific embodiments or use similar means for substitution, but will not deviate from the spirit of the present utility model or exceed the defined scope. Although the present utility model has been described in detail in the drawings and the foregoing description, such description is considered to be illustrative or exemplary rather than restrictive. It should be understood that within the scope of the following claims, those of ordinary skill in the art may make changes and modifications. Specifically, the present utility model encompasses additional embodiments having any combination of features from the different embodiments described above. With respect to the use of the expressions "generally" or "substantially", this patent application should be understood to disclose the same as fully meeting these features and values, i.e., without the foregoing being characterized as "generally" or "substantially".

[0056] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

Claims

1. An automatic classification handling vehicle model, including a chassis, and walking mechanisms are arranged at four corners of the chassis. It is characterized in that, A front support frame is provided at the front end of the chassis, and a rear support frame is provided at the rear end. A tracking camera is provided facing forward on the front support frame, a left camera is provided facing left and a right camera is provided facing right on the front support frame. A load-bearing module is provided in the middle of the chassis. A turret servo is provided in the load-bearing module. The turret servo is drivingly connected to multiple types of storage bins. The multiple types of storage bins have a number of independent classification bins. Mechanical arms are symmetrically provided on both sides of the multiple types of storage bins on the chassis.

2. The automatic classification and handling vehicle model according to claim 1, wherein The load-bearing module is an annular platform. The turret servo is fixedly installed in the middle of the annular platform. An annular groove is provided around the turret servo on the annular platform. A number of ball bearings are provided in the annular groove to form a rotating bearing. The rotating shaft of the turret servo is fixedly connected to the bottom of the multiple types of storage bins. The bottom wall of the multiple types of storage bins is supported on the top surface of the rotating bearing.

3. The automatic classification handling vehicle model according to claim 1, characterized in that, The multiple types of storage bins have a pentagonal frame body. Each side of the pentagonal frame body is divided into independent classification bins. An inlet and outlet is formed on the outer side of the classification bin. A switch servo is provided at the bottom of the inlet and outlet. The switch servo is drivingly connected to a movable door. The movable door blocks the inlet and outlet along the outer inclination direction.

4. The automatic classification and handling vehicle model according to claim 1, characterized in that, Suspension bridges are symmetrically and fixedly connected to the left and right sides of the load-bearing module. The suspension bridge has a bearing plate. Connecting rods are obliquely provided on the bearing plate. The connecting rods are installed on the load-bearing module through screws. The inner edge of the bearing plate is installed on the load-bearing module through screws. The bearing plate extends beyond the width of the chassis. The mechanical arm is installed on the bearing plate.

5. The automatic classification and handling vehicle model according to claim 4, characterized in that, The mechanical arm includes a base one fixed on the bearing plate. A first servo is installed in the base one. The first servo is drivingly connected to a first arm. A base two is provided at the end of the first arm. A second servo is installed in the base two. The second servo is drivingly connected to a second arm. An electromagnet is provided at the end of the second arm.

6. The automatic classification and handling vehicle model according to claim 5, characterized in that, The first arm includes a U-shaped frame one, a U-shaped frame two and a U-shaped frame three. The first servo is located inside the opening of the U-shaped frame one and is hinged to the side wall of the U-shaped frame one. The U-shaped frame two and the U-shaped frame three are docked through the opening to form a rectangular frame body. The bottom wall of the U-shaped frame one and the bottom wall of the U-shaped frame two are fixedly connected. The base two is fixedly connected to the bottom wall of the U-shaped frame three.

7. The automatic classification handling vehicle model according to claim 6, characterized in that, The second arm includes a U-shaped frame four. The second servo is located inside the opening of the U-shaped frame four and is hinged to the side wall of the U-shaped frame four. The electromagnet is fixedly connected to the bottom wall of the U-shaped frame four.

8. The automatic classification and handling vehicle model according to claim 1, characterized in that, The front support frame includes a base fixed to the chassis. Two support rods are erected on the base. A main board frame is fixedly provided at the top of the two support rods. A front support is fixedly provided on the front side of the main board frame. The tracking camera is installed on the front support. Left wing frames and right wing frames are symmetrically provided on the left and right sides of the main board frame. The left camera is installed on the left wing frame. The right camera is installed on the right wing frame.

9. The automatic classification and handling vehicle model according to claim 8, wherein, A notch is provided at the side end of the left wing frame / right wing frame. The left camera / right camera is fixed in the notch through a copper column.

10. The automatic classification and handling vehicle model according to claim 1, characterized in that, The traveling mechanism includes a fixing plate fixed to the chassis. A driving motor and an encoder are installed inside the fixing plate. A Mecanum wheel is hinged to the outside of the fixing plate through a rotating shaft. The driving shaft of the driving motor is connected to the rotating shaft.

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