A microcontroller-based delivery cart

Abstract

A microcontroller-based cargo handling trolley includes a chassis, a robotic arm, a lifting assembly, and a control assembly. The chassis includes an upper plate, a lower plate, and a travel assembly. The upper plate is mounted on the lower plate, with a gap between them. The travel assembly is mounted on the lower plate. The lifting assembly includes a mounting plate, a lifting plate, guide columns, a lifting motor, and a screw. The robotic arm is mounted on the lifting plate, and the upper plate has an opening to allow space for the lifting platform and the robotic arm. The control assembly includes a controller, which is electrically connected to the robotic arm, the travel assembly, and the lifting motor. This invention enables automated cargo handling through program settings. Operators can complete the entire handling process simply by inputting commands or through remote control, eliminating the need for manual loading and unloading or manually pushing the trolley. This reduces the labor intensity and human error associated with manual operation, lowers labor costs, and improves cargo handling efficiency.

Description

Technical Field

[0001] This utility model relates to the field of transportation technology, and in particular to a cargo transport vehicle based on a microcontroller. Background Technology

[0002] Cargo carts are generally composed of a base plate, wheels, and a pusher frame. For example, they are used for express delivery, where there is a distance between the delivery vehicle and the storage point. They are also used for transporting building materials on construction sites, distributing small items, transporting daily necessities that need to be transported up mountain roads, and transporting daily necessities in scenic areas. Cargo carts greatly facilitate people's production and daily life.

[0003] However, existing delivery carts rely primarily on manual labor to load goods onto the cart before pushing it, and then unload the goods manually upon arrival at the destination. This is not only inefficient but also labor-intensive, and can easily lead to safety accidents, especially when handling heavy or large items. Utility Model Content

[0004] In view of the above problems, this application provides a microcontroller-based delivery cart to solve the problem of low efficiency caused by manual loading and unloading of traditional delivery carts.

[0005] To achieve the above objectives, this application provides a microcontroller-based cargo transport vehicle, including a chassis, a robotic arm, a lifting assembly, and a control assembly. The chassis includes an upper plate, a lower plate, and a travel assembly. The upper plate is mounted on the lower plate, and a gap is provided between the upper and lower plates. The travel assembly is mounted on the lower plate. The lifting assembly includes a mounting plate, a lifting plate, a guide column, a lifting motor, and a screw. The mounting plate is mounted on the lower plate of the chassis. The guide column is vertically connected to the mounting plate. The lifting motor is mounted on the mounting plate. The screw is connected to the output end of the lifting motor and is perpendicular to the mounting plate. The lifting plate has guide holes and threaded holes. The guide holes are adapted to the guide column, and the threaded holes are adapted to the screw. The robotic arm is mounted on the lifting plate. The upper plate has openings to allow space for the lifting platform and the robotic arm. The control assembly includes a controller, which is electrically connected to the robotic arm, the travel assembly, and the lifting motor.

[0006] Preferably, the microcontroller-based delivery trolley further includes a rotary assembly, which includes a rotary platform and a rotary motor. The rotary platform is rotatably connected to a lifting platform, the rotary motor is mounted on the lifting platform, the output end of the rotary motor is drive-connected to the rotary platform, the rotary motor is electrically connected to the controller of the control assembly, and the robotic arm is mounted on the rotary platform.

[0007] Preferably, the microcontroller-based delivery trolley further includes a cover plate assembly, which includes a first cover plate and a second cover plate, and the first cover plate and the second cover plate are slidably connected to both sides of the opening on the upper plate of the chassis.

[0008] Preferably, the cover plate assembly further includes a third cover plate, which is slidably connected to the side of the upper plate opening near the lifting platform.

[0009] Preferably, the cover plate assembly further includes a first telescopic rod, a second telescopic rod, and a third telescopic rod. The first telescopic rod is connected between the first cover plate and the upper plate, the second telescopic rod is connected between the second cover plate and the upper plate, and the third telescopic rod is connected between the third cover plate and the upper plate. The first telescopic rod, the second telescopic rod, and the third telescopic rod are electrically connected to the controller of the control component.

[0010] Preferably, the robotic arm includes a base, a first arm section, a second arm section, a third arm section, a robotic gripper, a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, and a fifth servo motor. The base is mounted on a lifting platform. The first arm section is rotatably connected to the base via the first servo motor. The second arm section is rotatably connected to the first arm section via the second servo motor. The third arm section is rotatably connected to the second arm section via the third servo motor. The robotic gripper is rotatably connected to the third arm section via the fourth servo motor. The fifth servo motor is mounted on the robotic gripper and is used to drive the robotic gripper. The first, second, third, fourth, and fifth servo motors are electrically connected to the controller of the control component.

[0011] Preferably, the driving assembly includes four driving units, each driving unit including a drive wheel, a drive motor, and a driver. The drive motor is mounted on the chassis under plate, the drive wheel is mounted on the drive motor, the driver is electrically connected to the drive motor, and the driver is communicatively connected to the controller.

[0012] Preferably, the control component further includes a Bluetooth module, which is mounted on the chassis underside plate and is communicatively connected to the controller.

[0013] Preferably, the control component further includes an ultrasonic ranging module, which is mounted on the chassis underside plate and is communicatively connected to the controller.

[0014] Preferably, the control component further includes an infrared tracking module, which is mounted on the chassis underside plate and is communicatively connected to the controller.

[0015] The advantages of the above technical solution compared to existing technologies are as follows: This utility model is equipped with a driving component, a lifting component, a robotic arm, and a control component. Through program settings, an automated cargo handling process can be realized. Operators only need to input simple instructions or remotely control the system to complete the entire handling process. There is no need for manual loading and unloading, nor is there a need for manual pushing of the cargo trolley. This reduces the labor intensity and human error of manual operation, lowers labor costs, and improves cargo handling efficiency.

[0016] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0018] In the attached diagram:

[0019] Figure 1 A 3D view of the microcontroller-based robotic arm of the delivery cart during storage, as described in the specific implementation.

[0020] Figure 2 This is a front view of the microcontroller-based robotic arm of the delivery cart when it is stored, as described in the specific implementation.

[0021] Figure 3 This is a three-dimensional view of the microcontroller-based cargo trolley cover when it is opened, as described in the specific implementation method.

[0022] Figure 4 This is a three-dimensional view of the robotic arm of the microcontroller-based freight trolley when it is raised, as described in the specific implementation.

[0023] Figure 5 This is a three-dimensional view of the microcontroller-based cargo cart cover when closed, as described in the specific implementation method.

[0024] Figure 6 A three-dimensional view of the microcontroller-based robotic arm and lifting assembly of the freight trolley described in the specific implementation embodiment;

[0025] Figure 7 This is a three-dimensional view of the microcontroller-based robotic arm and lifting assembly of the delivery trolley described in the specific implementation.

[0026] Explanation of reference numerals in the attached figures:

[0027] 11. Upper plate; 12. Lower plate; 13. Drive motor; 14. Drive wheel;

[0028] 21. Base; 22. First-section arm; 23. Second-section arm; 24. Third-section arm; 25. Mechanical gripper; 26. First servo motor; 27. Second servo motor; 28. Third servo motor; 29. ​​Fourth servo motor; 30. Fifth servo motor;

[0029] 31. Mounting plate; 32. Lifting plate; 33. Guide column; 34. Lifting motor; 35. Screw;

[0030] 41. First cover plate; 42. Second cover plate; 43. Third cover plate. Detailed Implementation

[0031] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0033] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0034] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0035] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0036] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0037] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0038] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0039] Please see Figures 1 to 7 This embodiment provides a microcontroller-based cargo transport vehicle, including a chassis, a robotic arm, a lifting assembly, and a control assembly. The chassis includes an upper plate 11, a lower plate 12, and a driving assembly. The upper plate 11 is mounted on the lower plate 12, and a gap is provided between the upper plate 11 and the lower plate 12. The driving assembly is mounted on the lower plate 12. The lifting assembly includes a mounting plate 31, a lifting plate 32, a guide column 33, a lifting motor 34, and a screw 35. The mounting plate 31 is mounted on the lower plate 12 of the chassis, and the guide column 33 is vertically connected to the mounting plate 32. On plate 31, the lifting motor 34 is mounted on the mounting plate 31, the screw 35 is connected to the output end of the lifting motor 34 and is perpendicular to the mounting plate 31, the lifting plate 32 is provided with guide holes and threaded holes, the guide holes are adapted to guide posts 33, and the threaded holes are adapted to screws 35; the robotic arm is mounted on the lifting plate 32, and the upper plate 11 is provided with openings to allow space for the lifting platform and the robotic arm; the control component includes a controller, which is electrically connected to the robotic arm, the travel component and the lifting motor 34 respectively.

[0040] The chassis serves as the integral support structure for the cargo trolley, constructed from high-strength rigid materials. It provides rigid support for all components mounted on the lower plate 12, while ensuring the upper plate 11 possesses sufficient rigidity to bear the load. The upper plate 11 is mounted on top of the lower plate 12, and a support column, made of alloy material with high strength, is positioned between them. The two ends of the support column connect to the upper plate 11 and the lower plate 12, respectively, providing support for the upper plate 11.

[0041] The driving component is used to drive the delivery cart, solving the problem that traditional delivery carts require manual pushing.

[0042] Mounting plate 31 is a circular or rectangular steel plate, fixed to lower plate 12 by welding or riveting. Guide posts 33 are columnar structures, fixedly connected to mounting plate 31, and there are multiple guide posts 33 evenly distributed on mounting plate 31. This ensures that the lifting plate 32 has sufficient lateral guide posts 33 for constraint during lifting, allowing it to rise and fall smoothly. The lifting plate 32 is positioned above mounting plate 31. The number of guide holes on the lifting plate 32 is the same as the number of guide posts 33. One end of each guide post 33 is fixedly connected to mounting plate 31, while the other end extends into the guide hole, thus constraining the lifting plate 32 laterally. The output end of the lifting motor 34 is connected to the screw 35 via a coupling. The screw 35 extends into a threaded hole on the lifting plate 32. Specifically, the operation of the lifting motor 34 drives the screw 35 to rotate. Since the external thread on the screw 35 matches the internal thread of the threaded hole, when the screw 35 rotates, the lifting plate 32 moves along the axial direction of the screw 35. The screw 35 is set perpendicular to the mounting plate 31, i.e., vertically. When the lifting motor 34 rotates in the forward direction, the lifting plate 32 moves upward along the axial direction of the screw 35; when the lifting motor 34 rotates in the reverse direction, the lifting plate 32 moves downward along the axial direction of the screw 35.

[0043] The robotic arm is mounted on the lifting plate 32, and the screw 35 is driven to rotate by the lifting motor 34, thereby realizing the vertical lifting of the robotic arm.

[0044] The opening on the upper plate 11 is rectangular, and its position corresponds to the installation position of the lifting assembly and the robotic arm. This ensures that the lifting assembly and the robotic arm will not collide with the upper plate 11 when they move, thus ensuring the smooth movement of each component.

[0045] In this embodiment, the controller is an STM32 series microcontroller, which is detachably mounted on the lower board 12.

[0046] Specifically, the controller sends control signals to the driving component via a pre-programmed sequence or by receiving external commands, causing the driving component to move the trolley. When the trolley reaches the vicinity of the goods, the controller commands the driving component to stop. Subsequently, the controller sends a signal to the lifting motor 34, which, upon receiving the signal, begins operation and drives the screw 35 to rotate via a coupling. Because the threaded hole on the lifting plate 32 matches the screw 35, the lifting plate 32 tends to move up and down under the action of threaded transmission. Simultaneously, the guide hole on the lifting plate 32 tightly engages with the guide post 33, restricting the rotational movement of the lifting plate 32 and ensuring that it can only move linearly up and down along the guide post 33. By controlling the rotation direction and number of rotations of the lifting motor 34, the lifting height of the lifting plate 32 can be precisely controlled, thereby driving the robotic arm to a position matching the height of the goods, facilitating the robotic arm's grasping of the goods. Under the control of the controller, the robotic arm grasps the goods through the movement of its various joints.

[0047] Compared with existing technologies, this embodiment includes a driving component, a lifting component, a robotic arm, and a control component, enabling automated cargo handling processes through program settings. Operators can complete the entire handling process simply by inputting commands or through remote control, eliminating the need for manual loading and unloading, or manual pushing of the trolley. This reduces the labor intensity and human error associated with manual operations, lowers labor costs, and improves cargo handling efficiency.

[0048] In this embodiment, the microcontroller-based delivery trolley further includes a rotary assembly, which includes a rotary platform and a rotary motor. The rotary platform is rotatably connected to a lifting platform, and the rotary motor is mounted on the lifting platform. The output end of the rotary motor is drive-connected to the rotary platform, and the rotary motor is electrically connected to the controller of the control assembly. The robotic arm is mounted on the rotary platform.

[0049] Specifically, the rotary platform is rotatably connected to the lifting platform via bearings. A driven gear is installed on the rotary platform, and a driving gear is fixed at the output end of the rotary motor. When the robotic arm needs to change its working direction, the controller sends a control signal to the rotary motor according to a preset program or external command. Upon receiving the signal, the rotary motor rotates in the specified direction and speed, driving the rotary platform to rotate relative to the lifting platform through the meshing of the driving and driven gears.

[0050] The robotic arm is bolted to a rotary platform, and the rotation of the rotary platform synchronously drives the robotic arm to rotate. During rotation, the controller monitors the rotation angle of the rotary platform in real time and compares it with the target angle to ensure that the robotic arm can accurately stop in the direction of the goods.

[0051] The addition of a rotary component allows the robotic arm to cover a circular area centered on the rotary platform with a radius equal to the length of the robotic arm. Compared to robotic arms without rotary functionality, the trolley's working range is expanded several times, enabling it to easily grasp goods from different directions without the need for frequent repositioning, thus improving its adaptability to complex environments.

[0052] Please see Figure 1 , Figure 3 , Figure 4 and Figure 5 In this embodiment, the microcontroller-based transport trolley further includes a cover plate assembly, which includes a first cover plate 41 and a second cover plate 42, which are slidably connected to both sides of the opening of the upper plate 11 of the chassis; the cover plate assembly also includes a third cover plate 43, which is slidably connected to the side of the opening of the upper plate 11 near the lifting platform.

[0053] Optionally, the first cover plate 41, the second cover plate 42, and the third cover plate 43 may be formed using transparent acrylic sheets. In this embodiment, the first cover plate 41 and the second cover plate 42 have the same dimensions.

[0054] Multiple slide rails are provided at the bottom of the upper plate 11 of the chassis. The opposite sides of the first, second, and third cover plates 42 and 43 are placed in the slide rails. The cover plates can slide in the slide rails to close the opening of the upper plate 11.

[0055] Specifically, when the trolley is not in operation or needs to be moved to another location, the opening of the upper plate 11 needs to be closed to protect the internal lifting components and robotic arm. At this time, the first cover plate 41 slides to the right along the left slide rail under external thrust, and the second cover plate 42 slides to the left along the right slide rail. The two gradually approach each other and eventually join together, covering the opening of the upper plate 11. The third cover plate 43 moves perpendicular to the direction of movement of the first and second cover plates 42, eventually joining with the first and second cover plates 42 to completely cover the opening of the upper plate 11. When the trolley needs to perform a cargo grabbing operation, the first cover plate 41 and the second cover plate 42 slide to the sides respectively, and the third cover plate 43 slides back, opening the opening of the upper plate 11 to make room for the movement of the lifting components and robotic arm.

[0056] When goods exceeding the working range of the robotic arm need to be transported (such as large cardboard boxes or irregular components), the controller drives the lifting motor 34 to reverse, and the lifting plate is lowered to the lowest position through the screw 35, so that the robotic arm is completely stored in the gap between the upper plate 11 and the lower plate 12.

[0057] At this time, the first cover plate 41, the second cover plate 42 and the third cover plate 43 are spliced ​​together to cover the opening of the upper plate 11 and form a flat planar structure with the upper plate 11, increasing the cargo carrying area of ​​the trolley to meet the needs of transporting large-sized goods.

[0058] The cover plate effectively prevents dust, moisture, debris and other foreign objects from entering the chassis, protecting the precision components such as the screw 35, guide column 33 and joints of the lifting assembly. This reduces wear and tear and malfunctions caused by foreign objects, lowering maintenance costs. It also prevents damage to the robotic arm from goods falling from a height.

[0059] In some embodiments, the first, second, and third cover plates 42 and 43 are an integral structure, with slide rails provided on opposite sides of the opening of the upper plate 11. The cover plates slide along the slide rails to close the opening of the upper plate 11.

[0060] In this embodiment, the cover plate assembly further includes a first telescopic rod, a second telescopic rod, and a third telescopic rod. The first telescopic rod is connected between the first cover plate 41 and the upper plate 11, the second telescopic rod is connected between the second cover plate 42 and the upper plate 11, and the third telescopic rod is connected between the third cover plate 43 and the upper plate 11. The first telescopic rod, the second telescopic rod, and the third telescopic rod are electrically connected to the control component controller.

[0061] The first, second, and third telescopic rods are all electric push rods. The fixed end of the telescopic rod is hinged to the bottom of the upper plate 11, and the telescopic end of the telescopic rod is hinged to the corresponding cover plate. The telescopic rod pushes or pulls the cover plate to move back and forth along the slide rail to open or close the opening of the upper plate 11.

[0062] Specifically, the controller sends control signals to each telescopic rod according to the working status of the trolley. When it is necessary to open the opening of the upper plate 11, the controller controls the first and second telescopic rods to retract. Since the telescopic ends of the telescopic rods are hinged to the cover plates, the first cover plate 41 and the second cover plate 42 are pulled to slide to both sides of the opening of the upper plate 11, respectively. At the same time, the controller controls the third telescopic rod to retract, and the third cover plate 43 slides towards the lifting platform, thereby opening the opening of the upper plate 11.

[0063] During the sliding process, the controller monitors the position sensor signal built into the telescopic rod and controls the extension of the telescopic rod to ensure that the cover slides to the appropriate position. When it is necessary to close the opening of the upper plate 11, the controller controls each telescopic rod to extend, pushing the corresponding cover to slide in the opposite direction until the opening is completely closed.

[0064] The electric push rod drive realizes the automated control of the cover plate sliding, eliminating the need for manual operation. Operators only need to issue commands through the controller to open and close the opening of the upper plate 11. Compared with manual operation, it saves operation time and improves work efficiency.

[0065] Please see Figure 6 and Figure 7 In this embodiment, the robotic arm includes a base 21, a first arm 22, a second arm 23, a third arm 24, a robotic gripper 25, a first servo motor 26, a second servo motor 27, a third servo motor 28, a fourth servo motor 29, and a fifth servo motor 30. The base 21 is mounted on a lifting platform. The first arm 22 is rotatably connected to the base 21 via the first servo motor 26. The second arm 23 is rotatably connected to the first arm 22 via the second servo motor 27. The third arm 24 is rotatably connected to the second arm 23 via the third servo motor 28. The robotic gripper 25 is rotatably connected to the third arm 24 via the fourth servo motor 29. The fifth servo motor 30 is mounted on the robotic gripper 25 and is used to drive the robotic gripper 25. The first servo motor 26, the second servo motor 27, the third servo motor 28, the fourth servo motor 29, and the fifth servo motor 30 are electrically connected to the controller of the control component.

[0066] The base 21 is a cylindrical structure that is fixed to the lifting platform with bolts to provide stable support for the robotic arm.

[0067] The robotic gripper consists of multiple gripper blades, with rubber anti-slip pads on the inner side of the gripper blades to increase friction when gripping goods and prevent them from slipping.

[0068] In this embodiment, there are two claw plates.

[0069] Specifically, the controller sends control signals to each servo motor based on the position of the goods. Upon receiving the signal, the first servo motor 26 drives the servo disc to rotate, causing the first arm 22 to rotate around the base 21 in the vertical plane, adjusting the overall height and horizontal extension range of the robotic arm. The second servo motor 27 controls the second arm 23 to rotate relative to the first arm 22, further adjusting the extension length and angle of the robotic arm so that the gripper 25 can get closer to the goods. The third servo motor 28 drives the third arm 24 to rotate relative to the second arm 23, achieving fine-tuning of the robotic arm's end effector to ensure the gripper 25 is aligned with the goods. The fourth servo motor 29 controls the gripper 25 to rotate relative to the third arm 24, adjusting the gripping direction of the gripper 25 to adapt to the placement angle of the goods. The fifth servo motor 30 is mounted on the rotation axis of the gripper 25 and connected to the gripper plates via a linkage mechanism. When the fifth servo motor 30 rotates, it drives the linkage to open or close the gripper plates, achieving the gripping and release of the goods.

[0070] Throughout the entire movement, the rotation angle of each servo motor is precisely controlled by the controller, and each joint works in coordination to enable the mechanical claw 25 to move along a preset trajectory and complete the actions of grasping, transporting and placing the goods.

[0071] The number of booms, servo motors, and claws can be set according to the specific dimensions of the trolley and the dimensions of the goods to meet the needs of the trolley in handling goods.

[0072] Please see Figure 2 In this embodiment, the driving component includes four driving units. Each driving unit includes a drive wheel 14, a drive motor 13, and a driver. The drive motor 13 is mounted on the chassis lower plate 12, the drive wheel 14 is mounted on the drive motor 13, the driver is electrically connected to the drive motor 13, and the driver is communicatively connected to the controller.

[0073] The four driving units are installed on the chassis lower plate 12 in a rectangular arrangement. Each driving unit works independently but also cooperates with each other to achieve the vehicle's movement function.

[0074] The drive wheel 14 is a rubber wheel, which has good elasticity and wear resistance, and can increase the friction between the wheel and the ground to prevent slippage.

[0075] The drive wheel 14 is connected to the output end of the drive motor 13. The drive motor 13 is connected to the driver through wires. The controller can transmit control signals to the driver.

[0076] Specifically, the controller sends control signals to the four drivers according to a preset path or external control commands. The drivers then control the rotation direction and speed of the drive motors 13 based on these signals. When the vehicle needs to move forward, the controller controls all four drive motors 13 to rotate forward simultaneously, causing the drive wheels 14 to rotate forward and propelling the vehicle forward. When it needs to move backward, all four drive motors 13 rotate in reverse simultaneously. Turning is achieved by controlling the speed difference between the left and right drive motors 13. For example, when turning left, the left drive motor 13 reduces its speed or stops, while the right drive motor 13 operates normally, allowing the vehicle to turn left due to the imbalance of driving forces on both sides.

[0077] During operation, the driver monitors the operating current of the drive motor 13 in real time. When the current exceeds a set threshold, it automatically cuts off the output to protect the drive motor 13 from damage. The controller receives motor operating status information from each driver and adjusts the control signal in real time to ensure that the car travels at the expected speed and direction without manual pushing, thus reducing potential risks.

[0078] In some embodiments, the driving component is simply a pulley set at the bottom of the lower plate 12. When goods need to be transported, the trolley needs to be pushed manually, which is not only time-consuming and laborious, but also carries certain risks.

[0079] Therefore, the driving component in this embodiment is the preferred solution.

[0080] In this embodiment, the control component further includes a Bluetooth module, which is installed on the chassis lower plate 12 and is communicatively connected to the controller.

[0081] The Bluetooth module is installed in the corner of the lower plate 12, and an indicator light is provided on the Bluetooth module to show the working status of the Bluetooth module.

[0082] The Bluetooth module communicates with the controller. Upon power-up, it automatically enters pairing mode. Operators can search for and connect to the Bluetooth module using Bluetooth-enabled mobile devices such as smartphones and tablets. Once connected, data is transmitted wirelessly between the external mobile device and the Bluetooth module. When an operator issues control commands (such as forward, backward, or grabbing goods) on the external mobile device, the commands are sent to the controller via the Bluetooth module. The controller receives, parses, and processes the commands, generating corresponding control signals which are then sent to the robotic arm, driving components, lifting motor 34, and other actuators to control them to operate according to the commands.

[0083] Meanwhile, the robot's working status information (such as current position, battery level, robotic arm posture, etc.) is collected by the controller, converted into data packets, and sent back to the external device via Bluetooth module. The data packets are then displayed in real time on the device's screen, allowing operators to understand the robot's working status promptly.

[0084] In this embodiment, the control component further includes an ultrasonic ranging module, which is mounted on the chassis lower plate 12 and is communicatively connected to the controller.

[0085] Two ultrasonic ranging modules are provided, installed at the front and rear ends of the lower plate 12 respectively. Both ultrasonic ranging modules include an ultrasonic transmitter, a receiver and a control circuit. The direction of ultrasonic emission is consistent with the direction of travel of the delivery trolley.

[0086] Specifically, the ultrasonic ranging module can calculate the distance between the delivery vehicle and the obstacle and transmit it to the controller. The controller then sends a stop or turn command to the driving component to keep the vehicle away from the obstacle and avoid a collision.

[0087] Equipped with an ultrasonic ranging module, the delivery vehicle can drive autonomously in complex environments, avoiding obstacles such as walls, shelves, and other equipment without human intervention, greatly improving the safety of the delivery vehicle.

[0088] In this embodiment, the control component further includes an infrared tracking module, which is mounted on the chassis lower plate 12 and is communicatively connected to the controller.

[0089] The infrared tracking module consists of five infrared pairs, which are arranged in a straight line at the bottom of the chassis lower plate 12. Each infrared pair includes an infrared emitting tube and an infrared receiving tube.

[0090] Specifically, black track lines are pre-laid on the ground where the trolley travels. When the infrared tracking module is working, the infrared emitters continuously emit infrared light. When infrared light shines on a white surface, most of the light is reflected, and the infrared receiver receives a strong reflected signal. When infrared light shines on the black track lines, the reflected signal is weaker because black has a strong absorption capacity for infrared light. The infrared tracking module converts the intensity of the reflected signal received by each pair of infrared tubes into a corresponding voltage value and transmits it to the controller. The controller analyzes these voltage values ​​to determine the position of the black track lines relative to the trolley. When the trolley deviates from the black track lines, the controller can promptly control the driving components to correct the deviation, ensuring that the trolley always travels along the black track lines.

[0091] The infrared tracking module enables the vehicle to travel automatically along a preset trajectory without manual steering, thus achieving automated transportation of goods, improving transportation efficiency, and reducing labor costs.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A single-chip microcomputer-based delivery trolley, characterized by comprising: include: Chassis, robotic arm, lifting assembly, and control assembly; The chassis includes an upper plate, a lower plate, and a driving component. The upper plate is mounted on the lower plate, and there is a gap between the upper plate and the lower plate. The driving component is mounted on the lower plate. The lifting assembly includes a mounting plate, a lifting plate, a guide column, a lifting motor, and a screw. The mounting plate is mounted on the lower plate of the chassis. The guide column is vertically connected to the mounting plate. The lifting motor is mounted on the mounting plate. The screw is connected to the output end of the lifting motor and is perpendicular to the mounting plate. The lifting plate is provided with a guide hole and a threaded hole. The guide hole is adapted to the guide column, and the threaded hole is adapted to the screw. The robotic arm is mounted on a lifting platform, and the upper plate has an opening to allow space for the lifting platform and the robotic arm. The control component includes a controller, which is electrically connected to the robotic arm, the travel component, and the lifting motor.

2. The single-chip microcomputer-based delivery trolley according to claim 1, characterized by The microcontroller-based delivery trolley also includes a rotary assembly, which includes a rotary platform and a rotary motor. The rotary platform is rotatably connected to a lifting platform, and the rotary motor is mounted on the lifting platform. The output end of the rotary motor is connected to the rotary platform for transmission. The rotary motor is electrically connected to the controller of the control assembly, and the robotic arm is mounted on the rotary platform.

3. The single-chip microcomputer-based delivery trolley according to claim 2, characterized in that, The microcontroller-based delivery trolley also includes a cover plate assembly, which includes a first cover plate and a second cover plate, and the first cover plate and the second cover plate are slidably connected to both sides of the opening on the upper plate of the chassis.

4. The microcontroller-based freight trolley according to claim 3, characterized in that, The cover plate assembly also includes a third cover plate, which is slidably connected to the side of the upper plate opening near the lifting platform.

5. The single-chip microcomputer-based delivery trolley according to claim 4, characterized in that, The cover plate assembly further includes a first telescopic rod, a second telescopic rod, and a third telescopic rod. The first telescopic rod is connected between the first cover plate and the upper plate, the second telescopic rod is connected between the second cover plate and the upper plate, and the third telescopic rod is connected between the third cover plate and the upper plate. The first telescopic rod, the second telescopic rod, and the third telescopic rod are electrically connected to the controller of the control assembly.

6. The single-chip microcomputer-based delivery trolley according to claim 1, characterized by The robotic arm includes a base, a first arm section, a second arm section, a third arm section, a robotic gripper, a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, and a fifth servo motor. The base is mounted on a lifting platform. The first arm section is rotatably connected to the base via the first servo motor. The second arm section is rotatably connected to the first arm section via the second servo motor. The third arm section is rotatably connected to the second arm section via the third servo motor. The robotic gripper is rotatably connected to the third arm section via the fourth servo motor. The fifth servo motor is mounted on the robotic gripper and is used to drive the robotic gripper. The first, second, third, fourth, and fifth servo motors are electrically connected to the controller of the control component.

7. The single-chip microcomputer-based delivery trolley according to claim 1, characterized by The driving assembly includes four driving units. Each driving unit includes a drive wheel, a drive motor, and a driver. The drive motor is mounted on the chassis under plate, the drive wheel is mounted on the drive motor, the driver is electrically connected to the drive motor, and the driver is communicatively connected to the controller.

8. The single-chip microcomputer-based delivery trolley according to claim 1, characterized by The control component also includes a Bluetooth module, which is mounted on the chassis underside plate and is communicatively connected to the controller.

9. A microcontroller-based freight trolley according to claim 1, characterized in that, The control assembly further comprises an ultrasonic ranging module, which is installed on the chassis lower plate and in communication connection with the controller.

10. The single-chip microcomputer-based delivery cart of claim 1, wherein, The control assembly further comprises an infrared tracking module, which is installed on the chassis lower plate and in communication connection with the controller.

Images