An automatically-grabbing logistics carrying trolley

Abstract

The utility model provides a kind of logistics carrying trolley of automatic grabbing, car body is built-in control panel, battery and gyroscope, upper side is equipped with rotatable material tray, grabbing mechanism is fixed in one side of car body, containing pedestal, Z axis lifting assembly, X axis horizontal assembly and grabbing assembly, pedestal is fixedly installed on car body, Z axis lifting assembly is realized lifting sliding table along Z axis direction lifting by pedestal motor, Z axis motor etc., X axis horizontal assembly utilizes X axis motor etc. and drives horizontal sliding platform to move along X axis direction, accurately position goods, the clamping arm of grabbing assembly is controlled by steering gear, and recognition component uses binocular camera to identify target object position, to ensure accurate clamping. The car can be flexibly adapted to complex logistics environment, accurately grab and carry goods, effectively improve logistics carrying efficiency, reduce labor cost, and have good application prospect in logistics field.

Description

Technical Field

[0001] This utility model relates to the field of logistics equipment technology, and more specifically, to a logistics handling trolley that can automatically grasp objects. Background Technology

[0002] In the modern logistics industry, the handling and transportation of goods is a crucial link. Traditional logistics handling methods mostly rely on manual operation. Manual handling is not only inefficient but also labor-intensive, easily leading to worker fatigue, which in turn causes work errors and affects the quality of goods handling. With the continuous growth of logistics business volume, manual handling can no longer meet the ever-increasing logistics demands, while the continuous rise in labor costs has also brought enormous economic pressure to logistics companies.

[0003] To improve logistics handling efficiency, some simple handling equipment has emerged, such as manual forklifts and electric pallet trucks. However, while these devices alleviate the burden of manual handling to some extent, they still require manual handling of goods, making full automation impossible. In large logistics warehouses, the variety of goods and their complex placement make it difficult for manual operations to quickly and accurately locate and move target goods, significantly reducing the overall efficiency of logistics operations.

[0004] In recent years, although some automated logistics handling equipment has emerged, some of these devices suffer from limitations such as single functionality and poor adaptability. For example, the gripping mechanisms of some devices are not flexible enough to accurately grasp goods of different shapes and sizes, thus restricting their application in actual logistics scenarios. Furthermore, the accuracy of positioning and identification of existing automated equipment in complex environments needs improvement, as it is prone to misoperation and compromises the safety of goods handling. Utility Model Content

[0005] Based on the above-mentioned technical problems, this utility model proposes an automatic gripping logistics handling trolley.

[0006] An automated grasping and handling trolley, comprising: The vehicle body is equipped with multiple wheels, each driven by a separate motor. The wheels are Mecanum wheels. The vehicle body contains a control board and a battery. A rotatable material tray is located on the upper side of the vehicle body. A gripping mechanism is fixed to one side of the vehicle body. The gripping mechanism includes a base, a Z-axis lifting assembly, an X-axis horizontal assembly, and a gripping assembly. The base is fixedly installed on the vehicle body; The Z-axis lifting assembly is rotatably mounted on the base, including a lifting slide and a Z-axis drive mechanism. The lifting slide is controlled by the Z-axis drive mechanism to move up and down along the Z-axis direction. The X-axis horizontal assembly is mounted on the lifting slide and includes a horizontal slide and an X-axis drive mechanism. The horizontal slide is controlled by the X-axis drive mechanism to move horizontally along the X-axis direction. The gripping assembly includes a device frame, an identification component, and a gripping arm. The device frame is fixed to the underside of a horizontal slide table, and the gripping arm is controlled by a servo motor. The identification component is used to identify the position information of the target object and feed it back to the control board so as to control the gripping arm to accurately grip the target object.

[0007] Furthermore, the Z-axis lifting assembly includes: The platform is rotatably mounted on the base. A platform gear is provided on the lower side of the platform, which is driven to rotate by the platform motor through the motor gear and the first toothed belt. Multiple Z-axis guide rails are vertically fixed on the base; The top plate is fixed to the upper end of the Z-axis guide rail; The first gear is set inside the base and is driven to rotate by the Z-axis motor. The second gear is located on the underside of the top plate; The second toothed belt connects the first gear and the second gear; The tensioning wheel is mounted on the top plate, and the second gear is fixed to the lower side of the tensioning wheel to adjust the tension of the second toothed belt. The lifting slide is slidably mounted on the Z-axis guide rail and fixedly connected to one side of the second toothed belt, so that the Z-axis motor drives the lifting slide to rise and fall through the second toothed belt.

[0008] Furthermore, the X-axis horizontal component includes: The X-axis guide rail is horizontally installed on the front side of the lifting slide. The end seat is fixed to one end of the X-axis guide rail, and a rotatable idler wheel is set in the middle. The X-axis motor drives the motor gears to rotate. The third toothed belt connects the motor gear and the idler wheel, with one side of it fixedly connected to the horizontal slide. The X-axis motor drives the horizontal slide to move along the X-axis guide rail via the third toothed belt.

[0009] Furthermore, the vehicle body is equipped with a material motor, which is connected to the material tray and is used to drive the material tray to rotate horizontally.

[0010] Furthermore, the recognition component includes a first camera and a second camera, forming a binocular recognition system; the first camera is located above the clamping arm and shoots vertically downwards, while the second camera is located to one side of the first camera and tilts outwards to shoot, used to identify targets at a greater distance; Multiple Z-axis guide rails are vertically mounted on the base. The upper end of the Z-axis guide rails is fixed to the top plate. Gear 1 and Gear 2 are respectively set inside the base and on the lower side of the top plate. A second toothed belt is set between Gear 1 and Gear 2. Gear 1 is driven to rotate by the Z-axis motor. The lifting slide is slidably mounted on the Z-axis guide rails. A through hole is provided in the middle of the lifting slide. The second toothed belt passes through the through hole and one side of the second toothed belt is fixed to the lifting slide. When the second toothed belt runs, it can drive the lifting slide to move up and down. Furthermore, the vehicle body is equipped with a gyroscope, which is used to detect the vehicle's attitude and ensure that the vehicle moves in the planned direction.

[0011] Beneficial effects: 1. Highly flexible mobility: Utilizing Mecanum wheels, each driven by an individual motor, the vehicle possesses omnidirectional mobility, enabling it to maneuver flexibly in complex and narrow logistics warehouse environments without the need for complex steering operations. This significantly improves the vehicle's maneuverability in different scenarios. Compared to traditional handling equipment, it can reach the target goods location more quickly, effectively shortening handling time and improving logistics handling efficiency. 2. Precise Grabbing and Positioning: The gripping mechanism, through the rotation of the base, the height adjustment of the Z-axis lifting component, the horizontal movement of the X-axis horizontal component, and the precise identification of the binocular recognition system, can accurately align and grab goods from different angles, heights, and horizontal positions. Whether the goods are at different heights on shelves or in complex stacking environments, precise gripping can be achieved, effectively avoiding damage or falling of goods due to inaccurate gripping, and improving the safety and accuracy of goods handling. 3. Efficient cargo placement and adjustment: The rotatable material tray on the upper side of the vehicle body is driven by a material motor to rotate horizontally, facilitating angle adjustment of goods placed on the tray. This feature allows goods to better adapt to storage requirements and subsequent logistics operations during handling, such as docking with other equipment, further improving the overall efficiency of logistics operations; 4. Stable and reliable driving guarantee: The gyroscope installed in the vehicle body monitors the vehicle's attitude in real time to ensure that the vehicle moves in the planned direction. In complex logistics environments and in the face of various interference factors, the gyroscope can promptly feed back information to the control board. The control board adjusts the speed of the walking motor to ensure the stable driving of the trolley and avoid cargo loss due to vehicle deviation or collision. This provides a reliable stability guarantee for the cargo handling process, while also reducing the risk of damage to the equipment itself and extending the service life of the equipment. Attached Figure Description

[0012] Figure 1 A schematic diagram of the structure of Embodiment 1 is shown. Figure 1 ; Figure 2 A schematic diagram of the structure of Embodiment 1 is shown. Figure 2 ; Figure 3 A schematic diagram of the gripping mechanism in Embodiment 1 is shown. Figure 1 ; Figure 4 A schematic diagram of the gripping mechanism in Embodiment 1 is shown. Figure 2 ; Figure 5 A schematic diagram of the gripping component is shown; Figure 6 A schematic diagram of the structure of Embodiment 2 is shown; Figure 7 A schematic diagram of the gripping mechanism in Embodiment 2 is shown; Figure 8 It shows Figure 1 A magnified view of part A in the image; In the attached diagram: 1. Vehicle body; 2. Wheels; 3. Battery; 4. Control board; 5. Travel motor; 6. Base; 7. Z-axis lifting assembly; 8. Lifting slide; 9. X-axis horizontal assembly; 10. Horizontal slide; 11. Gripping assembly; 12. Platform motor; 13. Motor gear; 14. First toothed belt; 15. Target object; 16. Material tray; 17. Third camera; 71. Platform; 72. Platform gear; 73. Z-axis guide rail; 74. Z-axis motor; 75. Second gear; 76. Tensioner wheel; 77. Second toothed belt; 78. First gear; 79. Top plate; 91. X-axis guide rail; 92. End seat; 93. Idler wheel; 94. X-axis motor; 95. Third toothed belt. 101. Side wheel, 102. Bushing, 111. Equipment frame, 112. First camera, 113. Second camera, 114. Servo motor, 115. Clamping arm. Detailed Implementation

[0013] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0014] like Figures 1-8 The illustrated automatic gripping logistics handling trolley includes a vehicle body 1, a Z-axis lifting assembly 7, an X-axis horizontal assembly 9, and a gripping assembly 11.

[0015] The vehicle body 1, as the core load-bearing structure of the entire logistics handling vehicle, adopts a unique design. It is equipped with walking wheels 2, which are Mecanum wheels. Each Mecanum wheel is driven by an individual walking motor 5. The Mecanum wheels have the characteristic of omnidirectional movement, which can realize complex movements such as translation and rotation of the vehicle in all directions. This allows the vehicle to move flexibly in narrow and complex logistics warehouse environments without the need for complex steering operations like traditional wheels, greatly improving the vehicle's maneuverability and operational flexibility. The vehicle body 1 houses a control board 4 and a battery 3. The control board 4 is like the "intelligent brain" of the vehicle, responsible for coordinating the operation of various components and ensuring the accuracy of the vehicle's operations. The battery 3 provides a stable power source for the continuous operation of the vehicle, ensuring that the vehicle can work stably for a long time.

[0016] The upper side of the vehicle body 1 is equipped with a rotatable material tray 16. The material motor installed inside the vehicle body 1 is connected to the material tray 16. The material motor drives the material tray 16 to rotate horizontally. This design allows the target object 15 to be placed on the material tray 16 and its angle to be flexibly adjusted according to actual needs. This facilitates subsequent storage, transportation and docking with other logistics equipment, improving the convenience and efficiency of logistics operations.

[0017] The base 6 is mounted on the vehicle body 1 to provide support for the Z-axis lifting assembly 7.

[0018] The Z-axis lifting assembly 7 is rotatably mounted on the base 6. It is mainly responsible for adjusting the height of the gripping assembly 11 in the vertical direction. The rotatable function gives the gripping mechanism the ability to flexibly adjust its direction, enabling it to grip the target object 15 from different angles. This greatly expands the gripping range. In complex logistics warehouses, when facing target objects 15 with different placement orientations, the trolley can quickly adjust the gripping angle by rotating the base 6 to accurately align with the target object 15, thereby improving the success rate and efficiency of gripping.

[0019] The Z-axis lifting assembly 7 includes a base 71, multiple Z-axis guide rails, a top plate 79, a first gear 78, a second gear 75, a second toothed belt 77, and a tensioning wheel 76. The base 71 is rotatably mounted on the base 6. A base gear 72 is located on the lower side of the base 71, which is driven to rotate by the base motor 12 through the motor gear 13 and the first toothed belt 14. This design allows the base 71 to flexibly adjust its angle according to actual gripping needs, further optimizing the gripping position. The multiple Z-axis guide rails are vertically fixed on the base 71, providing stable and reliable vertical guidance for the lifting slide 8, ensuring the stability and accuracy of the lifting slide 8 during vertical movement. The top plate 79 is fixed to the upper end of the Z-axis guide rails, serving as a stable support and connection. The first gear 78 is located on the base. Inside 71, the rotation is driven by a Z-axis motor. The second gear 75 is located on the lower side of the top plate 79, and the two are connected by a second toothed belt 77. The tensioning wheel 76 is located at the screw hole of the top plate 79, and the tensioning wheel 76 is threadedly engaged with the screw hole. The second gear 75 is fixed on the lower side of the tensioning wheel 76 to adjust the tension of the second toothed belt 77, ensuring the stability and reliability of power transmission. The lifting slide 8 is slidably mounted on the Z-axis guide rail and is fixedly connected to one side of the second toothed belt 77. When the Z-axis motor drives the first gear 78 to rotate, the second toothed belt 77 drives the lifting slide 8 to achieve precise lifting and lowering movement along the Z-axis guide rail, so that the gripping component 11 can accurately reach the position of the target object 15 at different heights, meeting the gripping needs of the target object 15 at different shelf heights.

[0020] The X-axis horizontal assembly 9 is mounted on the lifting slide 8. Its function is to achieve precise horizontal positioning of the gripping assembly 11. It includes an X-axis guide rail, an end seat 92, an X-axis motor, and a third toothed belt 95. The X-axis guide rail is horizontally mounted on the front side of the lifting slide 8, providing stable horizontal guidance for the horizontal slide 10 and ensuring the straightness and stability of the horizontal slide 10 during movement. The end seat 92 is fixed to one end of the X-axis guide rail, and a rotatable idler wheel 93 is set in the middle of it. The X-axis motor is equipped with a motor gear 13, and the third toothed belt 95 connects the motor gear 13 and the idler wheel 93. One side of the third toothed belt 95 is fixedly connected to the horizontal slide 10. When the X-axis motor is started, the third toothed belt 95 drives the horizontal slide 10 to move smoothly along the X-axis guide rail, so that the gripping assembly 11 can accurately align with the target object 15 in the horizontal direction and achieve accurate gripping of the target object 15.

[0021] The gripping component 11 is a key part for gripping the target object 15. It includes a device frame 111, an identification component, and gripping arms 115. The device frame 111 is fixed to the lower side of the horizontal slide table 10, providing a stable mounting base for the identification component and gripping arms 115. The gripping arms 115 are controlled by a servo motor 114, which can precisely control the opening and clamping actions of the gripping arms 115 to ensure stable gripping of target objects 15 of different shapes and sizes. The identification component is used to identify the position information of the target object 15 and feed it back to the control board 4 to control the two gripping arms 115 to accurately grip the target object 15. The identification component includes a first camera 112 and a second camera 113, forming a binocular recognition system. The first camera 112 is located above the clamping arm 115 and shoots vertically downwards, which can clearly obtain detailed position information of the target object 15 directly below, providing basic data for the precise gripping of the clamping arm 115. The second camera 113 is located to the side of the first camera 112 and tilts outwards to shoot, which is used to identify the target object 15 at a greater distance and the side information of the target object 15 at close range. Through the coordinated work of the two cameras, the recognition range is expanded, the recognition accuracy of the target object 15 at different positions is improved, and the clamping arm 115 can accurately grip the target object 15, even in a complex environment where the target object 15 is stacked.

[0022] The vehicle body 1 is equipped with a gyroscope, which is used to detect the attitude of the vehicle body 1 and ensure that the vehicle body 1 moves in the planned direction. The gyroscope can monitor the attitude changes of the vehicle body 1 in real time and feed the information back to the control board 4. The control board 4 adjusts the speed of each walking motor 5 in a timely manner according to the information fed back by the gyroscope, ensuring that the vehicle body 1 always travels stably in the planned direction, avoiding deviation or collision, and improving the safety and accuracy of the target object 15 during transportation.

[0023] The working process of this device is as follows: When using the automated grabbing logistics handling trolley, first place the trolley at the designated starting position in the logistics warehouse, start the trolley through the control board 4, and the battery 3 starts to supply power to the various components, so that the trolley enters the working state.

[0024] The operator sets the handling task through the control panel 4, including the location of the target item 15 and the destination. The walking motor 5 drives the Mecanum wheels, and by utilizing the omnidirectional movement characteristics of the Mecanum wheels, the trolley can flexibly shuttle between warehouse shelves and quickly move to the vicinity of the target item 15.

[0025] Upon approaching the target object 15, the rotary motor drives the base 6 to rotate, adjusting the direction of the gripping mechanism so that the gripping component 11 is aligned with the target object 15. The platform motor 12 drives the platform 71 to rotate, further optimizing the gripping position and ensuring that the gripping component 11 can approach the target object 15 at the optimal angle. The Z-axis motor drives the lifting slide 8 to rise and fall along the Z-axis guide rail via the second toothed belt 77, so that the gripping component 11 accurately reaches the height position of the target object 15. The X-axis motor drives the horizontal slide 10 to move along the X-axis guide rail via the third toothed belt 95, so that the clamping arm 115 is precisely aligned with the target object 15.

[0026] At this time, the first camera 112 and the second camera 113 of the recognition component work together to recognize the target object 15. The first camera 112 shoots vertically downward to obtain detailed position information of the target object 15 directly above it, while the second camera 113 shoots outward to identify the side features and position information of the target object 15. The two cameras transmit the acquired image information to the control board 4. The control board 4 uses advanced image recognition algorithms to process and analyze this information, calculates the accurate position and attitude information of the target object 15, and controls the servo motor 114 based on this information to make the clamping arm 115 open precisely and accurately clamp the target object 15.

[0027] After the target object 15 is gripped, the Z-axis motor drives the lifting slide 8 to rise, the X-axis motor drives the horizontal slide 10 to move, and the rotary motor drives the base 6 to rotate, thus transporting the target object 15 above the material tray 16. The material motor drives the material tray 16 to rotate to a suitable angle, controls the gripping arm 115 to release, and places the target object 15 stably on the material tray 16.

[0028] During the process of the trolley transporting the target object 15, the gyroscope monitors the attitude of the trolley body 1 in real time. When the attitude of the trolley body 1 deviates due to uneven ground or other factors, the gyroscope immediately feeds back the attitude change information to the control board 4. The control board 4 quickly analyzes this information and adjusts the speed of each walking motor 5 in a timely manner so that the trolley body 1 returns to the predetermined driving direction, ensuring that the trolley body 1 moves stably along the planned direction and safely and accurately transports the target object 15 to the designated location.

[0029] Example 1 like Figures 1-4As shown, in this embodiment, the Z-axis lifting assembly 7 is provided with three smooth circular Z-axis guide rails, which are symmetrically arranged at the center. The lifting slide 8 is provided with corresponding vertical holes for sliding installation on the Z-axis guide rails. The Z-axis motor is located on the rear side of the lifting slide 8. Two parallel X-axis guide rails are provided on the front side of the lifting slide 8. The third toothed belt 95 is located between the two X-axis guide rails and is parallel to the X-axis guide rails. In order for the third toothed belt 95 to operate normally, the third toothed belt 95 passes through the channel in the middle of the lifting slide 8 and engages with the motor gear 13 on the X-axis motor. In order to bypass one of the Z-axis guide rails, two side wheels 101 are provided on the rear side of the lifting slide 8. The side wheels 101 are located on both sides of the Z-axis guide rail, and two rotatable bushings 102 are provided at the rear end of the channel. The distance between the bushings 102 is equal to the diameter of the idler wheel 93 inside the end seat 92. The third toothed belt 95 bypasses the outside of the side wheels 101 and then bypasses the inside of the bushings 102 to realize the assembly of the third toothed belt 95.

[0030] Example 2 like Figure 6 and Figure 7 As shown, in this embodiment, the Z-axis lifting assembly 7 consists of two symmetrically arranged Z-axis guide rails. The lifting slide is slidably mounted on the Z-axis guide rail. The X-axis guide rail is located on one side of the Z-axis guide rail and is connected and fixed to the lifting slide. The third toothed belt 95 is located outside the X-axis guide rail. The horizontal slide 10 is slidably mounted on the outside of the X-axis guide rail and is connected and fixed to one side of the third toothed belt 95, so as to achieve the purpose of driving the horizontal slide 10 to move by the X-axis motor.

[0031] Example 3 like Figures 1-2 As shown, in this embodiment, a third camera 17 is provided on the side of the vehicle body 1 away from the material tray 16. The third camera 17 can perform 360° surround view recognition and serve as a recorder and auxiliary recognition of the travel route.

[0032] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An automatically gripping logistics handling trolley, characterized in that, include: The vehicle body (1) is provided with multiple walking wheels (2), each walking wheel (2) is driven by a separate walking motor (5), the walking wheels (2) are Mecanum wheels, the vehicle body (1) is provided with a control board (4) and a battery (3), and the upper side of the vehicle body (1) is provided with a rotatable material tray (16). The gripping mechanism is fixed on one side of the vehicle body (1). The gripping mechanism includes a base (6), a Z-axis lifting assembly (7), an X-axis horizontal assembly (9), and a gripping assembly (11). The base (6) is fixedly installed on the vehicle body (1); The Z-axis lifting assembly (7) is rotatably mounted on the base (6) and includes a lifting slide (8) and a Z-axis drive mechanism. The lifting slide (8) is controlled by the Z-axis drive mechanism to lift and move along the Z-axis direction. The X-axis horizontal assembly (9) is mounted on the lifting slide (8) and includes a horizontal slide (10) and an X-axis drive mechanism. The horizontal slide (10) is controlled by the X-axis drive mechanism to move horizontally along the X-axis direction. The gripping component (11) includes a device frame (111), an identification component, and a gripping arm (115). The device frame (111) is fixed on the lower side of the horizontal slide (10). The gripping arm (115) is controlled by a servo motor (114). The identification component is used to identify the position information of the target object (15) and feed it back to the control board (4) so ​​as to control the gripping arm (115) to accurately grip the target object (15).

2. The automatically gripping logistics handling trolley according to claim 1, characterized in that, The Z-axis lifting assembly (7) includes: The platform (71) is rotatably mounted on the base (6). The platform (71) has a platform gear (72) on its lower side, which is driven to rotate by the platform motor (12) through the motor gear (13) and the first toothed belt (14). Multiple Z-axis guide rails are vertically fixed on the base (71); Top plate (79) is fixed to the upper end of the Z-axis guide rail; The first gear (78) is set inside the base (71) and is driven to rotate by the Z-axis motor; The second gear (75) is located on the underside of the top plate (79); The second toothed belt (77) connects the first gear (78) and the second gear (75); The tension wheel (76) is mounted on the top plate (79), and the second gear (75) is fixed on the lower side of the tension wheel (76) to adjust the tension of the second toothed belt (77). The lifting slide (8) is slidably mounted on the Z-axis guide rail and fixedly connected to one side of the second toothed belt (77), so that the Z-axis motor drives the lifting slide (8) to rise and fall through the second toothed belt (77).

3. The automatically gripping logistics handling trolley according to claim 1, characterized in that, The X-axis horizontal component (9) includes: The X-axis guide rail is horizontally installed on the front side of the lifting slide (8); The end seat (92) is fixed to one end of the X-axis guide rail, and a rotatable idler wheel (93) is provided in the middle. The X-axis motor drives the motor gear (13) to rotate; The third toothed belt (95) connects the motor gear (13) and the idler wheel (93), and one side of it is fixedly connected to the horizontal slide (10); The X-axis motor drives the horizontal slide (10) to move along the X-axis guide rail via the third toothed belt (95).

4. The automatically gripping logistics handling trolley according to claim 1, characterized in that, The vehicle body (1) is equipped with a material motor, which is connected to the material tray (16) and is used to drive the material tray (16) to rotate horizontally.

5. The automatically gripping logistics handling trolley according to claim 1, characterized in that, The recognition component includes a first camera (112) and a second camera (113) to form a binocular recognition system; the first camera (112) is located above the clamping arm (115) and shoots vertically downwards, and the second camera (113) is located on one side of the first camera (112) and tilts outwards to shoot, for recognizing targets (15) at a greater distance. Multiple Z-axis guide rails are vertically installed on the base (71). The upper end of the Z-axis guide rails is fixed on the top plate (79). Gear 1 and gear 2 are respectively installed inside the base (71) and on the lower side of the top plate (79). A second toothed belt (77) is installed between gear 1 and gear 2. Gear 1 is driven to rotate by the Z-axis motor. The lifting slide (8) is slidably installed on the Z-axis guide rail. A through hole is provided in the middle of the lifting slide (8). The second toothed belt (77) passes through the through hole and one side of the second toothed belt (77) is fixed to the lifting slide (8). When the second toothed belt (77) runs, it can drive the lifting slide (8) to move up and down.

6. The automatically gripping logistics handling trolley according to claim 1, characterized in that, The vehicle body (1) is equipped with a gyroscope, which is used to detect the attitude of the vehicle body (1) and ensure that the vehicle body (1) moves in the planned direction.

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