A robot for picking up and transporting outdoor materials

Abstract

The present invention discloses an outdoor material picking and transporting robot, comprising a top frame, wherein two groups of walking mechanisms are adjustably arranged below the top frame, and the two groups of walking mechanisms are evenly arranged at two edges of the top frame; a clamping mechanism is arranged on one side where the two groups of walking mechanisms are close to each other, and a material frame is arranged below the top frame, and the two groups of clamping mechanisms are distributed on both sides of the material frame; a mechanical arm and multiple sets of flying mechanisms are adjustably arranged above the top frame; the present invention is provided with a mechanical arm, a walking mechanism, a clamping mechanism, a material frame, etc., and the robot can be controlled to walk under the action of the walking mechanism, and in the process of walking, fruits can be picked up or plucked by the mechanical arm; under the action of the clamping mechanism, the material frame is controlled to be stably placed between the two walking mechanisms, and the fruits detached from the mechanical arm are received to realize the collection of the fruits, and the collected fruits are transferred to other places under the action of the robot, thereby reducing the labor intensity of the staff.

Description

Technical Field

[0001] The present invention relates to the technical field of material picking and transporting, and in particular to an outdoor material picking and transporting robot. Background Art

[0002] In agricultural planting, with the scale of agricultural production, most fruits are picked by mechanical picking equipment. For example, in grape picking, there is a special grape picking machine, which uses a vibration mechanism to vibrate the grape vines, allowing the ripe grapes to fall and be collected by the collection device. However, mechanical picking equipment may pick unripe fruits at the same time when picking in a centralized manner, which may also cause certain damage to the fruit trees and affect the yield of the next season.

[0003] With the development of robotics and vision technology, harvesting robots have emerged. These robots are equipped with cameras and advanced visual recognition algorithms to identify the color, shape, size and maturity of fruits. For example, in a tomato picking robot, the vision system can accurately distinguish between ripe red tomatoes and unripe green tomatoes, and then pick them accurately through the robotic arm and end effector. This method can improve picking efficiency while ensuring fruit quality.

[0004] At present, from the perspective of the types of robots used for picking, for example, a Chinese patent with publication number CN116830899B discloses a picking robot and a picking system, the picking robot includes a walking mechanism, a support rod and an actuator; the walking mechanism includes a base, a guide assembly and a driving assembly, the guide assembly includes a bracket, a first mounting seat and a guide wheel, the base has a first side and a second side opposite to each other, the first mounting seat is arranged on the first side through the bracket, the guide wheel is arranged on the first mounting seat, the first mounting seat is arranged in the installation space, the bracket is inserted into the guide groove, and the guide wheel abuts against the top wall and / or bottom wall of the installation space; the driving assembly includes a driving wheel, a first driving motor and a second mounting seat, the second mounting seat is arranged on the end face of the base, the driving wheel is rotatably arranged on the second mounting seat, the first driving motor is arranged on the base, and is transmission-connected to the driving wheel, the driving wheel abuts against the bottom surface of the suspension rail, the support rod is connected to the second side of the base, and the actuator is arranged on the support rod.

[0005] Whether it is mechanical picking equipment or automated picking robots, they can pick more agricultural products per unit time, reducing the picking cycle. Especially for some perishable fruits and vegetables (such as strawberries and leafy vegetables), timely picking can reduce losses and improve the overall economic benefits of agricultural production.

[0006] However, it still has some defects. For example, when mechanical equipment is used to vibrate and pick fruits, the fruits are scattered on the ground, and corresponding staff are needed to pick up the fruits and put them into the fruit basket. If the staff bends over or squats for a long time to pick up the fruits, it is very easy to cause discomfort to the staff. For example, when the robot picks fruits, because it is equipped with synchronously moving fruit baskets and other storage devices, it also needs the cooperation of staff to collect the fruits. Summary of the invention

[0007] The purpose of the present invention is to provide an outdoor material picking and transporting robot, aiming to improve the problem that fruit picking equipment cannot realize fruit collection.

[0008] The present invention is implemented as follows: an outdoor material picking and transporting robot includes a top frame, two sets of walking mechanisms are adjustably arranged below the top frame, and the two sets of walking mechanisms are evenly arranged on the two edges of the top frame; clamping mechanisms are arranged on the side where the two sets of walking mechanisms are close to each other, and a material frame is arranged below the top frame, and the two sets of clamping mechanisms are distributed on both sides of the material frame; a mechanical arm and multiple sets of flying mechanisms are adjustably arranged above the top frame, a clamping claw and an industrial camera are arranged at the end of the mechanical arm, and the multiple sets of flying mechanisms are arranged at the end corners of the top frame.

[0009] Preferably, the top frame includes a middle frame and two sets of side frames, the two sets of side frames are respectively arranged on both sides of the middle frame, and the ends close to each other are sleeved in the plug plates at the ends of the middle frame, and limiting plates are arranged on the side walls of the two sets of side frames, and the limiting plates are inserted into the limiting holes of the middle frame.

[0010] Preferably, a fourth motor is arranged at the mounting groove on the bottom surface of the robot arm base, and a gear is arranged on the output shaft of the fourth motor; a fixed plate is arranged below the robot arm base, a guide groove is arranged on the bottom surface of the fixed plate, a guide rail is arranged through the guide groove, a rack is arranged on the side wall of a guide rail, and the gear is meshed and connected with the rack.

[0011] Preferably, the guide rail is arranged along the width direction of the top frame and is arranged in the middle above the top frame, and the end portion extends into and is fixedly arranged in a sleeve on the frame.

[0012] Preferably, the flying mechanism includes a fifth motor and a rotor, and the rotor is mounted on the output shaft of the fifth motor; a second adjusting mechanism is arranged below the two sets of flying mechanisms, and the second adjusting mechanism includes an intermediate plate and a bottom plate, and the two bottom plates are installed below the fifth motor and are respectively installed at both ends of the intermediate plate, and the intermediate plate is arranged along the width direction of the top frame.

[0013] Preferably, connection grooves are provided on the bottom surface of each bottom plate. The second adjustment mechanism further includes a third motor, a stud, and two connecting plates. The two connecting plates are arranged along the length direction of the top frame and respectively penetrate through the two connection grooves. The third motor is installed at the end of the top frame. The end of the stud is connected through the end of the top frame by a bearing and is connected to the third motor. At the same time, the stud threadedly penetrates through the middle plate.

[0014] Preferably, it further includes a plurality of batteries, and support plates are provided at both ends of each battery; the plurality of batteries are arranged side by side in a group, and a baffle is provided at the end of the whole group of batteries. The baffle is arranged in a U-shaped structure, and side plates are provided at the ends; the whole group of batteries is arranged in the middle of the inner side of the middle frame, and sliding connection grooves are provided on the side edges of the middle frame. The cross-section of the sliding connection groove is the same as the cross-sections of the top of the support plate and the baffle. The tops of the support plate and the baffle are arranged in the sliding connection groove, and bolts threadedly penetrating through the side plates are pressed against the middle frame.

[0015] Preferably, the clamping mechanism includes a support frame, a second motor, a driving plate, and a moving plate. The support frame is arranged in a U-shaped structure and is connected to the frame at the top. A clamping plate is fixedly provided on the inner bottom surface of the support frame; a clamping groove is provided on the lower side of the L-shaped top of the moving plate, and the clamping plate is located in the clamping groove; the second motor is installed below the frame, and a turntable is sleeved on the output shaft. A convex shaft is fixedly provided at the edge of the turntable; the driving plate is installed on the inner top of the moving plate, and a sliding hole is provided on the side wall, and the convex shaft extends into the sliding hole; a through hole is provided at the end of the moving plate, and a lifting shaft is arranged through the through hole. The end of the lifting shaft can be inserted into the side wall of the material frame.

[0016] Preferably, the traveling mechanism includes a bottom beam, a cross beam, and two traveling wheels. The cross beam is arranged above the bottom beam. The end of the bottom beam is sleeved on the central shaft of the traveling wheel, and the central shaft of the traveling wheel is connected to the output shaft of the first motor.

[0017] Preferably, first adjustment mechanisms are provided on the sides where the two traveling mechanisms are far away from each other. The first adjustment mechanism includes two inclined support plates and two connecting blocks that are in one-to-one correspondence. The two inclined support plates are symmetrically arranged, and the connecting shaft fixedly provided in the middle is connected to the cross beam through a bearing. Columns and clamping grooves are respectively provided on both sides of the connecting block. The columns penetrate through the strip holes at the bottom of the inclined support plates. The clamping plates installed on the side of the cross beam penetrate through the clamping grooves; the first adjustment mechanism further includes a double-headed motor, which is connected to the cross beam, and threaded rods are connected to both output shafts. The two threaded rods threadedly penetrate through the two connecting blocks; a sliding plate is hinged to the top of the inclined support plate, and a sliding groove is provided on the bottom surface of the frame. The sliding plate is installed in the sliding groove.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. The present invention is provided with a mechanical arm, a walking mechanism, a clamping mechanism, a material frame, etc., and the walking of the robot can be controlled by the walking mechanism. During the walking process, the mechanical arm can pick up or pluck fruits; the material frame is controlled to be stably placed between two walking mechanisms under the action of the clamping mechanism, and the fruits detached from the mechanical arm are received to realize the collection of fruits. At the same time, the collected fruits can be transferred to other places under the action of the robot, thereby reducing the labor intensity of the staff.

[0020] 2. The present invention is provided with a flying mechanism, under the action of which the robot can be controlled to fly, and then move to a certain position more quickly, thereby avoiding the speed of the robot being affected by the difficulty of traveling in the field, and providing convenience for completing the entire material picking or harvesting task more quickly.

[0021] 3. The present invention is provided with a first adjusting mechanism, which can, when necessary, control the movement of the connecting block by the motor, thereby adjusting the inclination angle of the diagonal support plate, thereby adjusting the height of the clamping mechanism, so that after the material frame is stably placed relative to the robot, it can be lifted off the ground, making it easier for the robot to complete the task of picking or harvesting materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a first schematic diagram of the overall structure of the present invention;

[0023] Figure 2 is a second schematic diagram of the overall structure of the present invention;

[0024] Figure 3 is a third schematic diagram of the overall structure of the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of the top frame, the walking mechanism, the first adjusting mechanism, and the clamping mechanism of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the walking mechanism of the present invention;

[0027] Figure 6 is a schematic structural diagram of the first regulating mechanism of the present invention;

[0028] Figure 7 It is a structural schematic diagram of the clamping mechanism of the present invention;

[0029] Figure 8 It is a structural schematic diagram of the support frame of the present invention;

[0030] Fig. 9 It is a structural schematic diagram of the movable plate of the present invention;

[0031] Fig.10 It is a schematic diagram of the structure of a part of the movable plate of the present invention;

[0032] Fig.11 It is a structural schematic diagram of the top frame of the present invention;

[0033] Fig.12 It is a structural schematic diagram of the frame and the middle frame of the present invention;

[0034] Fig.13 It is a structural schematic diagram of the frame in the present invention;

[0035] Fig.14 It is a structural schematic diagram of the frame of the present invention;

[0036] Fig.15 is a schematic structural diagram of the second adjusting mechanism of the present invention;

[0037] Fig.16 It is a schematic structural diagram of the battery of the present invention;

[0038] Fig.17 It is a structural schematic diagram of the baffle of the present invention;

[0039] Fig.18 It is a schematic diagram of the structure of the battery of the present invention;

[0040] Fig.19 It is a structural schematic diagram of the mechanical arm of the present invention;

[0041] Fig. 20 It is a schematic diagram of the structure of a part of the mechanical arm of the present invention.

[0042] In the figure: 1, top frame; 11, battery; 111, support plate; 12, control box; 13, frame; 131, sleeve; 132, limit plate; 133, sliding groove; 14, guide rail; 15, middle frame; 151, plug plate; 152, limit hole; 153, sliding connecting groove; 16, baffle; 161, side plate; 2, material frame; 3, flight mechanism; 31, rotor; 32, fifth motor; 4, mechanical arm; 41, gripper; 42, industrial camera; 44, fixed plate; 45, guide groove; 46, fourth motor; 47, gear; 48, mounting groove; 5, walking mechanism; 51, walking wheel; 52, first motor; 53, bottom beam; 5 4. Crossbeam; 55. Snap plate; 6. First adjusting mechanism; 61. Double-headed motor; 62. Diagonal support plate; 63. Sliding plate; 64. Connecting shaft; 65. Connecting block; 66. Snap groove; 67. Threaded rod; 7. Clamping mechanism; 71. Support frame; 711. Card plate; 72. Second motor; 73. Driving plate; 731. Sliding hole; 74. Turntable; 741. Protruding shaft; 75. Moving plate; 751. Card groove; 752. Perforation; 753. Lifting shaft; 754. Spring; 8. Second adjusting mechanism; 81. Middle plate; 82. Third motor; 83. Connecting groove; 84. Bottom plate; 85. Connecting plate; 86. End frame; 87. Stud. DETAILED DESCRIPTION

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] The following is a further description with reference to the accompanying drawings and specific embodiments:

[0045] Example 1

[0046] In order to be able to pick up fruits scattered on the ground and reduce the labor intensity of workers when picking fruits by mechanical vibration, or to be able to collect fruits when picking fruits and transport the collected fruits to corresponding places, this embodiment provides a new picking and transporting robot. When using the picking and transporting robot, the fruits can be picked up in time after the mechanical vibration equipment vibrates and the fruits fall, and the fruits are collected in a fruit basket. Finally, the fruit basket containing the fruits is transferred to a corresponding place by the robot. Or when using the picking and transporting robot, shorter fruits can be picked, and the fruits can be stored in a fruit basket after picking. Finally, the fruit basket containing the fruits is transferred to a corresponding place by the robot.

[0047] like Figure 1-5 , Figure 7-10 As shown, specifically, the picking and transporting robot includes a top frame 1, a mechanical arm 4, two sets of walking mechanisms 5, two sets of clamping mechanisms 7, etc.

[0048] The top frame 1 is configured as a frame structure, and a control box 12 and multiple batteries 11 are arranged on the inner side thereof. The multiple batteries 11 are arranged in parallel in the middle of the top frame 1, and the control box 12 is arranged on the outside of the multiple batteries 11 and is stably installed relative to the top frame 1. At this time, the distributed arrangement has no objects blocking both ends of the top frame 1, which provides convenience for putting the picked or picked fruits into the material box 2 located below the top frame 1.

[0049] In order to achieve stable operation of the robot, the control box 12 includes a controller (such as a PLC, CPU), a relay, a contactor, a power switch, a power module, a fuse, a terminal block, etc., the number of which is determined according to actual needs, and the above-mentioned components are connected by cables. At the same time, the connection method has been disclosed and will not be described in detail here. When assembling the battery 11 and the control box 12, the positive electrode of the battery 11 is first connected to one end of the power switch. The power switch is used to control the power on and off of the entire control box. When the switch is closed, current can flow from the battery to other devices in the control box.

[0050] The mechanical arm 4 is arranged above the top frame 1 and is a device that has been publicly used. Here, only a brief introduction is given. Specifically, the mechanical arm 4 includes a base, a joint and a connecting rod, an end effector, a motor, a controller, etc. The joint is the key part that enables the mechanical arm to move. It connects the various connecting rods so that the mechanical arm can achieve different motion postures and is installed on the base. The end effector is a component that directly contacts the work object and completes the task. In this embodiment, the end effector is set as a clamp 41. The motor is the main power source for the joint movement of the mechanical arm. Commonly used motors include DC motors, AC motors and stepper motors. The motor is used in conjunction with the driver, and the driver converts the control signal into a current and voltage signal that the motor can accept, thereby controlling the speed, direction and torque of the motor. The controller is the core control component of the mechanical arm. It can be a programmable logic controller (PLC), a microcontroller (MCU) or an industrial computer.

[0051] In order to accurately capture the fruit when the robot arm 4 is working, an industrial camera 42 is also set at the end of the robot arm 4. The industrial camera 42 collects light, converts the light signal into an electrical signal, and then processes it through an image sensor (such as CCD or CMOS) to generate a digital image. These images contain rich information about the robot's surroundings, such as the shape, color, position and texture of the object. The acquired image data will be transmitted to the robot's control system (such as a controller). The image processing algorithm in the control system analyzes the image and matches it with the pre-stored model or feature to determine the relevant information of the target object. For example, in the picking work, after the visual sensor recognizes objects of different shapes and colors, the control system directs the robot arm and the gripper 41 to perform corresponding picking actions based on this information.

[0052] As can be seen from the accompanying drawings, the clamp 41 has been disclosed and is only briefly introduced here. It includes two symmetrical plates, two gears, and a motor. The plate body is hinged to the frame body and connected to the gears. At the same time, the two gears are meshed and connected. Under the operation of the motor, the two gears are controlled to rotate in opposite directions, thereby changing the opening and closing angles of the two plates to achieve material clamping.

[0053] Two sets of traveling mechanisms 5 are arranged at the two edges below the top frame 1. They include a bottom beam 53, a cross beam 54 and two traveling wheels 51. The cross beam 54 is arranged above the bottom beam 53 and is connected to the top frame 11. The end of the bottom beam 53 is sleeved on the central axis of the traveling wheel 51. Therefore, the two traveling wheels 51 are stably installed on the side of the bottom beam 53, providing support for the installation of the top frame 1. In order to control the movement of the robot, two first motors 52 are arranged on the side of the bottom beam 53, and the output shaft of the first motor 52 is connected to the central axis of the traveling wheel 51. Therefore, the rotation of the traveling wheel 51 can be controlled under the operation of the first motor 52. Since each traveling wheel 51 is equipped with a first motor 52, multiple traveling wheels 51 can be controlled to perform different movements under the operation of each first motor 52, facilitating the turning of the robot.

[0054] The clamping mechanism 7 is arranged on one side where the two sets of traveling mechanisms 5 are close to each other. A material box 2 can be arranged between the two sets of clamping mechanisms 7, and the relative movement of the material box 2 with respect to the robot can be controlled to be synchronous, so that after the manipulator 4 picks fruits, the fruits can be placed in the material box 2 to realize the collection of fruits, and the material box 2 can be transferred to other places under the action of the robot to complete the next process of the fruits.

[0055] In order to be able to control the stable installation of the material box 2 relative to the top frame 1 and the traveling mechanism 5, the clamping mechanism 7 includes a support frame 71, a second motor 72, a driving plate 73 and a moving plate 75.

[0056] The support frame 71 is arranged in a U-shaped structure, and the top is connected to the edge of the top frame 1, providing support for the operation of the entire clamping mechanism 7. The moving plate 75 includes a horizontal plate and an L-shaped plate. The L-shaped plate is vertically arranged above the horizontal plate, and a clamping groove 751 is arranged on the lower side of the L-shaped plate. At the same time, the L-shaped plate is vertically arranged on the support frame 71. Therefore, the clamping plate 711 installed on the support frame 71 is installed in the clamping groove 751, realizing the stable and movable connection between the moving plate 75 and the support frame 71, providing support for controlling the movement of the moving plate 75 under the action of an external force.

[0057] In order to control the movement of the moving plate 75, the second motor 72 is installed below the top frame 1, and a turntable 74 is sleeved on the output shaft. A convex shaft 741 is fixedly arranged on the edge of the turntable 74. The driving plate 73 is installed inside the two L-shaped plates, and a sliding hole 731 is arranged on the side wall. The convex shaft 741 extends into the sliding hole 731 and can move in the sliding hole 731. Therefore, when the second motor 72 operates to control the rotation of the turntable 74, the driving plate 73 is forced to move, and then the movement of the moving plate 75 is controlled.

[0058] In order to clamp the material frame 2 when the movable plate 75 moves, a plurality of through holes 752 are provided at the end of the movable plate 75, and a lifting shaft 753 is provided through the through holes 752. A nut is threadedly sleeved on one end of the lifting shaft 753, and a cam is provided on the other end. A spring 754 is provided between the cam and the movable plate 75. Therefore, under the action of the spring 754, the end of the lifting shaft 753 with the cam can be moved away from the movable plate 75 and inserted into the side wall of the material frame 2, thereby facilitating the cam to fit the movable plate 75, thereby avoiding the lifting shaft 753 not being able to clamp the material frame 2 due to the hole of the material frame 2 not being directly facing the lifting shaft 753.

[0059] The above-mentioned motors need to be connected to the control box 12, and the connection method has been disclosed. For example, the motor can be connected to the power module via a cable, and the output port of the controller (usually a digital output port) is connected to the motor via wires, relays / contactors, etc., so that the various components of the robot can be controlled to work together through the control box 12.

[0060] Example 2

[0061] like Figure 4 , Figure 5 , Fig.14 As shown, on the basis of Example 1, in order to control the material frame 2 to rise and leave the ground after the clamping mechanism 7 clamps the material frame 2, a first adjustment mechanism 6 is provided on the side away from each other of the two sets of walking mechanisms 5, and the first adjustment mechanism 6 includes two diagonal bracing plates 62 matched one by one, the two diagonal bracing plates 62 are symmetrically arranged, and the connecting shaft 64 fixed in the middle is connected to the cross beam 54 through a bearing connection, that is, the diagonal bracing plate 62 can rotate relative to the cross beam 54 to change its own inclination angle. A sliding plate 63 is hingedly provided at the top of the diagonal bracing plate 62, and a sliding groove 133 is provided on the bottom surface of the top frame 1, and the sliding plate 63 is installed in the sliding groove 133. Under the condition of providing convenience for the diagonal bracing plate 62 to change its own inclination angle, the top frame 1 can be controlled to be stably set with the cooperation of multiple diagonal bracing plates 62, and at the same time, it is convenient to adjust the height of the top frame 1 and the clamping mechanism 7 according to needs, so as to control the lifting of the material frame 2.

[0062] In order to control the two diagonal bracing plates 62 to change their own inclination angles, a strip hole is provided at the bottom of the diagonal bracing plate 62, and the strip hole is provided along the length direction of the diagonal bracing plate 62. A column is provided through the strip hole, and a connecting block 65 is fixedly provided at the end of the column, and a buckle groove 66 is provided on the connecting block 65. At the same time, a buckle plate 55 is fixedly provided on the side of the crossbeam 54, and the buckle plate 55 is provided through the buckle groove 66, thereby limiting the movement of the connecting block 65 along the length direction of the top frame 1. In addition, the two connecting blocks 65 are respectively threadedly sleeved on two threaded rods 67, and the two threaded rods 67 are connected to the two output shafts of the double-headed motor 61. Therefore, the two threaded rods 67 can be controlled to rotate under the operation of the double-headed motor 61 to adjust the inclination angle of the diagonal bracing plate 62. The double-headed motor 61 here is connected to the control box 12.

[0063] Example 3

[0064] like Fig.19 , Fig. 20 As shown, on the basis of Embodiment 1 or 2, in order to facilitate picking up the fruits located on both sides of the top frame 1, the mechanical arm 4 is adjustably arranged above the top frame 1. Specifically, a fourth motor 46 is arranged at the mounting groove 48 on the bottom surface of the base of the mechanical arm 4, and a gear 47 is arranged on the output shaft of the fourth motor 46. A fixing plate 44 is arranged below the base of the mechanical arm 4, and two guide grooves 45 are arranged on the bottom surface of the fixing plate 44. A guide rail 14 is arranged through the guide groove 45. The guide rail 14 is arranged along the width direction of the top frame 1 and is arranged in the middle above the top frame 1. At the same time, the end portion is extended into the sleeve 131 fixedly arranged on the top frame 1 by bolts or other connection methods. Therefore, under the action of the guide rail 14, the fixing plate 44 is stably arranged on the top frame 1. A rack is provided on the side wall of a guide rail 14, and a gear 47 extends under the fixed plate 44 and is meshed with the rack. Therefore, under the action of the fourth motor 46, the robot arm 4 can be controlled to move along the width direction of the top frame 1 so as to pick up the fruits on both sides of the robot and collect them in the material frame 2.

[0065] Example 4

[0066] As shown Fig.13 , 16As shown in FIG. 18, on the basis of Embodiment 1, 2 or 3, in order to stably set the battery 11 on the top frame 1, a support plate 111 is provided at both ends of each battery 11 through bolts, which provides convenience for disassembling a certain battery 11 according to requirements. The support plate 111 is set as an L-shaped structure, and the top is set as a T-shaped. A plurality of batteries 11 are arranged side by side in a group, and a baffle 16 is provided at the end of the whole group of batteries 11. The baffle 16 is set as a U-shaped structure, and the top is also set as a T-shaped. At the same time, a side plate 161 is provided at the end, and a bolt is threaded through the side plate 161. The whole group of batteries 11 is arranged in the middle of the inner side of the top frame 1, and a sliding connection groove 153 is provided on the side edge of the top frame 1. The cross section of the sliding connection groove 153 is the same as the cross section of the top of the support plate 111 and the baffle 16. Therefore, the tops of the support plate 111 and the baffle 16 are arranged in the sliding connection groove 153 to realize the stable and movable connection between the support plate 111 and the baffle 16 and the top frame 1. In order to control the stable installation of the whole group of batteries 11, the bolt threaded through the side plate 161 is pressed against the middle frame 15 to limit the stable placement of the battery 11 relative to the top frame 1.

[0067] Embodiment 5

[0068] As Fig.12 shown, on the basis of Embodiment 1, 2, 3 or 4, in order to adapt to material frames 2 of different sizes, the top frame 1 includes a middle frame 15 and two sets of side frames 13. The two sets of side frames 13 are respectively arranged on both sides of the middle frame 15, and the mutually close ends are sleeved in the insertion plates 151 at the ends of the middle frame 15. Limiting plates 132 are provided on the side walls of the two sets of side frames 13, and the limiting plates 132 are inserted into the limiting holes 152 of the middle frame 15. In order to realize the adjustable connection between the middle frame 15 and the side frames 13, a plurality of holes can be provided on the limiting plates 132 and the insertion plates 151. At the same time, another hole is provided at the limiting holes 152 and the ends of the side frames 13. Bolts are penetrated through the opposite holes to realize the adjustable connection between the middle frame 15 and the side frames 13.

[0069] Embodiment 6

[0070] As Figure 1 、 Fig.15As shown, on the basis of embodiments 1, 2, 3, 4 or 5, in order to avoid the robot walking slowly due to the long distance, multiple sets of flight mechanisms 3 can be adjusted above the top frame 1. With the cooperation of multiple sets of flight mechanisms 3, the robot can fly at low altitude. Specifically, the flight mechanism 3 includes a fifth motor 32 and a rotor 31, the rotor 31 is mounted on the output shaft of the fifth motor 32, and the motor is connected to the control box 12. Driven by the fifth motor 32, the rotor 31 rotates at high speed, and the blades will push the air downward. According to Newton's third law, the air will give the rotor an upward reaction force, which is the lift. When the lift is greater than the gravity of the drone, the drone will start to rise; conversely, when the lift is less than the gravity, the drone will fall. Equipped with multiple rotors, the rotation direction and speed of these rotors can be independently controlled. By changing the speed difference of different rotors, the attitude adjustment of the drone in the air can be achieved. For example, in a quadcopter, the rotors on the diagonal rotate in opposite directions, and the adjacent rotors rotate in different directions, which can offset the anti-torque generated by the rotor rotation and keep the drone stable. Rotor flight has been publicly used and will not be described in detail here.

[0071] In order to prevent the rotor 31 from protruding out of the top frame 1 and affecting the movement of the robot, a second adjustment mechanism 8 is provided below the two sets of flight mechanisms 3. Under the action of the second adjustment mechanism 8, the flight mechanism 3 can be controlled to move so that the rotor 31 is retracted to be located above the top frame 1. Specifically, the second adjustment mechanism 8 includes an intermediate plate 81, a bottom plate 84, a third motor 82, a stud 87 and two connecting plates 85. The two bottom plates 84 are installed below the fifth motor 32 and are respectively installed at both ends of the intermediate plate 81. The intermediate plate 81 is arranged along the width direction of the top frame 1. A connecting groove 83 is provided on the bottom surface of each bottom plate 84. The two connecting plates 85 are arranged along the length direction of the top frame 1 and are connected to the top frame 1 through an end frame 86 and bolts. At the same time, they are respectively arranged through the two connecting grooves 83. Therefore, the bottom plate 84 is stably and movably arranged relative to the top frame 1. The third motor 82 is installed at the end of the top frame 1 and is connected to the control box 12. The end of the stud 87 is connected through the end of the top frame 1 through a bearing and is connected to the third motor 82. At the same time, the stud 87 threadedly penetrates the middle plate 81. When the third motor 82 is working, the bottom plate 84 can be controlled to move, thereby adjusting the position of the flying mechanism 3, so as to facilitate the flying mechanism 3 to be at the end corner of the top frame 1 for flight, or to retract the rotor 31 above the top frame 1.

[0072] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An outdoor material picking and transporting robot, characterized in that: It includes a top frame (1), and two sets of traveling mechanisms (5) are adjustably arranged below the top frame (1). The two sets of traveling mechanisms (5) are evenly distributed on the two edges of the top frame (1); clamping mechanisms (7) are arranged on one side where the two sets of traveling mechanisms (5) are close to each other, and a material frame (2) is arranged below the top frame (1). The two sets of clamping mechanisms (7) are distributed on both sides of the material frame (2); a robotic arm (4) and multiple sets of flying mechanisms (3) are adjustably arranged above the top frame (1). A gripper (41) and an industrial camera (42) are arranged at the end of the robotic arm (4). The multiple sets of flying mechanisms (3) are arranged at the corner ends of the top frame (1). The top frame (1) includes a middle frame (15) and two sets of side frames (13). The two sets of side frames (13) are respectively arranged on both sides of the middle frame (15), and the end parts close to each other are sleeved on the insertion plate (151) at the end of the middle frame (15). A limiting plate (132) is arranged on the side wall of the two sets of side frames (13), and the limiting plate (132) is inserted into the limiting hole (152) of the middle frame (15). The clamping mechanism (7) includes a support frame (71), a second motor (72), a driving plate (73) and a moving plate (75). The support frame (71) is arranged in a U-shaped structure and is connected to the side frame (13) at the top. A clamping plate (711) is fixedly arranged on the inner bottom surface of the support frame (71); a clamping groove (751) is arranged on the lower side surface of the L-shaped top of the moving plate (75), and the clamping plate (711) is located in the clamping groove (751); the second motor (72) is installed below the side frame (13), and a turntable (74) is sleeved on the output shaft. A convex shaft (741) is fixedly arranged on the edge of the turntable (74); the driving plate (73) is installed on the inner top of the moving plate (75), and a sliding hole (731) is arranged on the side wall. The convex shaft (741) extends into the sliding hole (731); a through hole (752) is arranged at the end of the moving plate (75), and a lifting shaft (753) is arranged through the through hole (752). The end of the lifting shaft (753) can be inserted into the side wall of the material frame (2).

2. The outdoor material picking and transporting robot according to claim 1, characterized in that: A fourth motor (46) is arranged at the installation groove (48) on the bottom surface of the base of the robotic arm (4), and a gear (47) is arranged on the output shaft of the fourth motor (46); a fixing plate (44) is arranged below the base of the robotic arm (4), a guide groove (45) is arranged on the bottom surface of the fixing plate (44), a guide rail (14) is arranged through the guide groove (45), and a rack is arranged on the side wall of one of the guide rails (14). The gear (47) is meshed and connected with the rack.

3. The outdoor material picking and transporting robot according to claim 2, characterized in that: The guide rail (14) is arranged along the width direction of the top frame (1), and is arranged in the middle above the top frame (1), and the end is connected to a sleeve (131) fixedly arranged on the side frame (13).

4. The outdoor material picking and transporting robot according to claim 1, characterized in that: The flight mechanism (3) includes a fifth motor (32) and a rotor (31), and the rotor (31) is installed on the output shaft of the fifth motor (32); a second adjustment mechanism (8) is provided below two sets of the flight mechanisms (3), and the second adjustment mechanism (8) includes an intermediate plate (81) and a bottom plate (84). Two bottom plates (84) are installed below the fifth motor (32) and are respectively installed at both ends of the intermediate plate (81), and the intermediate plate (81) is arranged along the width direction of the top frame (1).

5. The outdoor material picking and transporting robot according to claim 4, characterized in that: A connection groove (83) is provided on the bottom surface of each bottom plate (84). The second adjustment mechanism (8) further includes a third motor (82), a stud (87) and two connecting plates (85). Two connecting plates (85) are arranged along the length direction of the top frame (1) and respectively penetrate through the two connection grooves (83). The third motor (82) is installed at the end of the top frame (1). The end of the stud (87) is connected through the end of the top frame (1) by a bearing and is connected to the third motor (82). At the same time, the stud (87) threadedly penetrates through the intermediate plate (81).

6. The outdoor material picking and transporting robot according to claim 1, characterized in that: It further includes a plurality of batteries (11). A support plate (111) is provided at both ends of each battery (11); a plurality of batteries (11) are arranged side by side in a group. A baffle (16) is provided at the end of the whole group of batteries (11). The baffle (16) is arranged in a U-shaped structure and a side plate (161) is provided at the end; the whole group of batteries (11) is arranged in the middle of the inner side of the middle frame (15), and a sliding connection groove (153) is provided on the side edge of the middle frame (15). The cross section of the sliding connection groove (153) is the same as the cross sections of the top of the support plate (111) and the baffle (16). The tops of the support plate (111) and the baffle (16) are arranged in the sliding connection groove (153), and a bolt threadedly penetrating through the side plate (161) presses against the middle frame (15).

7. The outdoor material picking and transporting robot according to claim 1, characterized in that: The traveling mechanism (5) includes a bottom beam (53), a cross beam (54) and two traveling wheels (51). The cross beam (54) is arranged above the bottom beam (53). The end of the bottom beam (53) is sleeved on the central axis of the traveling wheel (51), and the central axis of the traveling wheel (51) is connected to the output shaft of the first motor (52).

8. The outdoor material picking and transporting robot according to claim 7, characterized in that: A first adjustment mechanism (6) is provided on the side away from each other of the two groups of walking mechanisms (5), and the first adjustment mechanism (6) includes two diagonal support plates (62) and two connecting blocks (65) matched one to one. The two diagonal support plates (62) are symmetrically arranged, and a connecting shaft (64) fixed in the middle is connected to the cross beam (54) through a bearing connection. A column and a buckle groove (66) are respectively provided on both sides of the connecting block (65), and the column passes through the bar hole at the bottom of the diagonal support plate (62). The buckle groove (66) installed on the side of the cross beam (54) is provided. The buckle plate (55) is arranged through the buckle groove (66); the first adjustment mechanism (6) also includes a double-headed motor (61), the double-headed motor (61) is connected to the crossbeam (54), and threaded rods (67) are connected to the two output shafts, and the two threaded rods (67) are threadedly arranged through the two connecting blocks (65); a sliding plate (63) is hingedly arranged on the top of the diagonal support plate (62), and a sliding groove (133) is arranged on the bottom surface of the frame (13), and the sliding plate (63) is installed in the sliding groove (133).

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