Telescopic wheel leg type agricultural grain transportation robot and working method thereof

Abstract

The invention provides a telescopic wheel leg type agricultural grain transportation robot and a working method thereof. The telescopic wheel leg type agricultural grain transportation robot comprises a box body, a refrigeration area, a back refrigeration equipment area and climbing mechanical legs. The interior of the box body is divided into a refrigeration area and a refrigeration equipment area, the refrigeration area is provided with a small telescopic inclined table used for storing crops, and the temperature is monitored in real time through a temperature sensor. The refrigeration equipment area comprises an ice bag lifting device, a freezing fan and a freezing air duct. A detachable base is arranged at the bottom of the box body, the two sides of the base are connected with four mechanical legs capable of climbing, each mechanical leg is composed of a telescopic unit, a thigh unit, a shank unit and a tire, and self-adaptive movement of complex terrains is achieved through multi-stage hydraulic pressure and a servo motor. And a piezoelectric stack structure is arranged in the tire, so that mechanical energy can be converted into electric energy. The invention aims to solve the problems of difficult refrigeration and steep terrain in the transportation process, has the characteristics of efficient refrigeration, strong terrain adaptability, energy conservation, environmental protection and the like, is suitable for crop transportation in various complex environments, and improves the transportation efficiency of agricultural products.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural machinery, and particularly relates to a telescopic wheel-leg type agricultural grain transportation robot and its working method. Background Art

[0002] Most of the existing refrigerated trucks are designed for flat roads and are difficult to meet the transportation requirements of crops under complex terrains such as mountains and hills. The roads in complex terrains are rough, have large slopes and small turning radii, which pose higher requirements for vehicle power, stability and passability. Existing refrigerated trucks often face problems such as insufficient power, difficult climbing, and too large turning radius under complex terrains. Moreover, frequent starts and stops and jolts are likely to cause a decline in the efficiency of the refrigeration system, making it difficult to maintain a stable low-temperature environment and affecting the quality of agricultural products. In addition, the road conditions vary greatly under complex terrains, and traditional refrigerated trucks lack intelligent road condition recognition and power adjustment systems, making it difficult to adjust power output and refrigeration power according to real-time road conditions, resulting in problems such as high energy consumption, low efficiency and high transportation losses. Therefore, it is urgent to develop a refrigerated truck for transporting crops that can adapt to complex terrains and has efficient refrigeration and intelligent control functions to solve the deficiencies in the existing technology and improve the transportation efficiency and quality of agricultural products. Summary of the Invention

[0003] The purpose of the present invention is to solve at least one of the problems existing in the prior art, and to provide a telescopic wheel-leg type agricultural grain transportation robot and its working method, which can solve the problems of the prior art.

[0004] To achieve the above object, the present invention provides the following technical solutions: A retractable wheel-leg type agricultural grain transportation robot, comprising a box body, characterized in that: the interior of the box body is divided into a refrigeration area arranged horizontally and a back refrigeration equipment area by a heat conducting plate, the box body is provided with a communication module, and the interior of the back refrigeration equipment area is provided with an ice bag lifting device, a refrigeration fan, a refrigeration air duct and an ice bag transportation device. The ice bag lifting device is composed of an ice bag grabbing robotic arm, a mechanical gripper, a lifting platform, a lifting frame, a retractable multi-layer platform and a bearing A. The ice bag transportation device includes a central column, a connecting rod, an ice bag placement box and rollers. The surface of the ice bag placement box is provided with a visual recognition module. The interior of the refrigeration area is provided with a plurality of retractable inclined small platforms, and the plurality of retractable inclined small platforms are arranged at intervals longitudinally. The retractable small platform is equipped with an ultrasonic sensor. The top and bottom of the refrigeration area are both provided with perforated plates, retractable ice bag partition plates and LED light-emitting sealing strips. The top of the box body is provided with a handle, the bottom of the box body is embedded with large nuts, and the bottom of the four corners of the box body are all provided with embedded connectors. The bottom of the embedded connector is fixed with a buffer spring D. The box body is bolted to the base; the front end of the base is provided with an ultrasonic distance sensor and a six-axis inclination sensor, and four climbable mechanical legs are connected to both sides of the base. A microcontroller C is arranged inside the mechanical leg. The mechanical leg includes a telescopic unit, a thigh unit, a calf unit and a tire; the telescopic unit includes a central rod A, a cavity and a multi-stage hydraulic rod. The other end of the calf unit is connected with a cross-shaped negative film structure, and the negative film structure is elastically connected to the foot plate through a buffer spring A. The calf unit includes a central rod B, a cylindrical hollow entity, a bearing C, a housing, a boss, a buffer spring B, a servo motor and a hydraulic cylinder; the servo motor is provided with a motor drive module. The thigh unit includes a horizontal support arm, a support arm rotating shaft, a triangular cavity and a buffer spring C. The inside of the tire is provided with a piezoelectric stack structure, and the piezoelectric stack structure is composed of a high piezoelectric coefficient material. The piezoelectric stack structure includes a piezoelectric ceramic sheet, a connecting layer, a positive machine electrode sheet, a negative electrode sheet, a support structure and a lead-out electrode.

[0005] As a further solution of the present invention: The middle part of the thigh unit is fixedly connected to the telescopic unit through the central rod A inside the cavity. The central rod A is fixedly connected to the multi-stage hydraulic rod. The telescopic unit is telescoped through the multi-stage hydraulic rod. The telescopic unit forms a rotating structure by connecting the thigh unit and the calf unit through the central rod and the boss. The bottom of the multi-stage hydraulic rod is fixedly connected to the boss.

[0006] As a further solution of the present invention: a central rod B is provided at the top of the calf unit, the central rod B is coaxially connected to a buffer spring C, the buffer spring C is bolted to a bearing C, the bearing C is coaxially connected to a rigid rod, a rigid rod is provided inside the triangular cavity, the arm rotating shaft is bolted to the housing, the buffer spring B is fixedly connected to a servo motor, the bottom of the servo motor is fixedly connected to a hydraulic cylinder, and a buffer variable sensor is provided inside the hydraulic cylinder.

[0007] As a further solution of the present invention: one end of the thigh unit is rotatably connected to the base through a bearing B, the robotic leg forms a swinging structure on both sides of the base, and a microcontroller C is installed inside the robotic leg.

[0008] As a further solution of the present invention: the tire is rotationally connected to the calf unit rotating shaft, the multi-layer piezoelectric stack structure is provided with a support structure, a piezoelectric ceramic sheet is provided inside the support structure, the piezoelectric ceramic sheets are connected through a connection layer, and a power management module and a microcontroller B are provided inside the piezoelectric stack structure.

[0009] As a further solution of the present invention: a multi-layer retractable inclined small platform is provided inside the refrigeration area, the retractable inclined small platform includes a first retractable part, the first retractable part abuts against a heat conduction plate, a temperature sensor and a microcontroller D are provided at the bottom of the retractable small platform, the retractable ice bag partition plate is embeddedly connected to a porous plate, and a sealing strip is connected to the outside of the porous plate.

[0010] As a further solution of the present invention: the refrigeration fan is fixedly connected to the box body, the rear end of the central column is fixedly connected to the box body and the length of the central column is adjustable, the front section of the central column is rotationally connected to an ice bag placement box through a connecting rod, rollers are provided at the front ends of both sides of the ice bag placement box, tracks are provided on both inner sides of the box body, the rollers smoothly move inside the tracks, the rear end of the robotic arm is coaxially connected to a lifting frame through a bearing A, and the front end of the robotic arm is rotationally connected to a robotic gripper.

[0011] As a further solution of the present invention: a working method of a retractable wheel-leg type agricultural grain transportation robot includes the following steps: Step 1, preparation work. First, the ice bag transportation device transports the required ice bags to the porous plate through extension, then the ice bag partition plate is started, the robotic gripper in the ice bag lifting device grabs the ice bags and places them on the multi-layer platform, the ice bags are lifted by the lifting frame, the microcontroller D receives the temperature data transmitted by the temperature sensor, and according to the preset temperature range, the refrigeration fan is started and its rotation speed is adjusted to keep the temperature in the refrigeration area constant.

[0012] Step 2: During transportation, the piezoelectric stack structure in the tire is squeezed, generating an electric field. The power management module stores the generated electrical energy in the battery. The microcontroller B monitors the battery power in real time and reasonably distributes the electrical energy according to the energy consumption requirements of each component to provide electrical energy for the refrigeration fan, servo motor, etc., enabling the entire device to operate. At the same time, the ultrasonic distance sensor and the six-axis tilt sensor monitor the road conditions in real time and transmit them to the microcontroller C. The microcontroller C adjusts the motion state of the robotic leg according to the road conditions.

[0013] Step 3: When the robot encounters bumps or impacts, the hydraulic cylinder contracts, cooperating with the buffer spring B and the buffer spring C to achieve a buffering effect. The microcontroller C judges the buffering situation by monitoring the data of the buffer variable sensor and adjusts the operation of the servo motor and the hydraulic cylinder when necessary to optimize the buffering effect.

[0014] Step 4: When the ultrasonic distance sensor detects an obstacle ahead, the microcontroller C controls the hydraulic cylinder to extend to drive the tire to lift according to the distance and height of the obstacle. The multi-stage hydraulic rod adjusts the positions of the thigh unit and the calf unit by contracting, generating a swinging effect, enabling the robotic leg to cross the obstacle.

[0015] Compared with the prior art, the advantages of the present invention are as follows:

[0016] 1. Through the synergistic effect of the multi-stage hydraulic system, buffer springs, and piezoelectric stack structure, the design of this robotic leg significantly improves the adaptability and stability in complex terrains. The multi-stage hydraulic rod realizes the up-and-down telescoping of the robotic leg. Combined with the linkage design of the thigh unit, it can flexibly adjust the leg length and posture to adapt to different slopes and obstacles. The cross-shaped bottom film structure at the bottom of the calf unit cooperates with the buffer spring A to effectively absorb ground impacts and reduce damage to the mechanical structure caused by vibrations. At the same time, the multi-layer piezoelectric stack structure inside the tire can convert mechanical vibrations into electrical energy, realizing energy recovery and improving energy utilization efficiency. In addition, the rotational connection design between the thigh unit and the base enables the robotic leg to swing back and forth, further enhancing the obstacle-crossing ability. The overall structure is compact, and the detachable connection design facilitates maintenance and replacement, making it suitable for the efficient operation of agricultural transport robots in complex terrains. Moreover, the based circuit control system makes the movement of the robotic leg more intelligent and precise, capable of automatically adjusting the posture according to real-time road conditions, improving the passing ability of the robot in complex terrains.

[0017] 2. The refrigerated box realizes efficient temperature control and space utilization through the collaborative design of multiple layers of retractable inclined platforms and refrigeration fans; the retractable inclined platforms can be flexibly adjusted according to the size of the goods to ensure that the crops are evenly in contact with the heat conduction plate, and cooperate with the temperature sensor for real-time monitoring to maintain a stable low-temperature environment; the refrigeration fans are combined with the refrigeration air ducts to realize cold air circulation and improve the refrigeration efficiency. The ice bag placement box is designed with smooth movement through rollers and tracks, which is convenient for quickly replacing ice bags and reducing cold loss; in addition, the embedded connection between the porous plate and the sealing strip enhances the sealing performance of the box body and further optimizes the refrigeration effect. The overall design takes into account efficient refrigeration, flexible space management and convenient operation, significantly improving the preservation effect and transportation efficiency during the transportation of crops. The circuit control system can adjust the operation of the refrigeration equipment in real time according to the temperature in the refrigerated area, making the refrigeration effect more stable and reliable, and at the same time reducing energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0019] Figure 1 It is a schematic diagram of the overall assembly structure of the present invention.

[0020] Figure 2 It is a schematic diagram of the mechanical leg structure of the present invention.

[0021] Figure 3 It is a schematic diagram of the piezoelectric stack structure of the present invention.

[0022] Figure 4 It is a schematic diagram of the box body structure of the present invention Figure 1 .

[0023] Figure 5 It is a schematic diagram of the box body structure of the present invention Figure 2 .

[0024] Figure 6 It is a schematic diagram of the ice bag lifting device of the present invention.

[0025] Figure 7 It is a schematic diagram of the ice block transportation box of the present invention.

[0026] Figure 8 It is a schematic diagram of the circuit control system of the present invention.

[0027] Reference numerals: 1, mechanical leg; 2, box body; 2-1, heat conducting plate; 2-2, refrigerated area; 2-3, back refrigeration equipment area; 2-4, handle; 2-5, nut; 2-6, embedded connector; 2-7, buffer spring D; 2-8, base; 2-9, freezing fan; 2-10, freezing air duct; 2-11, ice bag transportation device; 2-12, central column; 2-13, ice bag placement box; 2-14, track; 2-15, roller; 2-16, perforated plate; 2-17, partition plate; 2-18, sealing strip; 2-19, connecting rod; 3, ice bag lifting device; 3-1, robotic arm; 3-2, robotic gripper; 3-3, lifting frame; 3-4, lifting platform; 3-5, retractable multi-layer platform; 3-6, bearing A; 4, retractable small platform; 4-1, temperature controller; 4-2, first telescopic platform; 5, telescopic unit; 5-1, central rod; 5-2, cavity; 5-3, multi-stage hydraulic rod; 6, thigh unit; 6-1, cross support arm; 6-2, support arm rotating shaft; 6-3, triangular cavity; 6-4, buffer spring C; 6-5, bearing B; 7, calf unit; 7-1, bottom plate structure; 7-2, buffer spring A; 7-3, foot plate; 7-4, bearing C; 7-5, buffer spring B; 7-6, servo motor; 7-7, hydraulic cylinder; 7-8, housing; 7-9, convex platform; 7-10, central rod; 7-11, cylindrical hollow entity; 7-12, rigid rod; 8, tire; 8-1, piezoelectric stack structure; 8-2, piezoelectric ceramic sheet; 8-3, connection layer; 8-4, positive electrode plate; 8-5, negative electrode plate; 8-6, support structure; 8-7, lead-out electrode; 10, ultrasonic distance sensor; 11, six-axis tilt sensor; 12, visual recognition module; 13, communication module; 14, pressure sensor; 15, buffer variable sensor; 16, power management module; 17, motor drive module; 18, microcontroller B; 19, microcontroller C; 20, microcontroller D; 21, ultrasonic sensor Detailed implementation manners

[0028] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the drawings. The function of the drawings is to supplement the description of the text part with graphics, enabling people to directly and vividly understand each technical feature and the overall technical solution of the present invention, but it should not be construed as a limitation on the protection scope of the present invention.

[0029] The following will further describe the present invention in detail with reference to the drawings and specific implementation manners.

[0030] As Figures 1 to 8As shown in the figure, a telescopic wheel-leg type agricultural grain transportation robot is provided, including a box body 2. The box body 2 is provided with a communication module 13. By using the communication module 13, wireless communication between the robot and external devices is realized. The interior of the box body 2 is divided into a refrigeration area 2-2 arranged horizontally and a back refrigeration equipment area 2-3 by a heat conducting plate 2-1. An ice bag lifting device 3, a freezing fan 2-9, a freezing air duct 2-10 and an ice bag transportation device 2-11 are arranged inside the back refrigeration equipment area 2-3. Cold air is evenly transported to the refrigeration area 2-2 through the freezing air duct 2-10 to realize cold air circulation refrigeration. The cold air circulates through the freezing fan 2-9 and the freezing air duct 2-10, and combined with the auxiliary refrigeration of ice bags, an efficient refrigeration effect is achieved. The ice bag lifting device 3 is composed of an ice bag grabbing robotic arm 3-1, a mechanical gripper 3-2, a lifting frame 3-3, a lifting table 3-4 and a telescopic multi-layer table 3-5. A pressure sensor 14 is arranged on the mechanical gripper 3-2. The rear end of the robotic arm 3-1 is coaxially connected with the lifting frame 3-3 through a bearing 3-6. The front end of the robotic arm 3-1 is rotationally connected with the mechanical gripper 3-2, so that the mechanical gripper 3-2 grabs the ice bag and rotates around the bearing 3-6 through the robotic arm 3-1 to place the ice bag on the telescopic multi-layer table 3-5. When the pressure sensor 14 detects a pressure change, it transmits a signal to the single-chip microcomputer. After receiving the signal, the single-chip microcomputer controls the automatic lifting of the lifting frame 3-3, and the single-chip microcomputer controls the motors of the robotic arm 3-1 and the mechanical gripper 3-2 in the ice bag lifting device 3 to act.

[0031] Further, the ice bag transportation device 2-11 includes a central column 2-12, a connecting rod 2-19, an ice bag placement box 2-13, and rollers 2-15. The ice bag placement box 2-13 is used to place ice bags. The rear end of the central column 2-12 is fixedly connected to the box body 2, realizing that one end of the central column 2-12 is fixed inside the box body, and the length of the central column 2-12 is adjustable. Through telescoping, the purpose of changing the position of the ice bag is achieved. The front section of the central column 2-12 is rotatably connected to the ice bag placement box 2-13 through the connecting rod 2-19, and the ice bag in the ice bag placement box 2-13 is placed on the porous plate 2-16 through rotation. Using a Raspberry Pi as the main controller, running the logic of visual recognition and robotic arm grasping control, using a camera to capture images with the default resolution, first reading the video stream through a visual recognition algorithm. Due to the reflective, semi-transparent, and irregularly shaped characteristics of the ice bag and considering the computing power limitation of the Raspberry Pi, we need to preprocess the video image to ensure the accuracy of detection and grasping: for denoising, Gaussian blur or median filtering is used to eliminate camera noise, making the image adaptively histogram equalized to improve uneven illumination and avoid overexposure of the reflective area of the ice bag. The image is converted to the HSV space, the color area of the ice bag is segmented through thresholding, and the image contour is strengthened by edge detection. Finally, the size is normalized and scaled, a pre-trained model is loaded, inference is performed on each frame of the image, template matching is performed on the video stream, the contour of the ice bag is detected, and the pixel coordinates and confidence of the center point of the bounding box of the ice bag are output. The detection results with a confidence higher than the threshold are screened to avoid misjudgment. The robotic gripper in the ice bag lifting device performs the task of grasping the ice bag according to the coordinates. At the front ends of both sides of the ice bag placement box 2-13, rollers 2-15 are provided. On both inner sides of the box body 2, tracks 2-14 are provided. The rollers 2-15 move smoothly within the tracks 2-14. The single-chip microcomputer controls the forward and reverse rotation of the motor of the ice bag transportation device, realizing the movement of the ice bag placement box on the track.

[0032] Furthermore, a plurality of retractable inclined small platforms 4 are arranged inside the refrigeration area 2-2, and the plurality of retractable inclined small platforms 4 are arranged at intervals along the longitudinal direction. To achieve the telescopic control of the retractable inclined small platform according to the size of the crops, ultrasonic sensors 17 are installed at the retractable inclined small platform 4, which can measure the distance between the crops and the retractable small platform 4 in real time, so as to judge the size of the crops. The ultrasonic sensors 17 transmit the measurement data to the single-chip microcomputer, and the single-chip microcomputer calculates the appropriate telescopic length according to the preset algorithm, realizing the precise telescoping of the telescopic platform, optimizing the space utilization, and improving the space utilization rate. The retractable inclined small platform 4 includes a first telescopic part 4-2, and the first telescopic part 4-2 is in contact with the heat conduction plate 2-1, achieving the effect of fixing the rear end of the retractable small platform 4 and fixing the overall position, ensuring the efficient transfer of cold air to the crops. A temperature sensor 4-1 is arranged at the bottom of the retractable small platform 4, which transmits the real-time and accurate temperature data of the refrigeration area measured through the single-bus protocol to the microcontroller D 20, so that the microcontroller D20 can regulate the working of refrigeration equipment such as the rotation speed of the refrigeration fan according to the preset temperature range. Porous plates 2-16, retractable ice bag partition plates 2-17 and LED light-emitting sealing strips 2-18 are arranged at the top and bottom of the refrigeration area 2-2. During transportation, the cold air is dissipated into the interior of the refrigeration area 2-2 through the porous plates 2-16. The retractable ice bag partition plate 2-17 is embeddedly connected with the porous plate 2-16. When transporting ice bags, the retractable ice bag partition plate 2-17 is embedded in the porous plate 2-16. When the ice bag transportation is completed, the retractable partition plate 2-17 rises to separate the ice bags to fixed positions, facilitating the rapid replacement of ice bags and the uniform distribution of cold air. A sealing strip 2-18 is connected to the outside of the porous plate 2-16, enhancing the sealing performance of the refrigeration area 2-2 and reducing the loss of cold air.

[0033] Furthermore, a handle 2-4 is arranged at the top of the box body 2, a large nut 2-5 is embedded at the bottom of the box body 2, embedded connectors 2-6 are arranged at the bottoms of the four corners of the box body 2, and a buffer spring D 2-7 is fixed at the bottom of the embedded connector 2-6 to achieve a buffering effect during operation on complex terrains. The box body 2 is bolted to the base 2-8 to achieve a detachable effect; an ultrasonic distance sensor 10 and a six-axis tilt sensor 11 are arranged at the front end of the base. The ultrasonic distance sensor 10 calculates the distance to the obstacle in front by transmitting and receiving ultrasonic waves, providing data support for the obstacle-crossing action of the robotic leg. The six-axis tilt sensor 11 is carried to measure the tilt angle and acceleration of the robot in three-dimensional space, and the microcontroller judges the terrain slope accordingly, and then adjusts the attitude and movement mode of the robotic leg.

[0034] Further, four climbable robotic legs 1 are connected to both sides of the base 2-8. The robotic leg 1 includes a telescopic unit 5, a thigh unit 6, a calf unit 7, and a tire 8. The telescopic unit 5 includes a central rod 5-1, a cavity 5-2, and a multi-stage hydraulic rod 5-3. The central rod 5-1 is fixedly connected to the multi-stage hydraulic rod 5-3. The telescopic unit 5 is telescoped through the multi-stage hydraulic rod 5-3. The telescoping of the multi-stage hydraulic system is driven by a dedicated hydraulic control circuit, which receives instructions from the central controller and controls the telescoping speed and length of the multi-stage hydraulic by precisely adjusting the magnitude and direction of the current, thereby realizing the flexible up-and-down telescoping action of the robotic leg 1. The telescopic unit 5 is connected to the thigh unit 6 and the calf unit 7 through the central rod 5-1 and a boss 7-9 to form a rotating structure. The bottom of the multi-stage hydraulic rod 5-3 is fixedly connected to the boss 7-9.

[0035] Further, the other end of the calf unit 7 is connected to a cross-shaped bottom plate structure 7-1. The bottom plate structure 7-1 is elastically connected to the foot plate 7-3 through a buffer spring A 7-2. The calf unit 7 includes a central rod B 7-10, a cylindrical hollow entity 7-11, a bearing C 7-4, a housing 7-8, a boss 7-9, a buffer spring B 7-5, a servo motor 7-6, and a hydraulic cylinder 7-7. A central rod B 7-10 is provided at the top of the calf unit 7. The central rod 7-10 is coaxially connected to the buffer spring C 6-4 to achieve the connection effect between the thigh unit 6 and the calf unit 7. The buffer spring C 6-4 is bolted to the bearing C 7-4 to achieve a buffering effect and reduce the impact of vibration and shock on the entire system. The bearing C 7-4 is coaxially connected to a rigid rod 7-12 to form a moving structure. A rigid rod 7-12 is arranged inside the triangular cavity 6-3. When the calf unit 7 is impacted by an obstacle, the rigid rod 7-12 can move freely inside the triangular cavity 6-3, providing a buffering and adjusting space for the robotic leg 1. The arm rotating shaft 6-2 is bolted to the housing 7-8. The rotation of the arm rotating shaft, in cooperation with the rigid rod 7-12, meets the requirement of wheel-leg movement for adapting to complex terrains. The buffer spring B 7-5 is fixedly connected to the servo motor 7-6. The bottom of the servo motor 7-6 is fixedly connected to the hydraulic cylinder 7-7. For controlling the servo motor 7-6 and the hydraulic cylinder 7-7, a dedicated motor drive module 17 is used. This module receives the control signal sent by the microcontroller D and precisely regulates the rotation angle of the servo motor 7-6 and the telescopic length of the hydraulic cylinder 7-7. The control circuit of the servo motor 7-6 adjusts the speed and torque of the motor according to a preset program or real-time feedback signals to ensure the precise rotation of each joint of the robotic leg 1. The control circuit of the hydraulic cylinder 7-7 adjusts the flow rate and pressure of the hydraulic oil so that the hydraulic cylinder 7-7 can accurately extend and retract, and cooperate with the buffer spring B to achieve the buffering and obstacle-crossing functions.

[0036] Further, the thigh unit 6 includes a horizontal arm 6-1, an arm rotating shaft 6-2, a triangular cavity 6-3, and a buffer spring C 6-4. The horizontal arm 6-1 serves as a basic support component and plays a role in transmitting force. One end of the thigh unit 6 is rotatably connected to the base 2-8 through a bearing 6-5. The robotic leg 1 forms a stable swinging structure on both sides of the base 2-8. This swinging structure endows the robotic leg 1 with flexible movement ability.

[0037] Further, a piezoelectric stack structure 8-1 is disposed inside the tire 8. The piezoelectric stack structure 8-1 is composed of a material with a high piezoelectric coefficient. The piezoelectric stack structure 8-1 includes a piezoelectric ceramic sheet 8-2, a connection layer 8-3, a positive electrode sheet 8-4, a negative electrode sheet 8-5, a support structure 8-6, and a lead-out electrode 8-7. A power management module 16 composed of a power conversion chip, a charge management chip, an energy storage capacitor, etc. rectifies, filters, and stabilizes the electric energy generated by the piezoelectric stack structure 8-1 inside the tire and stores it in the battery.

[0038] During use, first place the required ice bags in the ice bag placement box 2-13. The ice bags are transported to the porous plate 2-16 through the rolling of the rollers 2-15 in the tracks 2-14 on both sides of the box body 2 and the telescoping of the central column 2-12. The mechanical gripper 3-2 in the ice bag lifting device 3 grabs the ice bags and places them on the retractable multi-layer platform 3-5 by rotating the robotic arm 3-1. Under the control of the pressure sensor 14 and the single-chip microcomputer, the ice bag lifting device 3 lifts the ice bags to the designated position, activates the ice bag partition plate 2-16 to separate the ice bags in different areas, activates the refrigeration blower 2-9, and monitors the temperature of the refrigerated area 2-2 in real time through the temperature sensor 4-1 to ensure a constant temperature. The cold air circulates in a figure-eight shape in the refrigeration air duct 2-10, so that the cold air is evenly distributed inside the box body 2, enabling the agricultural products to be in the best refrigerated state. Adjust the position of the retractable inclined platform 4 to stably place the crops. During transportation, the piezoelectric stack structure 8-1 inside the tire 8 is squeezed to generate an electric field, providing electric energy for the refrigeration blower 2-9 and the servo motor 7-6, enabling the entire device to operate continuously. When encountering an obstacle, the hydraulic cylinder 7-7 extends to drive the tire 8 to lift, and the hydraulic cylinder 7-7 contracts, cooperating with the buffer spring B 7-5 to achieve a buffering effect and maintain the stability of the transport vehicle. The telescopic unit 5 of the mechanical leg 1 realizes up and down telescoping through the multi-stage hydraulic rod 5-3, driving the thigh unit 6 and the calf unit 7 to move in coordination. Combining the shock-absorbing effects of the buffer spring A 7-2 and the buffer spring C 6-4, a swinging effect is generated, enabling the mechanical leg 1 to cross the obstacle. After arriving at the destination, through the tilting function of the retractable platform 4, the crops are unloaded from the refrigerated area 2-2. The ice bag placement box 2-13 smoothly pushes down the ice bags. The ice bag lifting device 3 removes the remaining ice bags from the retractable multi-layer platform 3-5 and returns them to the ice bag placement box 2-13, and the ice bag placement box 2-13 rotates and falls down.

[0039] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art in the technical field, various changes can be made without departing from the gist of the present invention.

Claims

1. A retractable wheel-legged agricultural food transport robot, comprising a box (2), characterized in that: The interior of the box (2) is divided into a refrigeration area (2-2) and a back refrigeration equipment area (2-3) arranged in a transverse direction by a heat conduction plate (2-1). The box (2) is provided with a communication module (13). The interior of the back refrigeration equipment area (2-3) is provided with an ice bag lifting device (3), a refrigeration fan (2-9), a refrigeration air duct (2-10) and an ice bag transportation device (2-11). The ice bag lifting device (3) is composed of an ice bag grabbing mechanical arm (3-1), a mechanical gripper (3-2), a lifting frame (3-3), a lifting platform (3-4), a retractable multi-layer platform (3-5) and a bearing A (3-6). The mechanical gripper (3-2) is provided with a pressure sensor (14). ), the ice bag transport device (2-11) comprises a central column (2-12), a connecting rod (2-19), an ice bag placement box (2-13) and a roller (2-15), the surface of the ice bag placement box (2-13) is provided with a visual recognition module (12), a plurality of retractable tilting small platforms (4) are provided inside the refrigerated area (2-2), and the plurality of retractable tilting small platforms (4) are arranged at intervals along the longitudinal direction, the retractable small platforms (4) are installed with ultrasonic sensors (21), the lower end of the retractable small platforms (4) is provided with a temperature sensor (4-1), the top and bottom of the refrigerated area (2-2) are provided with a porous plate (2-16), a retractable ice bag partition plate (2-1 7) and an LED luminous sealing strip (2-18), a handle (2-4) is arranged on the top of the box (2), a large nut (2-5) is embedded in the bottom of the box (2), embedded connectors (2-6) are arranged at the bottom of the four corners of the box (2), a buffer spring D (2-7) is fixed at the bottom of the embedded connector (2-6), the box (2) is bolted to the base (2-8); an ultrasonic distance sensor (10) and a six-axis tilt sensor (11) are arranged at the front end of the base, four climbable mechanical legs (1) are connected to the two sides of the base (2-8), a microcontroller C (19) is arranged inside the mechanical legs (1), and the mechanical legs (1) comprises a telescopic unit (5), a thigh unit (6), a calf unit (7) and a tire (8); the telescopic unit (5) comprises a central rod A (5-1), a cavity (5-2) and a multi-stage hydraulic rod (5-3); the other end of the calf unit (7) is connected to a cross-shaped bottom plate structure (7-1); the cross-shaped bottom plate structure (7-1) is elastically connected to a foot plate (7-3) via a buffer spring A (7-2); the calf unit (7) comprises a central rod B (7-10), a cylindrical hollow body (7-11), a bearing C (7-4), a housing (7-8), a boss (7-9), a buffer spring B (7-5), a servo motor (7-6) and a hydraulic cylinder (7-7);The servo motor (7-6) is provided with a motor drive module (17), the thigh unit (6) comprises a horizontal support arm (6-1), a support arm rotating shaft (6-2), a triangular cavity (6-3) and a buffer spring C (6-4), and a piezoelectric stack structure (8-1) is provided inside the tire (8), the piezoelectric stack structure (8-1) is composed of a high piezoelectric coefficient material, and the piezoelectric stack structure (8-1) comprises a piezoelectric ceramic sheet (8-2), a connecting layer (8-3), a positive electrode sheet (8-4), a negative electrode sheet (8-5), a supporting structure (8-6) and an extraction electrode (8-7). ; 2. The retractable wheel-legged agricultural food transport robot according to claim 1, characterized in that: The middle part of the thigh unit (6) is fixedly connected to the telescopic unit (5) inside the cavity (5-2) via a central rod A (5-1); the central rod A (5-1) and the multi-stage hydraulic rod (5-3) are telescopic; the telescopic unit (5) is connected to the thigh unit (6) and the calf unit (7) via the central rod A (5-1) and the boss (7-9) to form a rotating structure; the bottom of the multi-stage hydraulic rod (5-3) is fixedly connected to the boss (7-9).

3. The retractable wheel-legged agricultural food transport robot according to claim 1, characterized in that: The top of the calf unit (7) is provided with a center rod B (7-10), the center rod B (7-10) is connected to the buffer spring C (6-4) coaxially, the buffer spring C (6-4) is bolted to the bearing C (7-4), the bearing C (7-4) is coaxially connected to the rigid rod (7-12), the interior of the triangular cavity (6-3) is provided with a rigid rod (7-12), the support arm rotating shaft (6-2) is bolted to the housing (7-8), the buffer spring B (7-5) is fixedly connected to the servo motor (7-6), the bottom of the servo motor (7-6) is fixedly connected to the hydraulic cylinder (7-7), and the interior of the hydraulic cylinder (7-7) is provided with a buffer variable sensor (15).

4. The retractable wheel-legged agricultural food transport robot according to claim 1, characterized in that: One end of the thigh unit (6) is rotatably connected to the base (2-8) via a rotary motor (6-5), and the mechanical leg (1) forms a swinging structure on both sides of the base (2-8). A microcontroller C (18) is installed inside the mechanical leg (1).

5. The retractable wheel-legged agricultural food transport robot according to claim 1, characterized in that: The tire (8) is connected to the rotating shaft of the calf unit (7); the piezoelectric stack structure (8-1) is provided with a support structure (8-6); piezoelectric ceramic sheets (8-2) are provided inside the support structure (8-6); the piezoelectric ceramic sheets (8-2) are connected to each other via a connecting layer (8-3); and a power management module (16) and a microcontroller B (18) are provided inside the piezoelectric stack structure (8-1).

6. The retractable wheel-legged agricultural food transport robot according to claim 1, characterized in that: The retractable tilting platform (4) comprises a first retractable portion (4-2), the first retractable portion (4-2) abutting against a heat conducting plate (2-1), a temperature sensor (4-1) and a microcontroller D (20) being arranged at the bottom of the retractable platform (4), the retractable ice pack partition plate (2-17) being embeddedly connected to a porous plate (2-16), and a sealing strip (2-18) being connected to the outside of the porous plate (2-16).

7. The retractable wheel-legged agricultural food transport robot according to claim 1, characterized in that: The refrigeration fan (2-9) is fixedly connected to the box body (2), the rear end of the central column (2-12) is fixedly connected to the box body (2), and the length of the central column (2-12) is adjustable. The front section of the central column (2-12) is rotatably connected to the ice pack placement box (2-13) via a connecting rod (2-19). The front ends of both sides of the ice pack placement box (2-13) are provided with rollers (2-15). Both inner sides of the box body (2) are provided with tracks (2-14). The rollers (2-15) move smoothly in the tracks (2-14). The rear end of the mechanical arm (3-1) is connected to the coaxial axis of the lifting frame (3-3) via a bearing A (3-6), and the front end of the mechanical arm (3-1) is connected to the rotating shaft of the mechanical gripper (3-2).

8. A working method of the retractable wheel-legged agricultural grain transport robot according to any one of claims 1 to 7, characterized in that: The method comprises the following steps: Step 1, firstly, the ice bag transport device (2-11) transports the required ice bag to the porous plate (2-16) by telescoping, then the ice bag partition plate (2-17) is started, the mechanical gripper (3-2) in the ice bag lifting device (3) grabs the ice bag and places it on the multi-layer table (3-5), the ice bag is lifted by the lifting frame (3-3), the microcontroller D (20) receives the temperature data transmitted by the temperature sensor (4-1), and starts the freezing process according to the preset temperature range. The fan (2-9) is turned on and its speed is adjusted to keep the temperature in the refrigerated area (2-2) constant; Step 2: During transportation, the piezoelectric stack structure (8-1) in the tire (8) is squeezed to generate an electric field, and the power management module (16) stores the generated electric energy in the battery. The microcontroller B (18) monitors the battery power in real time and reasonably distributes the electric energy according to the energy consumption requirements of each component to provide electric energy for the refrigeration fan (2-9) and the servo motor (7-6), so that the entire device can operate. The ultrasonic distance sensor (10) and the six-axis tilt sensor (11) monitor the road condition information in real time and transmit it to the microcontroller C (19). The microcontroller C (19) adjusts the motion state of the mechanical leg (1) according to the road condition information. Step 3: When the robot encounters bumps or impacts, the hydraulic cylinder (7-7) contracts and cooperates with the buffer spring A (7-2) and the buffer spring B (7-5) to achieve a buffering effect. The microcontroller C (19) determines the buffering situation by monitoring the data of the buffer variable sensor (15). If necessary, the operation of the servo motor (7-6) and the hydraulic cylinder (7-7) is adjusted to optimize the buffering effect. Step 4: When the ultrasonic distance sensor (10) detects an obstacle in front, the microcontroller C (18) controls the hydraulic cylinder (7-7) to extend and drive the tire (8) to lift according to the distance and height of the obstacle. The multi-stage hydraulic rod adjusts the position of the thigh unit (6) and the calf unit (7) by contraction, thereby generating a swinging effect, so that the mechanical leg (1) passes over the obstacle.

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