A telescopic wheel-leg type agricultural grain transport robot and a working method thereof

Abstract

The application provides a scalable wheel-leg type agricultural grain transport robot and a working method thereof, which comprises a box body, a refrigeration area, a back refrigeration equipment area and a climbable mechanical leg. The inside of the box body is divided into the refrigeration area and the refrigeration equipment area, the refrigeration area is provided with a scalable and inclined small table 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 refrigeration fan and a refrigeration air duct. The bottom of the box body is provided with a detachable base, the base is connected with four climbable mechanical legs on both sides, the mechanical leg is composed of a telescopic unit, a thigh unit, a calf unit and a tire, and the adaptive movement of complex terrain is realized through multi-stage hydraulic pressure and a servo motor. The inside of the tire is provided with a piezoelectric stack structure, which can convert mechanical energy into electrical energy. The application aims to solve the problems of refrigeration difficulty and steep terrain in the transportation process, has the characteristics of efficient refrigeration, strong terrain adaptability, energy saving and environmental protection, is suitable for crop transportation in various complex environments, and improves the transportation efficiency of agricultural products.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery, specifically relating to a retractable wheeled legged agricultural transport robot and its working method. Background Technology

[0002] Existing refrigerated trucks are mostly designed for flat roads and are ill-suited for transporting agricultural products in complex terrains such as mountains and hills. Complex terrain features rugged roads with steep inclines and small turning radii, placing higher demands on vehicle power, stability, and maneuverability. Current refrigerated trucks often face problems such as insufficient power, difficulty climbing slopes, and excessive turning radii in complex terrain. Frequent starts and stops and bumps can also reduce the efficiency of the refrigeration system, making it difficult to maintain a stable low-temperature environment and affecting the quality of agricultural products. Furthermore, the variable road conditions in complex terrain mean that traditional refrigerated trucks lack intelligent road condition recognition and power adjustment systems, making it difficult to adjust power output and refrigeration capacity according to real-time road conditions. This results in high energy consumption, low efficiency, and high transportation losses. Therefore, there is an urgent need to develop a refrigerated truck for transporting agricultural products that is adaptable to complex terrain, possesses efficient refrigeration, and intelligent control functions, to address the shortcomings of existing technologies and improve the efficiency and quality of agricultural product transportation. Summary of the Invention

[0003] The purpose of this invention is to at least solve one of the problems existing in the prior art, and to provide a retractable wheeled legged agricultural transport robot and its working method, which can solve the problems of the prior art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a retractable wheeled legged agricultural transport robot, comprising a housing, characterized in that: the interior of the housing is divided by a heat-conducting plate into a horizontally arranged refrigeration area and a rear refrigeration equipment area; the housing is equipped with a communication module; the rear refrigeration equipment area is equipped with an ice pack lifting device, a refrigeration fan, a refrigeration duct, and an ice pack transport device; the ice pack lifting device consists of an ice pack gripping robotic arm, a robotic gripper, a lifting frame, a lifting platform, a retractable multi-layer platform, and a bearing A; the robotic gripper is equipped with a pressure sensor. The ice pack transport device includes a central column, connecting rods, an ice pack placement box, and rollers. The surface of the ice pack placement box is equipped with a visual recognition module. The interior of the cold storage area contains multiple retractable platforms spaced longitudinally. Each retractable platform is equipped with an ultrasonic sensor and a temperature sensor at its lower end. The top and bottom of the cold storage area are equipped with perforated plates, retractable ice pack dividers, and LED luminous sealing strips. The top of the box has a handle, and the bottom of the box has a large nut embedded in it. Embedded connectors are located at the bottom of each of the four corners of the box, and buffer springs D are fixed to the bottom of each embedded connector. The box is bolted to the base. The front end of the base is equipped with an ultrasonic distance sensor and a six-axis tilt sensor. Four climbing mechanical legs are connected to both sides of the base. Each mechanical leg contains a micro-sensor C and includes a telescopic unit, a thigh unit, a calf unit, and tires. 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 to a cross-shaped base structure. The bottom plate structure is elastically connected to the foot plate via a buffer spring A. The lower leg unit includes a central rod B, a hollow cylindrical body, a bearing C, a shell, a boss, a buffer spring B, a servo motor, and a hydraulic cylinder. The servo motor is equipped with a motor drive module. The upper leg unit includes a horizontal support arm, a support arm shaft, a triangular cavity, and a buffer spring C. The tire has a piezoelectric stack structure inside. The piezoelectric stack structure is composed of high-voltage materials and includes a piezoelectric ceramic sheet, a connecting layer, a positive electrode sheet, a negative electrode sheet, a support structure, and lead-out electrodes.

[0005] As a further embodiment of the present invention: the middle part of the thigh unit and the telescopic unit are fixedly connected inside the cavity through the central rod A. The central rod A is telescopically connected to the multi-stage hydraulic rod. The telescopic unit connects the thigh unit and the calf unit through the central rod A and the boss to form a rotating structure. The bottom of the multi-stage hydraulic rod is fixedly connected to the boss.

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

[0007] As a further aspect of the present invention: one end of the thigh unit is rotatably connected to the base via a rotary motor, the mechanical leg forms a swing structure on both sides of the base, and a micro-sensor C is installed inside the mechanical leg.

[0008] As a further embodiment of the present invention: the tire is connected to the lower leg unit shaft, the piezoelectric stack structure is provided with a support structure, the support structure is provided with piezoelectric ceramic sheets, the piezoelectric ceramic sheets are connected to each other through a connecting layer, and the piezoelectric stack structure is provided with a power management module and a micro-sensor B.

[0009] As a further aspect of the present invention: the retractable platform includes a first retractable portion, which abuts against a heat-conducting plate; a temperature sensor and a micro-sensor D are provided at the bottom of the retractable platform; the retractable ice pack divider is embeddedly connected to a perforated plate; and a sealing strip is connected to the outside of the perforated plate.

[0010] As a further embodiment of the present invention: the refrigeration fan is fixedly connected to the housing, the rear end of the central column is fixedly connected to the housing, and the length of the central column is adjustable; the front end of the central column is rotatably connected to the ice pack placement box via a connecting rod; rollers are provided at the front ends of both sides of the ice pack placement box; tracks are provided on both inner sides of the housing; the rollers move smoothly within the tracks; the rear end of the robotic arm is connected to the lifting frame via a bearing A on a concentric shaft; and the front end of the robotic arm is connected to the mechanical gripper shaft.

[0011] As a further aspect of the present invention: a working method for a retractable wheeled-legged agricultural transport robot includes the following steps: Step 1: First, the ice pack transport device transports the required ice packs to the perforated plate via retraction. Then, the ice pack separator is activated, and the mechanical gripper in the ice pack lifting device grabs the ice packs and places them on top of the multi-layer platform. The ice packs are then lifted by the lifting frame. Microsensor D receives temperature data from the temperature sensor and, according to the preset temperature range, starts the refrigeration fan and adjusts its speed to keep the temperature in the cold storage area constant. Step 2: During transport, the piezoelectric stack structure in the tires is compressed, generating an electric field. The power management module stores the generated electrical energy in the battery. Microsensor B monitors the battery charge in real time and rationally allocates electrical energy according to the energy consumption requirements of each component, providing power to the refrigeration fan and servo motor. Power is supplied to enable the entire device to operate. Simultaneously, ultrasonic distance sensors and a six-axis tilt sensor monitor road conditions in real time and transmit this information to micro-sensor C. Micro-sensor C adjusts the movement of the robotic legs based on this information. Step three: When the robot encounters bumps or impacts, the hydraulic cylinder retracts, working in conjunction with buffer springs A and B to achieve a cushioning effect. Micro-sensor C monitors the data from the buffer sensors to determine the cushioning situation and adjusts the operation of the servo motor and hydraulic cylinder to optimize the cushioning effect. Step four: When the ultrasonic distance sensor detects an obstacle ahead, micro-sensor C controls the hydraulic cylinder to extend, lifting the tires, based on the obstacle's distance and height. Multi-stage hydraulic rods retract to adjust the positions of the thigh and lower leg units, creating a swinging effect that allows the robotic legs to overcome obstacles.

[0012] Compared with the prior art, the advantages of the present invention are:

[0013] 1. This robotic leg design significantly enhances adaptability and stability in complex terrain through the synergistic effect of a multi-stage hydraulic system, buffer springs, and piezoelectric stacked structures. The multi-stage hydraulic rods enable the leg's vertical extension and retraction, and combined with the linkage design of the thigh unit, it can flexibly adjust leg length and posture to adapt to different slopes and obstacles. The cross-shaped base structure at the bottom of the lower leg unit, in conjunction with buffer spring A, effectively absorbs ground impacts, reducing vibration damage to the mechanical structure. Simultaneously, the multi-layered piezoelectric stacked structure inside the tire converts mechanical vibrations into electrical energy, achieving energy recovery and improving energy utilization efficiency. Furthermore, the rotating connection design between the thigh unit and the base allows the robotic leg to swing back and forth, further enhancing obstacle-crossing capabilities. The overall structure is compact, and the detachable connection design facilitates maintenance and replacement, making it suitable for efficient operation of agricultural transport robots in complex terrain. Moreover, the circuit-based control system makes the robotic leg's movement more intelligent and precise, automatically adjusting its posture according to real-time road conditions, improving the robot's ability to traverse complex terrains.

[0014] 2. This refrigerated container achieves efficient temperature control and space utilization through the coordinated design of a retractable platform and a refrigeration fan. The retractable platform can be flexibly adjusted according to the size of the goods, ensuring that crops are evenly contacted with the heat-conducting plate. Combined with real-time temperature monitoring by a temperature sensor, it maintains a stable low-temperature environment. The refrigeration fan, integrated with the refrigeration duct, achieves cold air circulation, improving refrigeration efficiency. The ice pack placement box, with its smooth movement design using rollers and tracks, facilitates quick ice pack replacement and reduces cold loss. Furthermore, the embedded connection between the perforated plate and the sealing strip enhances the container's airtightness, further optimizing the refrigeration effect. The overall design balances efficient refrigeration, flexible space management, and convenient operation, significantly improving the preservation effect and transportation efficiency of crops. The circuit control system can adjust the operation of the refrigeration equipment in real time according to the temperature within the refrigerated area, making the refrigeration effect more stable and reliable, while also reducing energy consumption. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall assembly structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the mechanical leg structure of the present invention.

[0018] Figure 3 This is a schematic diagram of the piezoelectric stack structure of the present invention.

[0019] Figure 4 This is a schematic diagram of the box structure of the present invention. Figure 1 .

[0020] Figure 5 This is a schematic diagram of the box structure of the present invention. Figure 2 .

[0021] Figure 6 This is a schematic diagram of the ice pack lifting device of the present invention.

[0022] Figure 7 This is a schematic diagram of the ice transport box of the present invention.

[0023] Figure 8 This is a schematic diagram of the circuit control system of the present invention.

[0024] Attached reference numerals: 1. Mechanical leg; 2. Housing; 2-1. Heat-conducting plate; 2-2. Refrigeration compartment; 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. Refrigeration fan; 2-10. Refrigeration air duct; 2-11. Ice pack transport device; 2-12. Central column; 2-13. Ice pack placement box; 2-14. Rail; 2-15. Roller; 2-16. Perforated plate; 2-1 7. Divider plate; 2-18. Sealing strip; 2-19. Connecting rod; 3. Ice pack lifting device; 3-1. Robotic arm; 3-2. Mechanical gripper; 3-3. Lifting frame; 3-4. Lifting platform; 3-5. Telescopic multi-layer platform; 3-6. Bearing A; 4. Telescopic 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. Horizontal support arm; 6-2. Support arm 6-3. Rotating shaft; 6-4. Triangular cavity; 6-5. Buffer spring C; 6-6. Bearing B; 7. Lower leg unit; 7-1. Base 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. Boss; 7-10. Center rod; 7-11. Hollow cylindrical solid; 7-12. Rigid rod; 8. Tire; 8-1. Piezoelectric stack structure; 8-2. Piezoelectric ceramic 8-3. Ceramic plate; 8-4. Connecting layer; 8-5. Positive electrode plate; 8-6. Negative electrode plate; 8-7. Support structure; 8-8. Lead-out electrode; 10. Ultrasonic distance sensor; 11. Six-axis tilt sensor; 12. Vision recognition module; 13. Communication module; 14. Pressure sensor; 15. Buffer variable sensor; 16. Power management module; 17. Motor drive module; 18. Microsensor B; 19. Microsensor C; 20. Microsensor D; 21. Ultrasonic sensor. Detailed Implementation

[0025] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can directly and vividly understand each technical feature and the overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0026] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0027] like Figures 1-8As shown, a retractable wheeled agricultural transport robot is provided, including a housing 2. The housing 2 is equipped with a communication module 13, which enables wireless communication between the robot and external devices. The interior of the housing 2 is divided by a heat-conducting plate 2-1 into a horizontally arranged refrigeration zone 2-2 and a back-mounted refrigeration equipment zone 2-3. The back-mounted refrigeration equipment zone 2-3 is equipped with an ice pack lifting device 3, a refrigeration fan 2-9, a refrigeration duct 2-10, and an ice pack transport device 2-11. Cold air is evenly transported to the refrigeration zone 2-2 through the refrigeration duct 2-10 to achieve cold air circulation refrigeration. The cold air circulates through the refrigeration fan 2-9 and the refrigeration duct 2-10, combined with the auxiliary refrigeration of ice packs, to achieve a highly efficient refrigeration effect. The ice pack lifting device... 3 consists of an ice pack grasping robotic arm 3-1, a robotic gripper 3-2, a lifting frame 3-3, a lifting platform 3-4, and a retractable multi-layer platform 3-5. A pressure sensor 14 is installed on the robotic gripper 3-2. The rear end of the robotic arm 3-1 is connected to the lifting frame 3-3 via a bearing 3-6 on a concentric shaft. The front end of the robotic arm 3-1 is connected to the rotating shaft of the robotic gripper 3-2. This allows the robotic gripper 3-2 to grasp the ice pack, rotate the robotic arm 3-1 around the bearing 3-6, and place the ice pack on the retractable multi-layer platform 3-5. The pressure sensor 14 detects pressure changes and transmits the signal to the microcontroller. Upon receiving the signal, the microcontroller controls the lifting frame 3-3 to automatically lift. The microcontroller also controls the motor movements of the robotic arm 3-1 and the robotic gripper 3-2 in the ice pack lifting device 3.

[0028] Furthermore, the ice pack transport device 2-11 includes a central column 2-12, a connecting rod 2-19, an ice pack placement box 2-13, and rollers 2-15. The ice pack placement box 2-13 is used to place ice packs. The rear end of the central column 2-12 is fixedly connected to the box body 2, so that one end of the central column 2-12 is fixed inside the box body. The length of the central column 2-12 is adjustable, and the position of the ice pack is changed by extension and retraction. The front end of the central column 2-12 is rotatably connected to the ice pack placement box 2-13 through the connecting rod 2-19. The ice packs in the ice pack placement box 2-13 are placed on the perforated plate 2-16 by rotation. A Raspberry Pi is used as the main controller to run the logic of visual recognition and robotic arm grasping control. A camera is used to capture images at the default resolution. The video stream is first read through a visual recognition algorithm. Due to the reflective, semi-transparent, and irregularly shaped characteristics of ice packs, and considering the computing power limitations of the Raspberry Pi, we need to preprocess the video images to ensure... To ensure the accuracy of detection and grasping: Denoising is achieved by using Gaussian blur or median filtering to eliminate camera noise, enabling adaptive histogram equalization to improve uneven lighting and prevent overexposure of reflective areas on the ice pack. The image is converted to HSV space, and the color region of the ice pack is segmented using thresholding. Edge detection is used to enhance the image contour. Finally, the size is normalized and scaled, a pre-trained model is loaded, inference is performed on each frame, template matching is performed on the video stream, the ice pack contour is detected, and the pixel coordinates and confidence score of the center point of the ice pack's bounding box are output. Detection results with confidence scores higher than the threshold are filtered to avoid misjudgments. The mechanical gripper in the ice pack lifting device grasps the ice pack according to the coordinates. Rollers 2-15 are provided at the front ends of both sides of the ice pack placement box 2-13, and tracks 2-14 are provided on both inner sides of the box 2. The rollers 2-15 move smoothly within the tracks 2-14. The microcontroller controls the forward and reverse rotation of the motor of the ice pack transport device to realize the movement of the ice pack placement box on the tracks.

[0029] Furthermore, the interior of the cold storage area 2-2 is equipped with multiple retractable platforms 4, which are spaced longitudinally. To enable the retractable platforms to extend and retract according to the size of the crops, ultrasonic sensors 17 are installed at each platform 4. These sensors can measure the distance between the crops and the platforms in real time, thereby determining the size of the crops. The ultrasonic sensors 17 transmit the measurement data to a microcontroller, which calculates the appropriate extension length based on a preset algorithm, achieving precise extension and retraction of the platforms, optimizing space utilization, and improving space efficiency. Each retractable platform 4 includes a first extension portion 4-2, which abuts against the heat-conducting plate 2-1, fixing the rear end of the platform 4 and maintaining its overall position, ensuring efficient transfer of cold energy to the crops. A temperature sensor 4-1 is installed at the bottom of each platform 4, which transmits the temperature through a single... The bus protocol transmits the real-time, accurately measured temperature data of the cold storage area to the micro-sensor D20, so that the micro-sensor D20 can adjust the operation of refrigeration equipment such as the speed of the refrigeration fan according to the preset temperature range. The top and bottom of the cold storage area 2-2 are equipped with a perforated plate 2-16, a retractable ice pack divider 2-17, and an LED luminous sealing strip 2-18. During transportation, cold air is dissipated into the interior of the cold storage area 2-2 through the perforated plate 2-16. The retractable ice pack divider 2-17 is embedded in the perforated plate 2-16. When transporting ice packs, the retractable ice pack divider 2-17 is embedded in the perforated plate 2-16. When the ice packs are transported, the retractable divider 2-17 rises up, separating the ice packs into fixed positions, which facilitates quick replacement of ice packs and uniform distribution of cold air. The perforated plate 2-16 is externally connected to the sealing strip 2-18, which enhances the sealing of the cold storage area 2-2 and reduces cold air loss.

[0030] Furthermore, the top of the housing 2 is provided with a handle 2-4, the bottom of the housing 2 is embedded with a large nut 2-5, and the bottom of each of the four corners of the housing 2 is provided with an embedded connector 2-6. The bottom of the embedded connector 2-6 is fixed with a buffer spring D2-7 to achieve a buffering effect during operation in complex terrain. The housing 2 is bolted to the base 2-8 to achieve a detachable effect. The front end of the base is provided with an ultrasonic distance sensor 10 and a six-axis tilt sensor 11. The ultrasonic distance sensor 10 calculates the distance to the obstacle in front by emitting and receiving ultrasonic waves, providing data support for the obstacle-crossing action of the robotic leg. The six-axis tilt sensor 11 is used to measure the tilt angle and acceleration of the robot in three-dimensional space. The micro-sensor C19 judges the terrain slope based on this and then adjusts the posture and movement mode of the robotic leg.

[0031] Furthermore, four climbing mechanical legs 1 are connected to both sides of the base 2-8. Each mechanical 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 extends and retracts through the multi-stage hydraulic rod 5-3. The extension and retraction of the multi-stage hydraulic system is driven by a dedicated hydraulic control circuit. This circuit receives instructions from the central controller and controls the extension and retraction speed and length of the multi-stage hydraulic system by precisely adjusting the magnitude and direction of the current, thereby realizing the flexible up and down extension and retraction of the mechanical leg 1. The telescopic unit 5 connects the thigh unit 6 and the calf unit 7 through the central rod 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.

[0032] Furthermore, the other end of the lower leg unit 7 is connected to a cross-shaped base plate structure 7-1. The base plate structure 7-1 is elastically connected to the foot plate 7-3 via a buffer spring A7-2. The lower leg unit 7 includes a central rod B7-10, a cylindrical hollow solid 7-11, a bearing C7-4, a shell 7-8, a boss 7-9, a buffer spring B7-5, a servo motor 7-6, and a hydraulic cylinder 7-7. The top of the lower leg unit 7 is provided with a central rod B7-10, which is coaxially connected to a buffer spring C6-4 to achieve the effect of connecting the thigh unit 6 and the lower leg unit 7. The buffer spring C6-4 is bolted to the bearing C7-4 to achieve a buffering effect and reduce the impact of vibration and impact on the entire system. The bearing C7-4 is coaxially connected to a rigid rod 7-12 to form a moving structure. The rigid rod 7-12 is provided inside the triangular cavity 6-3. When an obstacle impacts the lower leg unit 7, the rigid rod 7-12 moves within the triangular cavity. The cavity 6-3 is freely movable, providing buffering and adjustment space for the mechanical leg 1. The support arm pivot 6-2 is bolted to the outer shell 7-8. The rotation of the support arm pivot, in conjunction with the rigid rod 7-12, enables the wheel leg to move to adapt to complex terrain. The buffer spring B7-5 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. A dedicated motor drive module 17 is used to control the servo motor 7-6 and the hydraulic cylinder 7-7. This module receives control signals from the micro-sensor D20 and precisely controls the rotation angle of the servo motor 7-6 and the extension length of the hydraulic cylinder 7-7. The servo motor 7-6 control circuit adjusts the motor speed and torque according to a preset program or real-time feedback signal to ensure precise rotation of each joint of the mechanical leg 1. The hydraulic cylinder 7-7 control circuit adjusts the flow and pressure of the hydraulic oil to enable the hydraulic cylinder 7-7 to accurately extend and retract, achieving buffering and obstacle-crossing functions in conjunction with the buffer spring B.

[0033] Furthermore, the thigh unit 6 includes a horizontal support arm 6-1, a support arm pivot 6-2, a triangular cavity 6-3, and a buffer spring C6-4. The horizontal support 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 mechanical leg 1 forms a stable swing structure on both sides of the base 2-8. This swing structure gives the mechanical leg 1 flexible movement capabilities.

[0034] Furthermore, the tire 8 is internally provided with a piezoelectric stack structure 8-1, which is composed of a high-voltage material. The piezoelectric stack structure 8-1 includes a piezoelectric ceramic sheet 8-2, a connecting layer 8-3, a positive electrode sheet 8-4, a negative electrode sheet 8-5, a support structure 8-6, and an output electrode 8-7. A power management module 16, composed of a power conversion chip, a charging management chip, and an energy storage capacitor, rectifies, filters, and stabilizes the electrical energy generated by the piezoelectric stack structure 8-1 inside the tire before storing it in the battery.

[0035] In use, the required ice packs are first placed in the ice pack placement box 2-13. The ice packs are transported to the perforated plate 2-16 by the rolling of rollers 2-15 along the tracks 2-14 on both sides of the box body 2 and the extension and retraction of the central column 2-12. The mechanical gripper 3-2 in the ice pack lifting device 3 picks up the ice packs, and the rotating mechanical arm 3-1 places them on the extendable multi-layer platform 3-5. Under the control of the pressure sensor 14 and the microcontroller, the ice pack lifting device 3 lifts the ice packs to the designated position. The ice pack separator 2-16 is activated to separate the ice packs into different areas. The refrigeration fan 2-9 is activated, and the temperature of the cold storage area 2-2 is monitored in real time by the temperature sensor 4-1 to ensure a constant temperature. The cold air circulates in a U-shape within the refrigeration duct 2-10, ensuring even distribution of cold air. The equipment is placed inside the box 2 to keep agricultural products in optimal refrigeration condition. The position of the retractable platform 4 is adjusted to ensure that the crops are placed stably. During transportation, the piezoelectric stacked structure 8-1 inside the tire 8 is compressed to generate an electric field, which provides power to the refrigeration fan 2-9 and the servo motor 7-6, enabling the entire device to operate continuously. When encountering obstacles, the hydraulic cylinder 7-7 extends, driving the tire 8 to rise. When the hydraulic cylinder 7-7 retracts, it works in conjunction with the buffer spring B7-5 to achieve a buffering effect and maintain the stability of the transport vehicle. The telescopic unit 5 of the mechanical leg 1 achieves vertical extension and retraction through the multi-stage hydraulic rod 5-3, driving the thigh unit 6 and the lower leg unit 7 to move in tandem. Combined with the shock absorption effect of the buffer spring A7-2 and the buffer spring C6-4, a swinging effect is generated, allowing the mechanical leg 1 to cross obstacles. Upon arrival at the destination, the crops are unloaded from the cold storage area 2-2 by tilting the retractable platform 4. The ice pack placement box 2-13 smoothly pushes the ice packs down, and the ice pack lifting device 3 removes the remaining ice packs from the retractable multi-layer platform 3-5, puts them back into the ice pack placement box 2-13, and then tilts them down by rotating the ice pack placement box 2-13.

[0036] 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 skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A retractable wheeled-legged agricultural transport robot, comprising a housing (2), characterized in that: The interior of the box (2) is divided by a heat-conducting plate (2-1) into a horizontally arranged refrigeration area (2-2) and a back refrigeration equipment area (2-3). The box (2) is equipped with a communication module (13). The back refrigeration equipment area (2-3) is equipped with an ice pack lifting device (3), a refrigeration fan (2-9), a refrigeration duct (2-10), and an ice pack transport device (2-11). The ice pack lifting device (3) consists of an ice pack gripping robotic arm (3-1), a robotic 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 robotic gripper (3-2) is equipped with a pressure sensor (1). 4) The ice pack transport device (2-11) includes a central column (2-12), a connecting rod (2-19), an ice pack placement box (2-13), and rollers (2-15). The surface of the ice pack placement box (2-13) is provided with a visual recognition module (12). The interior of the cold storage area (2-2) is provided with multiple retractable platforms (4), which are arranged longitudinally at intervals. Each retractable platform (4) is equipped with an ultrasonic sensor (21), and a temperature sensor (4-1) is provided at the lower end of each retractable platform (4). The top and bottom of the cold storage area (2-2) are provided with a perforated plate (2-16) and a retractable ice pack divider plate (2-17). And LED luminous sealing strip (2-18), the top of the box (2) is provided with a handle (2-4), the bottom of the box (2) is embedded with a large nut (2-5), the bottom of the four corners of the box (2) are provided with embedded connectors (2-6), the bottom of the embedded connectors (2-6) is fixed with a buffer spring D (2-7), the box (2) is bolted to the base (2-8); the front end of the base is provided with an ultrasonic distance sensor (10) and a six-axis tilt sensor (11), the two sides of the base (2-8) are connected with four climbing mechanical legs (1), the inside of the mechanical legs (1) is provided with a micro sensor C (19), the mechanical legs ( 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 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 base plate structure (7-1); the cross-shaped base 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 solid (7-11), a bearing C (7-4), a shell (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 equipped with a motor drive module (17). The thigh unit (6) includes a horizontal support arm (6-1), a support arm pivot (6-2), a triangular cavity (6-3), and a buffer spring C (6-4). The tire (8) has a piezoelectric stack structure (8-1) inside. The piezoelectric stack structure (8-1) is composed of a high-voltage material. The piezoelectric stack structure (8-1) includes a piezoelectric ceramic sheet (8-2), a connecting layer (8-3), a positive electrode sheet (8-4), a negative electrode sheet (8-5), a support structure (8-6), and an output electrode (8-7).

2. The retractable wheeled legged agricultural 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) through the central rod A (5-1). The central rod A (5-1) is telescopically connected to the multi-stage hydraulic rod (5-3). The telescopic unit (5) is connected to the thigh unit (6) and the calf unit (7) through 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 wheeled legged agricultural transport robot according to claim 1, characterized in that: The lower leg unit (7) is provided with a central rod B (7-10) at its top. The central rod B (7-10) is coaxially connected to the buffer spring C (6-4). 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 rigid rod (7-12) is provided inside the triangular cavity (6-3). The support arm pivot (6-2) is bolted to the outer shell (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). The buffer variable sensor (15) is provided inside the hydraulic cylinder (7-7).

4. The retractable wheeled legged agricultural 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). The mechanical leg (1) forms a swing structure on both sides of the base (2-8). A micro sensor C (19) is installed inside the mechanical leg (1).

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

6. The retractable wheeled legged agricultural transport robot according to claim 1, characterized in that: The retractable platform (4) includes a first telescopic part (4-2), which abuts against a heat-conducting plate (2-1). A temperature sensor (4-1) and a micro-sensor D (20) are provided at the bottom of the retractable platform (4). The retractable ice pack divider (2-17) is embeddedly connected to a perforated plate (2-16). A sealing strip (2-18) is connected to the outside of the perforated plate (2-16).

7. The retractable wheeled legged agricultural transport robot according to claim 1, characterized in that: The refrigeration fan (2-9) is fixedly connected to the housing (2). The rear end of the central column (2-12) is fixedly connected to the housing (2), and the length of the central column (2-12) is adjustable. The front end of the central column (2-12) is rotatably connected to the ice pack placement box (2-13) through the connecting rod (2-19). Rollers (2-15) are provided on the front ends of both sides of the ice pack placement box (2-13). Tracks (2-14) are provided on both inner sides of the housing (2). The rollers (2-15) move smoothly in the tracks (2-14). The rear end of the robotic arm (3-1) is coaxially connected to the lifting frame (3-3) through the bearing A (3-6). The front end of the robotic arm (3-1) is connected to the rotating shaft of the robotic gripper (3-2).

8. A method for operating a retractable wheeled-legged agricultural transport robot according to any one of claims 1 to 7, characterized in that: The steps are as follows: Step 1: First, the ice pack transport device (2-11) transports the required ice packs to the perforated plate (2-16) by telescopic movement. Then, the ice pack separator plate (2-17) is activated, and the mechanical gripper (3-2) in the ice pack lifting device (3) grabs the ice packs and places them on the multi-layer platform (3-5). The ice packs are lifted by the lifting frame (3-3). The micro-sensor D (20) receives the temperature data transmitted by the temperature sensor (4-1). According to the preset temperature range, the refrigeration fan (2-9) is started and its speed is adjusted to keep the temperature in the cold storage area (2-2) constant. Step 2: During transportation, the piezoelectric stack structure (8-1) in the tire (8) is squeezed, generating an electric field. The power management module (16) stores the generated electrical energy in the battery. The micro-sensor B (18) monitors the battery power in real time and allocates the electrical energy reasonably according to the energy consumption requirements of each component, providing power to the refrigeration fan (2-9) and the servo motor (7-6) so that the entire device can operate smoothly. At the same time, the ultrasonic distance sensor (10) and the six-axis tilt sensor (11) monitor the road conditions in real time and transmit them to the micro-sensor C (19). The micro-sensor C (19) adjusts the motion state of the mechanical leg (1) according to the road conditions. Step 3: When the robot encounters bumps or impacts, the hydraulic cylinder (7-7) retracts, and works with the buffer spring A (7-2) and the buffer spring B (7-5) to achieve a buffering effect. The micro-sensor C (19) judges the buffering situation by monitoring the data of the buffer variable sensor (15), and adjusts the work of the servo motor (7-6) and the hydraulic cylinder (7-7) to optimize the buffering effect. Step 4: When the ultrasonic distance sensor (10) detects an obstacle in front, the micro-sensor C (19) controls the hydraulic cylinder (7-7) to extend and drive the tire (8) to rise according to the distance and height of the obstacle. The multi-stage hydraulic rod adjusts the position of the thigh unit (6) and the lower leg unit (7) by retracting, producing a swinging effect, so that the mechanical leg (1) can cross the obstacle.

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