CN114312533A - Outdoor liquid medicine conveyer - Google Patents
Outdoor liquid medicine conveyer Download PDFInfo
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- CN114312533A CN114312533A CN202111453135.XA CN202111453135A CN114312533A CN 114312533 A CN114312533 A CN 114312533A CN 202111453135 A CN202111453135 A CN 202111453135A CN 114312533 A CN114312533 A CN 114312533A
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Abstract
The invention discloses an outdoor liquid medicine conveying device which comprises a conveying vehicle, a mechanical arm and a mechanical paw, wherein the mechanical arm is fixed on the conveying vehicle, and the mechanical paw is connected to the mechanical arm. The aim of stably transporting the liquid medicine is achieved through the grabbing mode of the mechanical hand and the control and adjustment of the mechanical arm; the invention can effectively improve the transportation efficiency and reduce the cost under the condition of safe operation; the design of the invention has the characteristics of accurately controlling the liquid medicine to reach the designated position and stably putting down the liquid medicine, and being suitable for medicine insulation boxes of various sizes and types.
Description
Technical Field
The invention belongs to the technical field of medical auxiliary instruments, and particularly relates to an outdoor liquid medicine conveying device.
Background
In the face of large disastrous events, such as earthquakes and epidemic situations, it is obviously impractical to transfer all the affected personnel to the hospital, and most of the cases require medical personnel to go out of the hospital and transport a large amount of medical materials to the disaster area for use. At this moment, a large amount of manpower resources of a hospital are wasted by transferring and distributing medicines, and meanwhile, the distribution timeliness is greatly influenced, so that the economic burden of the hospital is increased, higher time cost is paid, and rescue in a disaster area is delayed. Most of mechanical equipment used for medicine transportation at the present stage are transportation trolleys or transportation cabinets and the like, and the design is only suitable for the transportation function of a small amount of medicines in indoor or short-distance outdoor environments. It is not suitable for long-distance and large-scale drug transportation. Meanwhile, most of the designs are manual medicine transfer, and the intelligent or assembly line operation characteristics are lacked.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an outdoor liquid medicine transportation device, which solves the technical problems that the existing medicine transportation transfer is carried by manpower, manpower and financial resources are wasted, accidents are easy to happen, and the safety is low.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
the invention discloses an outdoor liquid medicine conveying device which comprises a conveying vehicle, a mechanical arm and a mechanical gripper, wherein the mechanical arm is fixed on the conveying vehicle, and the mechanical gripper is connected to the mechanical arm; the manipulator comprises a plurality of units, each unit comprises a grabbing mechanism, a scanning mechanism and a power mechanism, the power mechanism provides power for the grabbing mechanism, and the scanning mechanism is connected with the grabbing mechanism and the power mechanism respectively.
Further, the mechanical arm comprises a first speed reducer, a first joint, a second speed reducer, a second joint, a third speed reducer, a third joint, a fourth joint, a fifth joint, a base, a large arm and a small arm; the base is fixed on the transport vehicle; the shell of the first speed reducer is connected with the base; the first joint is connected with the first speed reducer, and the bottom end of the second joint is connected with the first joint; the shell of the second joint is connected with a second speed reducer; the second speed reducer is connected with the large arm, and the large arm is connected with the third speed reducer; the third speed reducer is connected with a third joint; the third joint is connected with the small arm; the tail end of the small arm is connected with a fourth joint, and the fourth joint is connected with a fifth joint.
Further, the bottom end of the second joint is connected with the first joint and is vertical to the first joint; the second speed reducer is connected with the large arm and is vertical to the large arm.
Further, motors are arranged in the first joint, the second joint, the fourth joint and the tail end of the forearm.
Furthermore, a plurality of units of the manipulator grab are arranged in a central symmetry mode.
Further, the number of units gripped by the manipulator is 4.
Furthermore, the grabbing mechanism comprises an upper end connecting piece, an upper shell, a lower shell, an upper servo motor, a lower servo motor, an upper lead screw, a lower lead screw, an upper power part, a lower power part, a long connecting rod, a moving long connecting rod, a guide rod, a middle long connecting rod, a scanning part, a moving short connecting rod, a lower end connecting piece, a lower power part and a paw;
the upper servo motor is fixed in the power mechanism and connected with an upper screw rod, the upper screw rod is connected with an upper power part, the upper power part is connected with one end of a middle long connecting rod, the other end of the middle long connecting rod is connected with the middle of the long connecting rod, one end of the long connecting rod is hinged with an upper end connecting piece, and the other end of the long connecting rod is hinged with one end of a moving long connecting rod; the upper end connecting piece is connected with the upper shell; the other end of the long moving connecting rod is hinged with one end of a guide rod, the guide rod penetrates through the scanning component, and the other end of the guide rod is connected with the paw;
the lower servo motor is fixed in the power mechanism and connected with a lower screw rod, the lower screw rod is connected with a lower power part, the lower power part is connected with one end of a middle short connecting rod, and the other end of the middle short connecting rod is connected with the middle of the short connecting rod; one end of the short connecting rod is hinged with the lower end connecting piece, and the other end of the short connecting rod is hinged with one end of the moving short connecting rod; the other end of the motion short connecting rod is connected with the scanning component; the lower end connecting piece is connected with the lower shell.
Furthermore, the scanning mechanism in the manipulator grasping unit comprises a sleeve, a light connecting piece, a roller, a torsion spring, a scanning connecting rod, an induction trigger switch and an infrared sensor;
one end of the light connecting piece is connected with the grabbing mechanism, the tail end of the light connecting piece is connected with one end of the scanning connecting rod, and the other end of the scanning connecting rod is provided with a roller; the other end of the light connecting piece is connected with a sleeve, and the sleeve is connected with the grabbing mechanism; the infrared sensor is connected to the light connecting piece.
Further, the scanning mechanism further comprises a torsion spring and a trigger switch, the trigger switch is fixed between the light connecting piece and the scanning connecting rod, and the torsion spring is fixed on the sensing trigger switch of the light connecting piece and the scanning connecting rod which penetrate through the torsion spring.
Further, the power mechanism comprises an upper shell, an upper servo motor, a lower shell, an upper transmission shell, an upper motor shell, a lower transmission shell, a middle long connecting rod, a middle short connecting rod, an upper screw rod, a lower screw rod, a stroke guide rail, a lower stroke slide block, an upper base, a lower base, an upper stroke slide block, an upper buffer guide rail, a lower buffer slide block, an upper connection hinge, a lower connection hinge, an upper connection piece, an upper screw nut, a lower screw nut and a lower connection piece;
the upper motor shell and the lower motor shell are fixed on the upper base, the upper motor shell is connected with the lower motor shell, the upper transmission shell is connected with the upper motor shell, and the upper transmission shell is connected with the upper transmission shell; the lower motor shell is connected with the lower transmission shell; the lower transmission shell is connected with the lower shell;
the middle long connecting rod is hinged with an upper connecting hinge, the upper connecting hinge is connected with an upper stroke sliding block, and the upper stroke sliding block is connected with a stroke guide rail; the upper buffer guide rail is connected with the upper connecting hinge; the upper buffer sliding block is connected with the upper buffer guide rail and the upper connecting piece; the upper connecting piece is connected with an upper screw nut, and the upper screw nut is connected with one end of an upper screw; the middle short connecting rod is connected with a lower connecting hinge, the lower connecting hinge is connected with a lower stroke sliding block, and the lower stroke sliding block is connected with a stroke guide rail; the lower connecting hinge is connected with the lower buffering guide rail, the lower buffering guide rail is connected with the lower buffering sliding block and the lower connecting piece, the lower connecting piece is connected with the lower lead screw nut, and the lower lead screw nut is connected with one end of the lower lead screw; the upper servo motor and the stroke guide rail are fixed on the upper base, and the upper servo motor is connected with the other end of the upper screw rod; the lower servo motor and the lower stroke slide block are fixed on the lower base; and the lower servo motor is connected with the other end of the lower lead screw.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses an outdoor liquid medicine conveying device, wherein a grabbing device is arranged in a carriage of a conveying trolley, quick placement of grabbed objects is realized through the matching of a mechanical hand grab and a base, and grabbing, lifting and placing processes of medicines are realized through a grabbing and pushing device of the mechanical hand. The invention has the advantages of small volume, small occupied carriage space, simple and beautiful appearance and convenient assembly and disassembly. The invention can effectively improve the transportation efficiency and reduce the cost under the condition of safe operation. The design of the invention has the characteristics of accurately controlling the medicine to reach the designated position and stably putting down the medicine, and adapting to different spatial layouts.
Drawings
FIG. 1 is an overall block diagram of the installation of the present invention;
FIG. 2 is an overall view of the robot arm;
FIG. 3 is an exploded view of a first joint;
wherein: d-a first joint shell; c-a permanent magnet; b-a stator; a-a rotor;
FIG. 4 is a first retarder construction view;
FIG. 5 is a second joint construction view;
FIG. 6 is a second retarder construction view;
FIG. 7 is a view showing the construction of the boom;
FIG. 8 is a view of the structure of the forearm;
FIG. 9 is a view showing a structure of a reducer of a mechanical arm in a forearm;
FIG. 10 is a third joint structure view;
FIG. 11 is an overall view of the gripper;
FIG. 12 is a view of the structure of the gripper mechanism;
FIG. 13 is a front view of the scanning mechanism;
FIG. 14 is a side view of the scanning mechanism;
FIG. 15 is a bottom view of the scanning mechanism;
FIG. 16 is a view showing the external structure of the power mechanism gripped by the manipulator;
fig. 17 is a view showing the internal structure of the power mechanism gripped by the robot hand.
Wherein: 1-upper end connecting piece; 2-a long connecting rod; 3-moving the long connecting rod; 4-a guide rod; 5-a middle long connecting rod; 6-a scanning component; 7-motion short connecting rod; 8-short connecting rod; 9-lower end connecting piece; 10-a lower housing; 11-an upper housing; 121-upper servo motor; 122-lower servo motor; 13-a middle short link; 14-an upper power component; 15-lower power component; 16-a paw; 17-a sleeve; 18-light weight connectors; 19-a roller; 20-torsion spring; 21-a scanning link; 22-inductive trigger switch; 23-an infrared sensor; 24-upper lead screw; 25-lower lead screw; 26-a travel guide; 27-lower stroke slide; 28-upper travel slide; 29-upper buffer rail; 30-lower buffer rail; 31-lower cushion slide; 32-upper cushion slide; 33-upper connecting hinge; 34-lower connecting hinge; 35-upper connection; 36-upper lead screw nut; 37-lower lead screw nut; 38-lower connection; 39-upper drive housing; 40-an upper motor housing; 41-lower motor housing; 42-lower drive housing; 43-a first reducer; 44-a first joint; 45-a second reducer; 46-a second joint; 47-third reducer; 48-third joint; 49-fourth joint; 50-a transport vehicle; 51-a robotic arm; 52-mechanical hand grasping; 53-upper base; 54-a lower base; 55-fifth joint; 56-a base; 57-big arm; 58-small arm.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 1, the present invention is an outdoor liquid medicine transportation device, including a transportation vehicle 50, a mechanical arm 51, and a mechanical gripper 52, wherein the mechanical arm 51 is fixed on the transportation vehicle 50, and the mechanical gripper 52 is connected to the mechanical arm 51; the manipulator gripper 52 comprises a plurality of units, each unit comprises a gripping mechanism, a scanning mechanism 6 and a power mechanism, the power mechanism provides power for the gripping mechanism, and the scanning mechanism is respectively connected with the gripping mechanism and the power mechanism; the plurality of units are centrosymmetric, the number of the units can be determined according to specific conditions, and the number of the units is 4.
The transportation trolley 50 is any vehicle type which meets the installation space condition, and is not necessary in the patent.
As shown in fig. 2, the robot arm includes a first reducer 43, a first joint 44, a second reducer 45, a second joint 46, a third reducer 47, a third joint 48, and a fourth joint 49, a fifth joint 55, a base 56, a large arm 57, and a small arm 58. As shown in fig. 3, the first joint 43 adopts a joint unit mode, integrates the motor and the joint into a whole, has a compact structure, omits a plurality of mechanical connection links, and has high transmission efficiency. The base 56 is fixed to the carriage 50 as shown in fig. 4 and 5; the shell of the first speed reducer 43 is connected with a base 56; the first joint 44 is connected with the first speed reducer 43, and the bottom end of the second joint 46 is connected with the first joint 44; the bottom end of the second joint 46 is connected to the first joint 44. The housing of the second joint 46 is connected with a second reducer 45; the second reducer 45 is connected with the large arm 57, and the large arm 57 is connected with the third reducer 47; the third speed reducer 47 is connected with a third joint 48; the third joint 48 is connected to the lower arm 58; the end of the lower arm 58 is connected to the fourth joint 49, and the fourth joint 49 is connected to the fifth joint 55. The bottom ends of the second joints 46 are connected with the first joints 44 and are perpendicular to each other; the second speed reducer 45 is connected with the large arm 57 and is vertical to the large arm; the large arm 57 is connected to the third joint 48 through the third reduction gear 47, and the third joint 48 is connected to the small arm 58, wherein the large arm 57 is perpendicular to the small arm 58. When the vehicle is driven, the base 56 is fixed on a vehicle body, a joint unit composed of a stator, a rotor, a permanent magnet and the like is arranged in the base, the duty ratio of voltage is controlled to control the rotating speed of the first joint 44 in a PWM mode, the rotating direction is controlled by controlling the current direction, so that the motion control of the first joint 44 is realized, and the first speed reducer 43 plays a role in amplifying torque and reducing speed; the front end of the second joint 46 connected with the second reducer 45 is also provided with a joint unit motor consisting of a stator, a rotor and a permanent magnet, and the control mode is the same as the first joint control mode so as to control the rotation direction and the rotation speed of the second joint 46 and drive the movement of the large arm 52; the third joint 48 is connected with the large arm 52 through a third speed reducer 47, a joint unit motor consisting of a stator, a rotor and a permanent magnet is arranged in the third joint 47, the control mode is the same as that of the first joint and the second joint, and the small arm 53 rotates around the third joint; the small joint unit motor composed of a stator, a rotor and a permanent magnet is installed at the tail end of the small arm 53, the joint unit controls the fourth joint 49 at the tail end to be always kept in a vertical state through a synchronous gear belt and a feedback link, the tail end of the fourth joint 49 is connected with the fifth joint 50 through a bolt connection, the small stator, the rotor and the joint unit motor composed of the permanent magnet are arranged in the fifth joint 50, and the rotary motion of the tail end of the fifth joint 50 is achieved through control.
As shown in fig. 11, the manipulator is divided into three parts, namely a grabbing mechanism, a scanning mechanism and a power mechanism. Since the manipulator is centrosymmetric, only one quarter of the manipulator is taken for illustration analysis for convenience of representation. As shown in fig. 12, the grasping mechanism is composed of an upper end link 1, an upper housing 11, a lower housing 10, an upper servomotor 121, a lower servomotor 122, an upper lead screw 24, a lower lead screw 25, an upper power unit 14, a lower power unit 15, a long link 2, a moving long link 3, a guide rod 4, a middle long link 5, a scanning unit 6, a moving short link 7, a short link 8, a lower end link 9, a lower power unit 15, and a gripper 16. The upper servo motor 121 is fixed in the power mechanism, the upper servo motor 121 is connected with an upper screw rod 24, the upper screw rod 24 is connected with an upper power part 14, the upper power part 14 is connected with one end of a middle long connecting rod 5, the other end of the middle long connecting rod 5 is connected with the middle of a long connecting rod 2, one end of the long connecting rod 2 is hinged with an upper end connecting piece 1, and the other end of the long connecting rod 2 is hinged with one end of a moving long connecting rod 3; the upper end connecting piece 1 is connected with the upper shell 11; the other end of the moving long connecting rod 3 is hinged with one end of a guide rod 4, the guide rod 4 penetrates through the scanning component 6, and the other end of the guide rod is connected with a paw 16; similarly, the lower servo motor 122 is fixed in the power mechanism, the lower servo motor 122 is connected with the lower lead screw 25, the lower lead screw 25 is connected with the lower power part 15, the lower power part 15 is connected with one end of the middle short connecting rod 13, and the other end of the middle short connecting rod 13 is connected with the middle of the short connecting rod 8; one end of the short connecting rod 8 is hinged with the lower end connecting piece 9, and the other end of the short connecting rod is hinged with one end of the moving short connecting rod 7; the other end of the motion short connecting rod 7 is connected with the scanning component 6; the lower end connector 9 is connected to a lower housing 10.
As shown, fig. 13 is a front view of the scanning mechanism, fig. 14 is a side view of the scanning mechanism, and fig. 15 is a bottom view of the scanning mechanism. As can be seen from the three views, the scanning mechanism consists of a sleeve 17, a light connecting piece 18, a roller 19, a torsion spring 20, a scanning connecting rod 21, an inductive trigger switch 22 and an infrared sensor 23. One end of the light connecting piece 18 is connected with the grabbing mechanism, the tail end of the light connecting piece 18 is connected with one end of a scanning connecting rod 21 through a hinge, and the other end of the scanning connecting rod 21 is provided with a roller 19 through the hinge; the other end of the light connecting piece 18 is connected with a sleeve 17 through a screw, and the sleeve 17 is connected with a grabbing mechanism; the infrared sensor 23 is connected to the light connecting piece 18; the scanning mechanism 6 further comprises a torsion spring 20 and a trigger switch 22, the trigger switch 22 is fixed between the light connecting piece 18 and the scanning connecting rod 21, and the torsion spring 20 is fixed on the induction trigger switch 22 of the light connecting piece 18 and the scanning connecting rod 21 which penetrate through the torsion spring and provides a certain torsion force.
As shown in fig. 16, fig. 16 is an external view of the power mechanism, and fig. 17 is an internal view of the power mechanism, in which the power mechanism is composed of an upper housing 11, an upper servo motor 121, a lower servo motor 122, a lower housing 10, an upper transmission housing 39, an upper motor housing 40, a lower motor housing 41, a lower transmission housing 42, a middle long link 5, a middle short link 13, an upper lead screw 24, a lower lead screw 25, a stroke guide 26, a lower stroke slider 27, an upper base 53, a lower base 54, an upper stroke slider 28, an upper buffer guide 29, a lower buffer guide 30, a lower buffer slider 31, an upper buffer slider 32, an upper connection hinge 33, a lower connection hinge 34, an upper connection member 35, an upper lead screw nut 36, a lower lead screw nut 37, and a lower connection member 38.
The upper motor shell 40 and the lower motor shell 41 are fixed on an upper base 53, the upper motor shell 40 is connected with the lower motor shell 41, the upper transmission shell 39 is connected with the upper motor shell 40, and the upper shell 11 is connected with the upper transmission shell 39; the lower motor shell 41 is connected with the lower transmission shell 42; the lower transmission shell 42 is connected with the lower shell 10;
the middle long connecting rod 5 is hinged with an upper connecting hinge 33 through a hinge, the upper connecting hinge 33 is connected with an upper stroke sliding block 28, and the upper stroke sliding block 28 is connected with a stroke guide rail 26; the upper buffer guide rail 29 is connected with an upper connecting hinge 33 through a screw; the upper buffer slide block 32 is connected with the upper buffer guide rail 29, and the upper buffer slide block 32 is connected with the upper connecting piece 35 through a screw; the upper connecting piece 35 is connected with an upper screw nut 36 through a screw, and the upper screw nut 36 is connected with one end of the upper screw 24; the middle short connecting rod 13 is connected with a lower connecting hinge 34 through a hinge, the lower connecting hinge 34 is connected with a lower stroke sliding block 27, and the lower stroke sliding block 27 is connected with a stroke guide rail 26; the lower connecting hinge 34 is connected with the lower buffer guide rail 30, the lower buffer guide rail 30 is connected with the lower buffer sliding block 31 and the lower connecting piece 38, the lower connecting piece 38 is connected with the lower lead screw nut 37, and the lower lead screw nut 37 is connected with one end of the lower lead screw 25; the upper servo motor 121 and the travel guide rail 26 are fixed on the upper base 53, and the upper servo motor 121 is connected with the other end of the upper screw rod 24; the lower servo motor 122 and the lower stroke slider 27 are fixed on the lower base 54; the lower servo motor 122 is connected with the other end of the lower screw rod 25 of the lower screw rod.
When medicines are transported, after the lower end connecting piece 9 on the clamping jaw moves to the upper surface of the medicine box, a sensor at the bottom of the lower end connecting piece 9 gives a signal, and the power mechanism is driven to grab the medicine box. Since the transmission principle of the upper mechanism is the same as that of the process and the lower mechanism, how to achieve the grasping of the medicine is briefly described below as an example. The lower servo motor 122 drives the lower screw rod 25 to rotate, and further drives the lower screw nut 37 on the lower screw rod 25 to move downwards. When the lower stroke slide block 27 does not move to the end of the stroke guide rail 26, the lower buffer slide block 31 and the lower buffer guide rail 30 are not triggered by the sensor, and the magnetic control switch in the lower buffer slide block 31 limits the mutual movement of the lower buffer slide block and the lower buffer guide rail 30, and due to the downward movement of the lower stroke slide block 27, the middle connecting rod 13 performs planar movement to drive the short connecting rod 8 to perform planar movement, so that the scanning component 6 can finally move along the upper surface of the grabbed target medicine box body, and a scanning function is realized. When the lower stroke slide 27 runs to the end of the lower stroke rail 26, a sensor at the end of the lower stroke rail 26 is triggered so that the lower buffer slide 31 can move relatively along the lower buffer rail 30, thereby further increasing the stroke range of the scanning unit 6. After the scanning component 6 reaches the edge of the box body, the torsion spring 20 in the scanning component sends a signal to the sensor to drive the upper power mechanism to move. The planar motion of the middle long connecting rod 5, the long connecting rod 2 and the moving long connecting rod 3 drives the guide rod 4 to move linearly along the scanning component 6, when the paw 16 at the bottom of the guide rod 4 moves to the bottom surface, a sensor at the bottom of the paw 16 gives a signal to stop the operation of the upper servo motor 121, and simultaneously, the lower servo motor 122 rotates reversely to drive the paw 16 to realize a grabbing function, and after the sensor driven by a spring on the scanning component gives a signal, the grabbing success is indicated.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. An outdoor liquid medicine transportation device is characterized by comprising a transportation vehicle (50), a mechanical arm (51) and a mechanical gripper (52), wherein the mechanical arm (51) is fixed on the transportation vehicle (50), and the mechanical gripper (52) is connected to the mechanical arm (51); the manipulator grab (52) comprises a plurality of units, each unit comprises a grabbing mechanism, a scanning mechanism (6) and a power mechanism, the power mechanism provides power for the grabbing mechanism, and the scanning mechanism is connected with the grabbing mechanism and the power mechanism respectively.
2. An outdoor liquid medicine transportation device according to claim 1, characterized in that the robot arm (51) comprises a first decelerator (43), a first joint (44), a second decelerator (45), a second joint (46), a third decelerator (47), a third joint (48), a fourth joint (49), a fifth joint (55), a base (56), a large arm (57) and a small arm (58); the base (56) is fixed on the transport vehicle (50); the shell of the first speed reducer (43) is connected with a base (56); the first joint (44) is connected with a first speed reducer (43), and the bottom end of the second joint (46) is connected with the first joint (44); the shell of the second joint (46) is connected with a second speed reducer (45); the second speed reducer (45) is connected with the large arm (57), and the large arm (57) is connected with the third speed reducer (47); the third speed reducer (47) is connected with a third joint (48); the third joint (48) is connected with the small arm (58); the end of the small arm (58) is connected with a fourth joint (49), and the fourth joint (49) is connected with a fifth joint (55).
3. An outdoor liquid medicine transportation device according to claim 2, characterized in that the bottom ends of the second joints (46) are connected with the first joints (44) and are perpendicular to each other; the second speed reducer (45) is connected with the large arm (57) and is vertical to the large arm.
4. An outdoor liquid medicine transportation device according to claim 2, characterized in that motors are arranged in the first joint (44), the second joint (46), the fourth joint (49) and the end of the small arm (58).
5. An outdoor liquid medicine transportation device according to claim 1, characterized in that several units of the manipulator grips (52) are arranged centrosymmetrically.
6. An outdoor liquid medicine transportation device according to claim 1, characterized in that the number of units of the robot grip (52) is 4.
7. An outdoor liquid medicine transportation device according to claim 1, wherein the gripping mechanism comprises an upper end connecting piece (1), an upper housing (11), a lower housing (10), an upper servo motor (121), a lower servo motor (122), an upper lead screw (24), a lower lead screw (25), an upper power part (14), a lower power part (15), a long connecting rod (2), a moving long connecting rod (3), a guide rod (4), a middle long connecting rod (5), a scanning part (6), a moving short connecting rod (7), a short connecting rod (8), a lower end connecting piece (9), a lower power part (15) and a paw (16);
the upper servo motor (121) is fixed in the power mechanism, the upper servo motor (121) is connected with an upper lead screw (24), the upper lead screw (24) is connected with an upper power component (14), the upper power component (14) is connected with one end of a middle long connecting rod (5), the other end of the middle long connecting rod (5) is connected with the middle of a long connecting rod (2), one end of the long connecting rod (2) is hinged with an upper end connecting piece (1), and the other end of the long connecting rod is hinged with one end of a moving long connecting rod (3); the upper end connecting piece (1) is connected with the upper shell (11); the other end of the moving long connecting rod (3) is hinged with one end of a guide rod (4), the guide rod (4) penetrates through the scanning component (6), and the other end of the guide rod is connected with a paw (16);
the lower servo motor (122) is fixed in the power mechanism, the lower servo motor (122) is connected with a lower screw rod (25), the lower screw rod (25) is connected with a lower power part (15), the lower power part (15) is connected with one end of a middle short connecting rod (13), and the other end of the middle short connecting rod (13) is connected with the middle of a short connecting rod (8); one end of the short connecting rod (8) is hinged with the lower end connecting piece (9), and the other end of the short connecting rod is hinged with one end of the moving short connecting rod (7); the other end of the motion short connecting rod (7) is connected with the scanning component (6); the lower end connecting piece (9) is connected with the lower shell (10).
8. An outdoor liquid medicine transportation device according to claim 1, characterized in that the scanning mechanism (6) in the robot gripper (52) unit comprises a sleeve (17), a light link (18), a roller (19), a torsion spring (20), a scanning link (21), an inductive trigger switch (22) and an infrared sensor (23); one end of the light connecting piece (18) is connected with the grabbing mechanism, the tail end of the light connecting piece (18) is connected with one end of a scanning connecting rod (21), and the other end of the scanning connecting rod (21) is provided with a roller (19); the other end of the light connecting piece (18) is connected with a sleeve (17), and the sleeve (17) is connected with a grabbing mechanism; the infrared sensor (23) is connected to the light connecting piece (18).
9. An outdoor liquid medicine transportation device according to claim 8, characterized in that the scanning mechanism (6) further comprises a torsion spring (20) and a trigger switch (22), the trigger switch (22) is fixed between the light link (18) and the scanning link (21), the torsion spring (20) is fixed on the inductive trigger switch (22) passing through the light link (18) and the scanning link (21).
10. The outdoor liquid medicine conveying device according to claim 1, wherein the power mechanism comprises an upper shell (11), an upper servo motor (121), a lower servo motor (122), a lower shell (10), an upper transmission shell (39), an upper motor shell (40), a lower motor shell (41), a lower transmission shell (42), a middle long connecting rod (5), a middle short connecting rod (13), an upper lead screw (24), a lower lead screw (25), a stroke guide rail (26), a lower stroke slide block (27), an upper base (53), a lower base (54), an upper stroke slide block (28), an upper buffer guide rail (29), a lower buffer guide rail (30), a lower buffer slide block (31), an upper buffer slide block (32), an upper connecting hinge (33), a lower connecting hinge (34), an upper connecting piece (35), An upper screw nut (36), a lower screw nut (37) and a lower connecting piece (38);
the upper motor shell (40) and the lower motor shell (41) are fixed on the upper base (53), the upper motor shell (40) is connected with the lower motor shell (41), the upper transmission shell (39) is connected with the upper motor shell (40), and the upper shell (11) is connected with the upper transmission shell (39); the lower motor shell (41) is connected with the lower transmission shell (42); the lower transmission shell (42) is connected with the lower shell (10);
the middle long connecting rod (5) is hinged with an upper connecting hinge (33), the upper connecting hinge (33) is connected with an upper stroke sliding block (28), and the upper stroke sliding block (28) is connected with a stroke guide rail (26); the upper buffer guide rail (29) is connected with an upper connecting hinge (33); the upper buffer sliding block (32) is connected with the upper buffer guide rail (29) and the upper connecting piece (35); the upper connecting piece (35) is connected with an upper screw nut (36), and the upper screw nut (36) is connected with one end of an upper screw (24); the middle short connecting rod (13) is connected with a lower connecting hinge (34), the lower connecting hinge (34) is connected with a lower stroke sliding block (27), and the lower stroke sliding block (27) is connected with a stroke guide rail (26); the lower connecting hinge (34) is connected with the lower buffering guide rail (30), the lower buffering guide rail (30) is connected with the lower buffering sliding block (31) and the lower connecting piece (38), the lower connecting piece (38) is connected with the lower lead screw nut (37), and the lower lead screw nut (37) is connected with one end of the lower lead screw (25); the upper servo motor (121) and the stroke guide rail (26) are fixed on the upper base (53), and the upper servo motor (121) is connected with the other end of the upper screw rod (24); the lower servo motor (122) and the lower stroke sliding block (27) are fixed on the lower base (54); and the lower servo motor (122) is connected with the other end of the lower lead screw (25) of the lower lead screw.
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