CN114312533B - Outdoor liquid medicine conveyer - Google Patents

Abstract

The invention discloses an outdoor liquid medicine conveying device which comprises a conveying vehicle, a mechanical arm and a mechanical claw, wherein the mechanical arm is fixed on the conveying vehicle, and the mechanical claw is connected to the mechanical arm. The purpose of stably transporting the liquid medicine is achieved through the grabbing mode of the manipulator and the control and adjustment of the manipulator; 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 is suitable for various sizes and types to obtain the medicine incubator.

Description

An outdoor liquid medicine transport device

technical field

The invention belongs to the technical field of medical auxiliary equipment, and in particular relates to an outdoor liquid medicine transportation device.

Background technique

In the face of large-scale disasters, such as earthquakes and epidemics, it is obviously unrealistic to transfer all the affected people to hospitals. In most cases, medical personnel are required to leave the hospital and transport a large amount of medical supplies to the disaster area for use. At this time, the transshipment and distribution of drugs wastes a lot of human resources in the hospital, and at the same time the timeliness of distribution is greatly affected. This not only increases the economic burden of the hospital, but also pays a higher time cost and delays Rescue in disaster areas. At the present stage, most of the mechanical equipment used for drug handling are handling trolleys or handling cabinets, etc. These designs are only suitable for handling a small amount of drugs in indoor or short-distance outdoor environments. It is not suitable for long-distance and large-scale drug transportation. At the same time, most of these designs are manual transfer of medicines, lacking the characteristics of intelligence or assembly line operation.

Contents of the invention

In order to overcome the above-mentioned shortcomings of the prior art, the object of the present invention is to provide an outdoor liquid medicine transportation device, which solves the problem that the current medicine transportation is transferred by manpower, which wastes manpower and financial resources, is prone to accidents, and has low safety. question.

In order to achieve the above object, the present invention adopts the following technical solutions to achieve:

The invention discloses an outdoor liquid medicine transportation device, which includes a transport vehicle, a mechanical arm and a mechanical grip, the mechanical arm is fixed on the transport vehicle, and the mechanical grip is connected to the mechanical arm; the mechanical grip includes several units, Each unit includes a gripping mechanism, a scanning mechanism and a power mechanism, the power mechanism provides power for the gripping mechanism, and the scanning mechanism is connected with the gripping mechanism and the power mechanism respectively.

Further, the mechanical arm includes a first reducer, a first joint, a second reducer, a second joint, a third reducer, a third joint, a fourth joint, a fifth joint, a base, a boom and a forearm ; The base is fixed on the transport vehicle; the shell of the first reducer is connected with the base; the first joint is connected with the first reducer, and the bottom end of the second joint is connected with the first joint; the second The shell of the joint is connected with the second reducer; the second reducer is connected with the big arm, and the big arm is connected with the third reducer; the third reducer is connected with the third joint; the third joint is connected with the forearm; the end of the forearm is connected with the The fourth joint is connected, and the fourth joint is connected to the fifth joint.

Further, the bottom end of the second joint is connected to the first joint and is perpendicular to each other; the second reducer is connected to the boom and is perpendicular to each other.

Further, motors are provided in the first joint, the second joint, the fourth joint and the end of the forearm.

Further, the several units grasped by the manipulator are arranged symmetrically about the center.

Further, the number of units grasped by the manipulator is 4.

Further, the grasping mechanism includes an upper connecting piece, a long connecting rod, a moving long connecting rod, a guide rod, a moving short connecting rod, a short connecting rod, a lower power part and a gripper;

One end of the upper connector is connected to the power mechanism, the other end is hinged to one end of the long connecting rod, the other end of the long connecting rod is hinged to one end of the moving long connecting rod; the middle part of the long connecting rod is connected to the power mechanism; The other end of the moving long connecting rod is hinged to one end of the guide rod, the guide rod passes through the scanning part and the other end is connected with the gripper;

One end of the lower connector is connected to the power mechanism, the other end is hinged to one end of the short connecting rod, the other end of the short connecting rod is hinged to one end of the moving short connecting rod; the other end of the moving short connecting rod is connected to the scanning part connection; the middle part of the short connecting rod is connected with the power mechanism.

Further, the scanning mechanism in the mechanical gripping unit includes a sleeve, a light connector, a roller, a torsion spring, a scanning link, an inductive trigger switch and an infrared sensor;

One end of the light connecting piece is connected with the grabbing mechanism, and the end of the light connecting piece is connected with one end of the scanning link, and the other end of the scanning link is provided with a roller; the other end of the light connecting piece is connected with the sleeve , the sleeve is connected with the grabbing mechanism; the infrared sensor is connected with the light connecting piece.

Further, the scanning mechanism also includes a torsion spring and a trigger switch, the trigger switch is fixed between the light connecting piece and the scanning link, and the torsion spring is fixed between the passing light connecting piece and the scanning link Sensitive trigger switch on.

Further, the power mechanism includes an upper housing, an upper servo motor, a lower servo motor, a lower housing, an upper transmission housing, an upper motor housing, a lower motor housing, a lower transmission housing, a middle long connecting rod, a middle short connecting rod, an upper power Components, lower power part, upper lead screw, lower lead screw, stroke guide, lower stroke slide, upper base, lower base, upper stroke slide, upper cushion guide, lower cushion guide, lower cushion slide, upper cushion slide , the upper connecting hinge, the lower connecting hinge, the upper connecting piece, the upper screw nut, the lower screw nut and the lower connecting piece;

The upper motor casing and the lower motor casing are fixed on the upper base, the upper motor casing is connected to the lower motor casing, the upper transmission casing is connected to the upper motor casing, and one end of the upper casing is connected to the upper transmission casing; The lower motor casing is connected to the lower transmission casing; the lower transmission casing is connected to one end of the lower casing; the other end of the upper casing is connected to one end of the upper connecting piece; the other end of the lower casing is connected to one end of the lower connecting piece ;

The upper servo motor and the lower servo motor are arranged oppositely, and are fixed between the upper shell and the lower shell; the upper servo motor and the lower servo motor drive the upper lead screw and the lower lead screw to move respectively;

The upper lead screw is connected to the upper power part, the upper power part is hinged to one end of the middle long connecting rod through the upper connecting hinge, and the other end of the middle long connecting rod is connected to the middle part of the long connecting rod;

The upper connecting hinge is connected with the upper stroke slider, and the upper stroke slider is connected with the stroke guide rail; the upper buffer guide rail is connected with the upper connecting hinge; the upper buffer slider is connected with the upper buffer guide rail and the upper connector; The upper connecting piece is connected with the upper lead screw nut, and the upper lead screw nut is connected with the upper lead screw; the lower lead screw is connected with the lower power part, and the lower power part is connected with one end of the middle short connecting rod through the lower connecting hinge The other end of the middle short connecting rod is connected with the middle part of the short connecting rod; the lower connecting hinge is connected with the lower stroke slider, and the lower stroke slider is connected with the stroke guide rail; the lower connecting hinge is connected with the lower buffer guide rail connection, the lower buffer guide rail is connected with the lower buffer slider 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 stroke The guide rail is fixed on the upper base, and the upper servo motor is connected with the other end of the upper lead screw; the lower servo motor and the lower stroke slider are fixed on the lower base; the lower servo motor is connected with the other end of the lower lead screw.

Compared with the prior art, the present invention has the following beneficial effects:

The invention discloses an outdoor liquid medicine transportation device. The grabbing device is arranged in the carriage of a transport trolley. Through the cooperation of the gripping of the manipulator and the base, the rapid placement of the grabbed items is realized, and the grasping and pushing device of the manipulator realizes the drug delivery. Picking, lifting and placing procedures. The present invention has small volume, takes up little space in the compartment, has simple and beautiful appearance, and is convenient to assemble and disassemble. The invention can effectively improve transportation efficiency and reduce cost under the condition of safe operation. The design of the present invention has the characteristics of precise control to reach the designated position, stable release of medicines, and adaptability to different spatial layouts.

Description of drawings

Fig. 1 is the overall structural diagram of installing the present invention;

Fig. 2 is the overall structural diagram of the mechanical arm;

Fig. 3 is an exploded structure diagram of the first joint;

Among them: d-first joint shell; c-permanent magnet; b-stator; a-rotor;

Fig. 4 is a structural diagram of the first reducer;

Fig. 5 is the structure diagram of the second joint;

Figure 6 is a structural diagram of the second reducer;

Fig. 7 is a structural diagram of the boom;

Figure 8 is a structural diagram of the forearm;

Fig. 9 is a structural diagram of the mechanical arm reducer in the forearm;

Fig. 10 is the structure diagram of the third joint;

Fig. 11 is the overall structural diagram of the mechanical gripper;

Fig. 12 is the structural diagram of the grabbing mechanism of the manipulator;

Figure 13 is a front view of the scanning mechanism;

Figure 14 is a side view of the scanning mechanism;

Figure 15 is a bottom view of the scanning mechanism;

Fig. 16 is the external structural diagram of the manipulator grasping power mechanism;

Fig. 17 is the internal structural diagram of the mechanical hand grasping power mechanism.

Among them: 1-upper connecting piece; 2-long connecting rod; 3-moving long connecting rod; 4-guide rod; 5-middle long connecting rod; 6-scanning part; 7-moving short connecting rod; 8-short connecting rod ;9-lower end connector; 10-lower shell; 11-upper shell; 121-upper servo motor; 122-lower servo motor; 13-middle short connecting rod; 14-upper power part; 15-lower power part; Claw; 17-sleeve; 18-light connector; 19-roller; 20-torsion spring; 21-scanning link; 22-induction trigger switch; 23-infrared sensor; 24-upper screw; 25-lower screw Bar; 26-stroke guide rail; 27-lower stroke slider; 28-upper stroke slider; 29-upper buffer guide; 30-lower buffer guide; 31-lower buffer slider; 32-upper buffer slider; 33-upper Connection hinge; 34-bottom connection hinge; 35-upper connector; 36-upper screw nut; 37-lower screw nut; 38-lower connector; 39-upper transmission shell; 40-upper motor shell; Motor shell; 42-lower transmission shell; 43-first reducer; 44-first joint; 45-second reducer; 46-second joint; 47-third reducer; 48-third joint; 49- Fourth joint; 50-transporter; 51-mechanical arm; 52-manipulator grip; 53-upper base; 54-lower base; 55-fifth joint;

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

The present invention is described in further detail below in conjunction with accompanying drawing:

As shown in Figure 1, the present invention is an outdoor liquid medicine transport device, comprising a transport vehicle 50, a mechanical arm 51, and a mechanical arm 52, the mechanical arm 51 is fixed on the transport vehicle 50, and the mechanical arm 52 is connected to the mechanical arm 51; Described manipulator grasps 52 and comprises several units, and each unit comprises grasping mechanism, scanning mechanism 6 and power mechanism, and described power mechanism provides power for grasping mechanism, and scanning mechanism is connected with grasping mechanism; Symmetry, the number of units can be determined according to specific conditions, and the number in this embodiment is 4.

The transport trolley 50 is any vehicle model that satisfies the installation space conditions, which is not a necessary content of this patent.

As shown in Figure 2, the mechanical arm comprises a first reducer 43, a first joint 44, a second reducer 45, a second joint 46, a third reducer 47, a third joint 48, a fourth joint 49, a fifth joint 55, base 56, big arm 57 and forearm 58. As shown in FIG. 3 , the first joint 43 adopts the form of a joint unit, which integrates the motor and the joint, has a compact structure, saves many mechanical connection links, and has high transmission efficiency. As shown in Figure 4 and Figure 5, the base 56 is fixed on the transport vehicle 50; the shell of the first reducer 43 is connected to the base 56; the first joint 44 is connected to the first reducer 43, and the first reducer 43 is connected to each other; The bottom ends of the two joints 46 are connected with the first joint 44 ; the bottom ends of the second joint 46 are connected with the first joint 44 . The casing of the second joint 46 is connected with the second reducer 45; the second reducer 45 is connected with the boom 57, and the boom 57 is connected with the third reducer 47; the third reducer 47 is connected with the third joint 48; the third The joint 48 is connected with the forearm 58 ; the end of the forearm 58 is connected with the fourth joint 49 , and the fourth joint 49 is connected with the fifth joint 55 . The bottom end of the second joint 46 is connected to the first joint 44 and is perpendicular to each other; the second reducer 45 is connected to the boom 57 and is perpendicular to each other; the boom 57 is connected to the third joint 48 through the third reducer 47, and the second The three joints 48 are connected to the forearm 58 , wherein the big arm 57 is perpendicular to the forearm 58 . When driving, the base 56 is fixed on the car body, and the inside of the base is a joint unit composed of a stator, a rotor, a permanent magnet, etc., and the PWM mode is used to control the duty cycle of the voltage to control the rotation speed of the first joint 44. By controlling the direction of the current to The direction of rotation is controlled to realize the motion control of the first joint 44. The first speed reducer 43 acts to amplify the torque and decelerate; at the front end where the second joint 46 is connected to the second speed reducer 45, there are also stators, rotors, and permanent The joint unit motor composed of magnets is controlled in the same way as the first joint control mode to control the rotation direction and speed of the second joint 46 to drive the movement of the boom 52; the third joint 48 is connected to the boom 52 through the third reducer 47 connection, the third joint 47 is a joint unit motor composed of a stator, a rotor, and a permanent magnet. The control method is the same as that of the first and second joints to realize the rotation of the small arm 53 around the third joint; A small joint unit motor composed of a stator, a rotor and a permanent magnet. This joint unit controls the fourth joint 49 at the end to always maintain a vertical state through a synchronous gear belt and a feedback link. The end of the fourth joint 49 is connected to the fifth joint 50 through a bolt connection , the fifth joint 50 has a small stator, a rotor, and a joint unit motor composed of permanent magnets, and through control, the rotation of the end of the fifth joint 50 is realized.

As shown in Figure 11, the manipulator is divided into three parts: grabbing mechanism, scanning mechanism and power mechanism. Since the manipulator is centrally symmetrical, only a quarter of it is taken for explanatory analysis for the convenience of representation. As shown in Figure 12, the grabbing mechanism consists of an upper connecting piece 1, a long connecting rod 2, a moving long connecting rod 3, a guide rod 4, a moving short connecting rod 7, a short connecting rod 8, a lower connecting piece 9 and a claw 16 . One end of the upper connector 1 is connected to the power mechanism, the other end is hinged to one end of the long connecting rod 2, and the other end of the long connecting rod 2 is hinged to one end of the moving long connecting rod 3; the middle part of the long connecting rod 2 Connected with the power mechanism; the other end of the moving long connecting rod 3 is hinged with one end of the guide rod 4, and the guide rod 4 passes through the scanning part 6 and the other end is connected with the claw 16;

One end of the lower end connector 9 is connected with the power mechanism, and the other end is hinged with one end of the short connecting rod 8, and the other end of the short connecting rod 8 is hinged with one end of the moving short connecting rod 7; The other end is connected with the scanning component 6; the middle part of the short connecting rod 8 is connected with the power mechanism.

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. It can be seen from the three views that the scanning mechanism is composed of a sleeve 17 , a light connector 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 connector 18 is connected to the grabbing mechanism, and the end of the light connector 18 is connected to one end of the scanning link 21 through a hinge, and the other end of the scan link 21 is provided with a roller 19 through a hinge; The other end of the light connector 18 is connected to the sleeve 17 by a screw, and the sleeve 17 is connected to the gripping mechanism; the infrared sensor 23 is connected to the light connector 18; the scanning mechanism 6 also includes a torsion spring 20 and a trigger switch 22, The trigger switch 22 is fixed between the light connecting piece 18 and the scanning link 21, and the torsion spring 20 is fixed on the inductive trigger switch 22 passing through the light connecting piece 18 and the scanning link 21, providing a certain torque.

As shown in Figure 16, Figure 16 is an external view of the power mechanism, and Figure 17 is an internal view of the power mechanism. , Upper motor housing 40, lower motor housing 41, lower transmission housing 42, middle long connecting rod 5, middle short connecting rod 13, upper power part 14, lower power part 15, upper lead screw 24, lower lead screw 25, travel guide rail 26. Lower stroke slider 27, upper base 53, lower base 54, upper stroke slider 28, upper buffer guide rail 29, lower buffer guide rail 30, lower buffer slider 31, upper buffer slider 32, upper connecting hinge 33, lower The connecting hinge 34, the upper connecting piece 35, the upper leading screw nut 36, the lower leading screw nut 37 and the lower connecting piece 38 are composed.

The upper motor housing 40 and the lower motor housing 41 are fixed on the upper base 53, the upper motor housing 40 is connected to the lower motor housing 41, the upper transmission housing 39 is connected to the upper motor housing 40, one end of the upper housing 11 Connected with the upper transmission housing 39; the lower motor housing 41 is connected with the lower transmission housing 42; the lower transmission housing 42 is connected with one end of the lower housing 10; the other end of the upper housing 11 is connected with one end of the upper connector 1 ; The other end of the lower shell 10 is connected to one end of the lower connector 9;

The upper servo motor 121 and the lower servo motor 122 are arranged oppositely, and are fixed between the upper housing 11 and the lower housing 10; the upper servo motor 121 and the lower servo motor 122 respectively drive the upper screw 24 and the lower screw 25 to move;

The upper leading screw 24 is connected with the upper power part 14, and the upper power part 14 is hinged with one end of the middle long connecting rod 5 through the upper connecting hinge 33, and the other end of the middle long connecting rod 5 is connected with the middle part of the long connecting rod 2;

The upper connecting hinge 33 is connected with the upper stroke slider 28, and the upper stroke slider 28 is connected with the stroke guide rail 26; the upper buffer guide rail 29 is connected with the upper connecting hinge 33 by screws; the upper buffer slider 32 is connected with the upper stroke guide rail 26; The upper buffer guide rail 29 is connected, and the upper buffer slider 32 is connected with the upper connector 35 by screws; the upper connector 35 is connected with the upper lead screw nut 36 by screws, and the upper lead screw nut 36 is connected with the upper lead screw 24; The lower lead screw 25 is connected with the lower power part 15, and the lower power part 15 is connected with one end of the middle short connecting rod 13 through the lower connecting hinge 34; the other end of the middle short connecting rod (13) and the short connecting rod (8 ) is connected in the middle; the lower connecting hinge 34 is connected with the lower stroke slider 27, and the lower stroke slider 27 is connected with the stroke guide rail 26; the lower connecting hinge 34 is connected with the lower buffer guide rail 30, and the lower buffer guide rail 30 is connected with the lower buffer slider 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 is fixed on the upper base 53, and the upper servo motor 121 is connected with the other end of the upper lead screw 24; the lower servo motor 122 and the lower stroke slider 27 are fixed on the lower base 54; the lower servo motor 122 and the lower Leading screw bottom leading screw 25 other ends are connected.

During medicine transportation, when the lower connecting part 9 on the jaw moves to the upper surface of the medicine box, the sensor at the bottom of the lower connecting part 9 will give a signal to drive the power mechanism to grab the medicine box. Since the transmission principle and process of the upper mechanism are the same as that of the lower mechanism, the following will briefly describe how to realize the grasping of medicines by taking the lower mechanism as an example. The lower servo motor 122 drives the lower lead screw 25 to rotate, and then drives the lower lead screw nut 37 on the lower lead screw 25 to move downward. When the lower stroke slider 27 did not run to the end of the stroke guide rail 26, the lower buffer slider 31 and the lower buffer guide rail 30 will be limited due to the presence of the magnetic switch inside the lower buffer slider 31 because the sensor is not triggered. The mutual movement of the lower buffer guide rails 30, due to the downward movement of the lower stroke slider 27, the middle connecting rod 13 will then carry out a planar movement to drive the short connecting rod 8 to carry out a planar movement, and finally the scanning part 6 can move along the captured The upper surface of the target drug box moves to realize the scanning function. When the lower stroke slider 27 runs to the end of the lower stroke guide rail 26, the sensor at the end of the lower stroke guide rail 26 is triggered so that the lower buffer slider 31 can move relatively along the lower buffer guide rail 30, thereby further improving the scanning component 6. range of travel. After the scanning part 6 reaches the edge of the box, the torsion spring 20 inside it will send a signal to the sensor to drive the upper power mechanism to move. The planar movement of the middle long connecting rod 5, the long connecting rod 2 and the moving long connecting rod 3 will drive the guide rod 4 to move linearly along the scanning part 6. When the claw 16 at the bottom of the guide rod 4 moves to the bottom surface, the claw 16 The sensor at the bottom gives a signal to make the upper servo motor 121 stop running, and at the same time makes the lower servo motor 122 reversely rotate and then drives the gripper 16 to realize the grabbing function. When the sensor driven by the spring on the scanning part gives a signal, it means grabbing take success.

The above content is only to illustrate the technical ideas of the present invention, and cannot limit the protection scope of the present invention. Any changes made on the basis of the technical solutions according to the technical ideas proposed in the present invention shall fall within the scope of the claims of the present invention. within the scope of protection.

Claims (7)

1. The outdoor liquid medicine conveying device is characterized by comprising a conveying vehicle (50), a mechanical arm (51) and a mechanical arm gripper (52), wherein the mechanical arm (51) is fixed on the conveying vehicle (50), and the mechanical arm gripper (52) is connected to the mechanical arm (51); the manipulator gripper (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;

the grabbing mechanism comprises an upper end connecting piece (1), a long connecting rod (2), a moving long connecting rod (3), a guide rod (4), a moving short connecting rod (7), a short connecting rod (8), a lower end connecting piece (9) and a paw (16);

one end of the upper end connecting piece (1) is connected with the power mechanism, the other end of the upper end connecting piece is hinged with one end of the long connecting rod (2), and the other end of the long connecting rod (2) is hinged with one end of the moving long connecting rod (3); the middle part of the long connecting rod (2) is connected with a power mechanism; the other end of the moving long connecting rod (3) is hinged with one end of a guide rod (4), the guide rod (4) passes through the scanning component (6) and the other end of the guide rod is connected with the paw (16);

one end of the lower end connecting piece (9) is connected with the power mechanism, the other end of the lower end connecting piece is hinged with one end of the short connecting rod (8), and the other end of the short connecting rod (8) is hinged with one end of the movable short connecting rod (7); the other end of the motion short connecting rod (7) is connected with the scanning component (6); the middle part of the short connecting rod (8) is connected with a power mechanism;

the scanning mechanism (6) in the manipulator grabbing (52) unit comprises a sleeve (17), a light connecting piece (18), a roller (19), a torsion spring (20), a scanning connecting rod (21), an induction 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 the 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 the sleeve (17), and the sleeve (17) is connected with the grabbing mechanism; the infrared sensor (23) is connected to the light-weight 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.

2. An outdoor liquid medicine transportation device according to claim 1, wherein the mechanical 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 big 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 the 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 shell of the second joint (46) is connected with a second speed reducer (45); the second speed reducer (45) is connected with a big arm (57), and the big arm (57) is connected with a third speed reducer (47); the third speed reducer (47) is connected with a third joint (48); the third joint (48) is connected with the forearm (58); the tail end of the forearm (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, wherein the bottom ends of said second joints (46) are connected to the first joints (44) and are perpendicular to each other; the second decelerator (45) is connected to the large arm (57) and is perpendicular to each other.

4. An outdoor liquid medicine transportation device according to claim 2, characterized in that motors are provided in said first joint (44), in said second joint (46), in said fourth joint (49) and in the end of said forearm (58).

5. An outdoor liquid medicine transportation device according to claim 1, characterized in that several units of the robot grip (52) are arranged centrally symmetrically.

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 power mechanism comprises 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 power part (14), a lower power part (15), an upper lead screw (24), a lower lead screw (25), a travel rail (26), a lower travel slide (27), an upper base (53), a lower base (54), an upper travel slide (28), an upper buffer rail (29), a lower buffer rail (30), a lower buffer slide (31), an upper buffer slide (32), an upper connection hinge (33), a lower connection hinge (34), an upper connection piece (35), an upper lead screw nut (36), a lower lead screw nut (37) and a lower connection piece (38);

the upper motor housing (40) and the lower motor housing (41) are fixed on an upper base (53), the upper motor housing (40) is connected with the lower motor housing (41), the upper transmission housing (39) is connected with the upper motor housing (40), and one end of the upper housing (11) is connected with the upper transmission housing (39); the lower motor housing (41) is connected with the lower transmission housing (42); the lower transmission shell (42) is connected with one end of the lower shell (10); the other end of the upper shell (11) is connected with one end of the upper end connecting piece (1); the other end of the lower shell (10) is connected with one end of a lower end connecting piece (9);

the upper servo motor (121) and the lower servo motor (122) are oppositely arranged and fixed between the upper shell (11) and the lower shell (10); the upper servo motor (121) and the lower servo motor (122) respectively drive the upper lead screw (24) and the lower lead screw (25) to move;

the upper lead screw (24) is connected with the upper power component (14), the upper power component (14) is hinged with one end of the middle long connecting rod (5) through an upper connecting hinge (33), and the other end of the middle long connecting rod (5) is connected with the middle part of the long connecting rod (2); the upper connecting hinge (33) is connected with the upper travel sliding block (28), and the upper travel sliding block (28) is connected with the travel guide rail (26); the upper buffer guide rail (29) is connected with an upper connecting hinge (33); the upper buffer slide 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 an upper screw (24); the lower lead screw (25) is connected with a lower power component (15), and the lower power component (15) is connected with one end of the middle short connecting rod (13) through a lower connecting hinge (34); the other end of the middle short connecting rod (13) is connected with the middle part of the short connecting rod (8); 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 slide 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 sliding block (27) are fixed on the lower base (54); the lower servo motor (122) is connected with the other end of the lower lead screw (25).

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