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CN-121515244-B - Intelligent obstacle avoidance device robot with body

CN121515244BCN 121515244 BCN121515244 BCN 121515244BCN-121515244-B

Abstract

The invention discloses an intelligent obstacle avoidance robot, which belongs to the technical field of robot obstacle avoidance, and comprises a main body, wherein a controller is fixedly arranged in the main body, a binocular vision sensor connected with the controller is arranged on the main body, a storage component is arranged at the top of the side wall of the main body, a carrying component is connected to the middle part of the main body, the carrying component comprises a first driving unit and two symmetrically arranged clamping sections, the first driving unit drives the two clamping sections to be close to or far away from each other, the bottom of the main body is connected with a walking driving component, the walking driving component comprises a second driving unit and two symmetrically arranged supporting legs, each supporting leg comprises a left leg and a right leg, the bottoms of the left leg and the right leg are connected with universal wheel components, and the second driving unit drives the left leg and the right leg to be close to or far away from each other. The intelligent obstacle avoidance robot with the structure can improve the flexibility of the robot during obstacle avoidance, and further ensure the reliability of movement of the robot.

Inventors

  • WANG XING
  • ZHANG ZHENGYI
  • WANG YAJUAN

Assignees

  • 雄安智元科技有限公司

Dates

Publication Date
20260508
Application Date
20251129

Claims (8)

  1. 1. The intelligent obstacle avoidance robot is characterized by comprising a main body (1), wherein a controller is fixedly arranged in the main body (1), a binocular vision sensor (2) connected with the controller is arranged on the main body (1), a storage component (3) is arranged at the top of the side wall of the main body (1), a carrying component (4) is connected to the middle part of the main body (1), the carrying component (4) comprises a first driving unit (41) and two symmetrically arranged clamping arms (42), the first driving unit (41) is fixedly connected to the main body (1), the first driving unit (41) drives the two clamping arms (42) to be close to or far away from each other, a walking driving component (5) is connected to the bottom of the main body (1), the walking driving component (5) comprises a second driving unit (51) and two symmetrically arranged supporting legs, each supporting leg comprises a left leg (52) and a right leg (53), the bottoms of the left leg (52) and the right leg (53) are respectively connected with a universal driving unit (54) which is connected to the bottom of the left leg (52) and the right leg (53), and the second driving unit (51) is close to or far away from each other, and the left driving unit (51) is fixedly connected to the main body (51); The clamping arm (42) comprises a telescopic section (421), a connecting section (422) and a clamping section (423) which are sequentially and vertically connected, the telescopic section (421) and the clamping section (423) are positioned on the same side of the connecting section (422), and a rack (424) is fixedly connected to the top surface of the telescopic section (421); The first driving unit (41) comprises a through slot (411) horizontally penetrating through the main body (1), a threaded rod (412) and a guide rod (413) which are vertically arranged are fixedly connected in the through slot (411), the top end of the threaded rod (412) is connected with a first motor (414) fixed on the inner wall of the through slot (411), the threaded rod (412) is connected with a lifting plate (415) in a threaded manner, the lifting plate (415) is provided with guide holes which are correspondingly arranged with the guide rod (413), two end surfaces of the lifting plate (415) are respectively provided with a storage slot, the storage slots are slidably connected with the telescopic sections (421), two ends of the top surface of the lifting plate (415) are respectively provided with a yielding hole, a first gear (416) is rotationally connected with a second motor (417) fixed on the lifting plate (415), and the first gear (416) is in meshed connection with the rack (424); The second driving unit (51) comprises a third motor (511), a driving gear (512) and two left-right screw rods (513), wherein the third motor (511) and the driving gear (512) are both positioned in an inner cavity of the main body (1), the third motor (511) is fixedly connected with the main body (1), an output shaft of the third motor (511) is fixedly connected with the driving gear (512), the two left-right screw rods (513) are horizontally symmetrically arranged and are in rotary connection with the main body (1), left-right screw nut seats (514) on the two left-right screw rods (513) are both fixedly connected with the top ends of left legs (52), the right-right screw nut seats (515) of the two left-right screw rods (513) are both fixedly connected with teeth (516) uniformly distributed along the circumference direction of the teeth (513), and the two left-right screw rods (513) are both fixedly connected with the teeth (516) of the driving screw rods (512).
  2. 2. The intelligent obstacle avoidance robot of claim 1 wherein a pressure sensor (425) is fixedly connected to an end surface of the clamping section (423) away from the connecting section (422), and the pressure sensor (425) is electrically connected with the controller.
  3. 3. The intelligent obstacle avoidance robot of claim 2 wherein the first motor (414) and the second motor (417) are both coupled to the controller.
  4. 4. The intelligent obstacle avoidance robot of claim 1, wherein two horizontal rods (6) are fixedly connected to the main body (1), the horizontal rods (6) are respectively arranged above the two left-handed and right-handed screw rods (513) in parallel, the horizontal rods (6) are in sliding connection with the left-handed nut seat (514) and the right-handed nut seat (515), and the binocular vision sensors (2) are fixedly connected to the sides, away from each other, of the two horizontal rods (6).
  5. 5. The intelligent obstacle avoidance robot of claim 1, wherein the universal wheel assembly (54) comprises a cylindrical groove formed in the bottom surface of the left leg (52) and the right leg (53), a rotating shaft (541) is rotatably connected to the top wall of the cylindrical groove, a transmission gear is arranged in the middle of the side wall of the rotating shaft (541), the transmission gear is meshed with a steering gear, the steering gear is connected with a fourth motor, the fourth motor is fixedly connected in a torsion box (542) on the side wall of the left leg (52) or the right leg (53), the bottom end of the rotating shaft (541) is fixedly connected with the top surface of a steering seat (543), a support (544) is fixedly connected to the bottom surface of the steering seat (543), a roller (545) is rotatably connected between two side support plates of the support (544), one end of a central shaft of the roller (545) is fixedly connected with a driven sprocket (546), the driven sprocket (546) is in transmission connection with a driving sprocket (547), the driving sprocket (548) is fixedly connected with a fifth motor (549), and the fifth motor (548) is fixedly connected with a fifth side plate (549), and the fifth side plate (549) is fixedly connected to the fifth side plate (549).
  6. 6. The intelligent obstacle avoidance robot as set forth in claim 1, wherein the storage assembly (3) comprises a main tray (31) fixedly connected with the main body (1), receiving grooves are formed in two end faces of the main tray (31), and an auxiliary tray (32) is slidably connected in the receiving grooves.
  7. 7. The intelligent obstacle avoidance robot of claim 6, wherein a handle (7) is fixedly connected to the outer end face of the auxiliary tray (32), a first limiting block is symmetrically and fixedly connected to one end, far away from the handle (7), of the bottom face of the auxiliary tray (32), and a second limiting block is symmetrically and fixedly connected to one end, close to the notch, of the bottom face of the accommodating groove.
  8. 8. The intelligent obstacle avoidance robot of claim 1, wherein the main body (1) comprises an upper portion (11) and a lower portion (12) which are arranged up and down, the object placing component (3) is located on the upper portion (11), the walking driving component (5) is located on the lower portion (12), two supporting rods (8) are symmetrically and fixedly connected to the top surface of the lower portion (12), mounting holes (9) which are arranged along the length direction of the supporting rods (8) are formed in the supporting rods (8), slots which are arranged corresponding to the supporting rods (8) are formed in the bottom surface of the upper portion (11), through holes which are communicated with the slots are formed in the side wall of the upper portion (11), fixing pieces (10) are connected to the through holes in a threaded mode, and the fixing pieces (10) are connected with the mounting holes (9) in an adapting mode.

Description

Intelligent obstacle avoidance device robot with body Technical Field The invention belongs to the technical field of robot obstacle avoidance, and particularly relates to an intelligent obstacle avoidance robot. Background With the popularization of robots, various industries gradually use robots to replace manual work, for example, service consumption robots are used to replace manual work to perform unmanned delivery services such as home service processing, dining in restaurants, take-away last kilometers and delivery. When the robot carries out meal delivery work in a restaurant, the robot always needs to move according to meal delivery places, and obstacles such as toys dropped by children are frequently encountered in the moving process and are moved to chairs on aisles, the obstacle avoidance principle of the robot in the prior art is mostly that the robot is a spanning type obstacle avoidance or an avoidance type obstacle avoidance, but the robot has the following problems when the size of the obstacle exceeds the span of the robot or enough avoidance space is not available, the robot can only stop before, and the moving reliability of the robot is greatly reduced. In order to solve the above problems, it is necessary to provide a novel intelligent obstacle avoidance robot. Disclosure of Invention The invention aims to provide an intelligent obstacle avoidance robot body, which can improve the flexibility of the robot during obstacle avoidance and further ensure the reliability of the movement of the robot. In order to achieve the above purpose, the invention provides an intelligent obstacle avoidance robot, which comprises a main body, wherein a controller is fixedly arranged in the main body, a binocular vision sensor connected with the controller is arranged on the main body, a storage component is arranged at the top of the side wall of the main body, a carrying component is connected to the middle part of the main body, the carrying component comprises a first driving unit and two symmetrically arranged clamping arms, the first driving unit is fixedly connected to the main body, the first driving unit drives the two clamping arms to approach or separate from each other, the bottom of the main body is connected with a walking driving component, the walking driving component comprises a second driving unit and two groups of symmetrically arranged supporting legs, each group of supporting legs comprises a left leg and a right leg, the bottoms of the left leg and the right leg are connected with a universal wheel component, the second driving unit is fixedly connected to the main body, and the second driving unit drives the left leg and the right leg to approach or separate from each other. Preferably, the arm lock is including flexible section, linkage segment and the centre gripping section of perpendicular connection in proper order, flexible section with the centre gripping section is located the same side of linkage segment, the top surface fixedly connected with rack of flexible section, the centre gripping section is kept away from fixedly connected with pressure sensor on the terminal surface of linkage segment, pressure sensor with the controller electricity is connected. Preferably, the first drive unit includes the level runs through the logical groove of main part, logical inslot fixedly connected with threaded rod and the guide bar of vertical setting, the top of threaded rod with fix lead to first motor on the inslot wall and be connected, threaded connection has the lifter plate on the threaded rod, be equipped with on the lifter plate with the guide hole that the guide bar corresponds the setting, all be equipped with on the terminal surface of lifter plate and accomodate the groove, it has to slide in the groove to accomodate the telescopic link, the top surface both ends of lifter plate all are equipped with the hole of stepping down, the hole of stepping down is rotationally connected with first gear, first gear with fix second motor on the lifter plate is connected, just first gear with rack meshing is connected, first motor with the second motor all with the controller is connected. Preferably, the second driving unit comprises a third motor, a driving gear and two left-right screw rods, the third motor and the driving gear are both located in an inner cavity of the main body, the third motor is fixedly connected with the main body, an output shaft of the third motor is fixedly connected with the driving gear, the two left-right screw rods are horizontally symmetrically arranged and are rotatably connected with the main body, left-right screw nut seats on the left-right screw rods are both fixedly connected with the top ends of left legs, right-right screw nut seats on the left-right screw rods are both fixedly connected with the top ends of right legs, teeth uniformly distributed along the circumference of the middle parts of the left-right screw rods are both fixedly connect