CN110103257A - One kind is based on double line laser radar independent navigation robots - Google Patents
One kind is based on double line laser radar independent navigation robots Download PDFInfo
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- CN110103257A CN110103257A CN201910387191.4A CN201910387191A CN110103257A CN 110103257 A CN110103257 A CN 110103257A CN 201910387191 A CN201910387191 A CN 201910387191A CN 110103257 A CN110103257 A CN 110103257A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses one kind based on double line laser radar independent navigation robots.It includes fuselage, head and machine lower body, the fuselage roof neck is equipped with the first disk, the fuselage bottom waist is equipped with the second disk, the first disk top center is embedded with first motor, the first motor top output port is fixedly connected with head, head bottom neck is fixedly connected with the third disk being attached thereto, the 4th disk is equipped at the top of the machine lower body, the 4th disk top center is embedded with the second motor, and the second motor top output port is fixedly connected with second disk.
Description
Technical field
It is specifically a kind of based on double line laser radar independent navigation machines the present invention relates to robot navigation's technical field
People.
Background technique
Unprecedented demands of the robot as modern people's civilization drill the mankind from handicraft instead of handicraft stage
The industrial age for fading to modernization, the efficient production that inefficient production operation is developed so far solve greatly to a certain extent very much
The a series of problems such as plant produced cost is larger, life operation is cumbersome, existing robot such as industrial operations robot, life
Live Work robot, transportation robot, military machine people etc..However, the independent navigation real-time of the current machine talent compared with
Difference, since there are errors for existing network data transmission, there are errors for GPS and Beidou navigation satellite transmission data, for advanced
Radar and laser navigation using less, even if some existing robots use radar and laser navigation, but walking
It there is certain, more bulky hydraulic system driving of normal two walkings use, cost and operation weight bearing in mechanism
Larger, energy dissipation is larger, and the rate of walking is also relatively slow, and self-navigation accuracy is also limited, does not meet very much and leads using the modern times
The Robot Design and demand of boat system.
Summary of the invention
The object of the present invention is to provide one kind based on double line laser radar independent navigation robots, fundamentally solves
The problems such as existing independent navigation robot navigation accuracy is poor, figure is heavy, walking rate is limited, obstacle-overpass is poor, tool
Have the advantages that structure is simple, intelligence is navigated, it is convenient to walk.
To achieve the above object, the present invention provides the following technical scheme that it is a kind of certainly leading based on double line laser radars
Navigate robot comprising fuselage, head and machine lower body, the fuselage roof neck are equipped with the first disk, the fuselage bottom waist
Portion is equipped with the second disk, and the first disk top center is embedded with first motor, and the first motor top output port is fixed
It is connected with head, head bottom neck is fixedly connected with the third disk being attached thereto, and the is equipped at the top of the machine lower body
Four disks, the 4th disk top center are embedded with the second motor, the second motor top output port and second circle
Disk is fixedly connected, so that fuselage, head and machine lower body form whole person's state machine people；Wherein, the head is equipped with human eye
Laser hole, the fuselage surface are equipped with radar transmitter, and the fuselage two sides are also hingedly connected with the arm to match, the machine
Body front end is equipped with the dismountable nuclear battery of separate mode, is additionally provided with processor in the fuselage；A left side is equipped under the machine in vivo
The leg walking mechanism and wheel hub walking mechanism that the right side matches, wherein the leg walking mechanism includes hinged with the machine lower body
Accommodating mechanism and leg assembly.
Preferably technical solution, the accommodating mechanism include digging in machine lower body bottom symmetrical first
Accommodating groove communicates in described first accommodating groove or so inner wall equipped with L-type sliding slot, slidably connects first turn in the L-type sliding slot
Axis, it is mobile that the first rotating shaft passes through the pusher that is arranged in the L-type sliding slot, be equipped in the middle part of the first rotating shaft diameter compared with
The second small shaft is rotatably connected to sleeve in second shaft, is fixedly connected with leg assembly in the cartridges sides, thus
Convenient in the case where being easy to implement the walking of leg assembly proper articulation storage can be realized, convenient for receiving when with wheel hub walking mechanism
It receives, stable walking on the ground.
Preferably technical solution, the leg assembly include the thick link being fixedly connected with the cartridges sides and
The shank link that its bottom is articulated and connected by third shaft, the shank link bottom are hingedly connected with foot by the 4th shaft
Plate, third shaft left end are fixedly connected with the first wobble plate to extend back, and the 4th shaft right end is fixedly connected oriented
Second wobble plate of preceding extension, the thick link is dug in the side end face of machine lower body center the first drive cavity, described
The connection of first drive cavity bottom is equipped with the first sliding groove for the machine lower body central side that is open, and first drive cavity is far from the machine
Third motor is embedded in lower body central side inner wall, third motor output end end is fixedly connected with flywheel, the flywheel
Deep place is hingedly connected with the first connecting plate by pin shaft, slidably connects in the first sliding groove and first connecting plate
First sliding block of bottom articulated connection, first sliding block are fixedly connected with guiding on the side end face of machine lower body center
Plate, the guide plate have guide groove close to machine lower body central side cutting, are rotatably connected in the thick link positioned at institute
The 5th shaft of first sliding groove bottom is stated, the 5th both ends of the shaft is stretched out outside the thick link, and the 5th shaft is leaned on
The nearly machine lower body central side is fixedly connected with the third wobble plate extended forward, and the 5th shaft is far from machine lower body center
Side is fixedly connected with the 4th wobble plate, and the 5th shaft is fixedly connected with the 5th wobble plate, institute on side side under the machine
State the 5th wobble plate and be fixedly connected with the slide head being slidably connected therewith close to the guide groove side, the 4th wobble plate other end with
The second connecting plate is hingedly connected between the first wobble plate other end, the second wobble plate other end and the third wobble plate are another
Third connecting plate is hingedly connected between end.Leg assembly can be driven to realize that speed has the fortune of tune by single power source third motor
Dynamic, running is walked about with movement slowly.
Preferably technical solution, the wheel hub walking mechanism include digging to be distributed in machine lower body bottom in quadrangle
The second accommodating groove, be equipped with the second drive cavity in the middle part of second accommodating groove, connection is equipped with third in the middle part of second drive cavity
Second accommodating groove of drive cavity, the same side is parallel with second drive cavity, and second drive cavity is far under the machine
Body central side is rotatably connected to the 6th shaft to match, and the 6th both ends of the shaft is put in second accommodating groove, described
The turbine being fixedly connected in second drive cavity in 6th shaft is fixedly connected with positioned at institute in the 6th shaft
The supporting leg in the second accommodating groove is stated, supporting leg other end end is equipped with drive wheel mechanism, turns in second drive cavity
The dynamic worm screw being connected with for connecting with the turbo-power, the worm screw are equipped with two-sided in the third drive cavity
Bevel gear, the third drive cavity is interior to be equipped with driving source directional switching mechanism.
Specifically, the drive wheel mechanism includes the servo motor being embedded in the supporting leg bottom, the servo motor
Bottom output end end is fixedly connected with kinetoplast, and the kinetoplast is embedded with driving motor close to the machine lower body center-side,
Driving motor output end end is fixedly connected with wheel, consequently facilitating the steering and movement of device.
Specifically, the driving source directional switching mechanism includes being slidably connected in the third drive cavity and being located at institute
State the second sliding block of worm screw left end, second sliding block rear end and the pusher being embedded in third transmission cavity rear end inner wall
Output end is fixedly connected, and the 4th drive cavity is equipped in second sliding block, and the is embedded in the 4th transmission cavity rear end inner wall
Four motors, the 4th motor output end end are fixedly connected with the 7th turn be rotatably mounted in the 4th drive cavity
Axis, the 7th shaft are equipped with the symmetrical first bevel gear in front and back, rotationally install in the 4th drive cavity right end inner wall
There is eight revolution axis, bottom shaft left end puts in the 4th drive cavity and is fixedly connected with and the first bevel gear
The second bevel gear of ratcheting connection, the eight revolution axis other end stretch out second sliding block it is outer and be fixedly connected with for
The third hand tap gear of the ratcheting connection of two-sided bevel gear.Pass through the ratcheting company of former and later two third hand tap gears and two-sided bevel gear
It connects, drives different steerings, so that cooperation annexs with leg assembly and uses it whether realizing the storage of drive wheel mechanism and supporting leg
One of, walking diversification.
Preferably technical solution, the processor and the human eye laser hole, radar transmitter, first motor, the
Two motors, third motor, the 4th motor, servo motor and driving motor electrical connection, to can realize that intelligentized control is led
Boat and movement.
The beneficial effects of the present invention are: the configuration of the present invention is simple, easy to operate, by using the machine that can drive steering automatically
Body, head and machine lower body, anthropomorphosis design, robot truly, analog intensity is higher, and using effect is preferable,
Head auto-steering is simultaneously with laser navigation, and accurate precisely navigation, laser use preferably, separately sweeping laser that can be comprehensive comprehensively
Using it can rotate automatically by the way of, the range of work is wider for external fuselage and machine lower body, and work work post is more, applicable industry compared with
It is more, it is equipped with radar transmitter in the outer surface of fuselage, accurate radar fix, navigation is accurate, and being provided in vivo under machine can be automatic
The leg assembly of storage, simulation human body walks flowing mode, and it relies solely on single power can realize the low-keyed walking of speed,
Can avoid common wheel hub it is mobile the limited problem of irrealizable stair climbing, moving field, cooperate leg on machine lower body
The wheel hub walking mechanism of component walking, solves the problems, such as that leg walking mechanism cannot achieve the high-speed mobile on smooth-riding surface, moves
The a variety of mergers of flowing mode, precisely navigate, working efficiency is higher, family, industry, scientific research various industries be applicable in, practicability and at
It is higher to produce devoting rate.
Detailed description of the invention
The present invention is described in detail by following specific embodiments and drawings for ease of explanation,.
Fig. 1 is that one kind of the invention is based on double line laser radar independent navigation robot interior overall structure diagrams；
Fig. 2 is machine lower body structural schematic diagram of the invention；
Fig. 3 is leg assembly structural schematic diagram of the invention；
Fig. 4 is a kind of side structure schematic view based on double line laser radar independent navigations robot of the invention；
Fig. 5 is the side structure schematic view of machine lower body of the invention of the invention；
Fig. 6 is leg assembly side structure schematic view of the invention；
Fig. 7 is the schematic cross-section of A-A in Fig. 2；
Fig. 8 is the second sliding block schematic diagram of internal structure of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention
In the description of the present invention, it should be noted that the side of the instructions such as term " on ", "lower", "inner", "outside", " top/bottom end "
Position or positional relationship are to be based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description of the present invention and simplification of the description,
Rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, because
This is not considered as limiting the invention.In addition, term " first ", " second " are used for description purposes only, and should not be understood as
Indication or suggestion relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " is set
Be equipped with ", " be arranged/connect ", " connection " etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, be also possible to removable
Connection is unloaded, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be in
Between medium be indirectly connected, can be the connection inside two elements.It for the ordinary skill in the art, can be specific
Situation understands the concrete meaning of above-mentioned term in the present invention.
Embodiment 1:
Fig. 1-8 is please referred to, one kind is based on double line laser radar independent navigation robots comprising fuselage 100,104 and of head
Machine lower body 113,100 top neck of fuselage be equipped with the first disk 102,100 bottom waist of fuselage be equipped with the second disk 111, first
102 top center of disk is embedded with first motor 101, and 101 top output port of first motor is fixedly connected with head 104, head
104 bottom necks are fixedly connected with the third disk 103 being attached thereto, and are equipped with the 4th disk 114 at the top of machine lower body 113, and the 4th
114 top center of disk is embedded with the second motor 112, and 112 top output port of the second motor is fixedly connected with the second disk 111,
To which fuselage 100, head 104 and machine lower body 113 form whole person's state machine people；Wherein, head 104 is equipped with human eye laser
Hole 105,100 surface of fuselage are equipped with radar transmitter 110, and 100 two sides of fuselage are also hingedly connected with the arm 107 to match, machine
100 front end of body is equipped with the dismountable nuclear battery 109 of separate mode, is additionally provided with processor 108 in fuselage 100；In machine lower body 113
Leg walking mechanism and wheel hub walking mechanism equipped with zygomorphism, wherein leg walking mechanism includes hinged with machine lower body 113
Accommodating mechanism and leg assembly.
Accommodating mechanism includes digging in symmetrical first accommodating groove 115 in 113 bottom of machine lower body, the first accommodating groove 115
It is communicated in the inner wall of left and right equipped with L-type sliding slot 153, first rotating shaft 117 is slidably connected in L-type sliding slot 153, first rotating shaft 117 is logical
It is mobile to cross the pusher being arranged in L-type sliding slot 153, lesser second shaft 118 of diameter is equipped in the middle part of first rotating shaft 117, the
Sleeve 116 is rotatably connected in two shafts 118, sleeve is fixedly connected with leg assembly on 116 side, so as to be easy to implement leg
The convenient realization storage in the case where walking of component proper articulation, it is stable on ground convenient for being stored when with wheel hub walking mechanism
It walks on face.
Leg assembly includes that the thick link 119 being fixedly connected with 116 side of sleeve and its bottom pass through third shaft 149
The shank link 120 of articulated connection, 120 bottom of shank link are hingedly connected with sole 121 by the 4th shaft 151, and third turns
149 left end of axis is fixedly connected with the first wobble plate 148 to extend back, and 151 right end of the 4th shaft, which is fixedly connected with, to be extended forward
Second wobble plate 150, thick link 119 is dug in 113 center side end face of machine lower body the first drive cavity 133, the first transmission
The connection of 133 bottom of chamber is equipped with the first sliding groove 136 of 113 central side of tapping machine lower body, and the first drive cavity 133 is far from machine lower body 113
Third motor 143 is embedded in central side inner wall, 143 output end end of third motor is fixedly connected with flywheel 132, flywheel 132
Deep place is hingedly connected with the first connecting plate 135 by pin shaft 134, slidably connects in first sliding groove 136 and connects with first
First sliding block 144 of 135 bottom of plate articulated connection, the first sliding block 144 are fixedly connected on 113 center side end face of machine lower body
Guide plate 137, guide plate 137 have guide groove 138 close to the cutting of 113 central side of machine lower body, are rotatably connected in thick link 119
The 5th shaft 146 positioned at 136 bottom of first sliding groove, 146 both ends of the 5th shaft are stretched out outside thick link 119, the 5th shaft
146 are fixedly connected with the third wobble plate 141 extended forward close to 113 central side of machine lower body, and the 5th shaft 146 is far from machine lower body
113 central sides are fixedly connected with the 4th wobble plate 145, and the 5th shaft 146 is fixedly connected with the 5th on 113 side side of machine lower body
Wobble plate 140, the 5th wobble plate 140 are fixedly connected with the slide head 139 being slidably connected therewith, the 4th wobble plate close to 138 side of guide groove
The second connecting plate 147,150 other end of the second wobble plate and third are hingedly connected between 148 other end of 145 other ends and the first wobble plate
Third connecting plate 142 is hingedly connected between 141 other end of wobble plate.Leg assembly can be driven by single power source third motor 143
Realize that speed has the movement of tune, running is walked about with movement slowly.
Wheel hub walking mechanism includes the second accommodating groove 122 dug in 113 bottom of machine lower body in quadrangle distribution, the second storage
The second drive cavity 128 is equipped in the middle part of slot 122, connection is equipped with third drive cavity 156 in the middle part of the second drive cavity 128, and the of the same side
Two accommodating grooves 122 are parallel with the second drive cavity 128, and the second drive cavity 128 is rotatably connected to far from 113 central side of machine lower body to match
The 6th shaft 127,127 both ends of the 6th shaft put in the second accommodating groove 122, are fixedly connected with position in the 6th shaft 127
Turbine 130 in the second drive cavity 128 is fixedly connected with the supporting leg in the second accommodating groove 122 in the 6th shaft 127
123,123 other end end of supporting leg is equipped with drive wheel mechanism, be rotatably connected in the second drive cavity 128 for turbine 130
The worm screw 131 being connected by power, worm screw 131 are equipped with the two-sided bevel gear 157 being located in third drive cavity 156, third drive cavity
Driving source directional switching mechanism is equipped in 156.
Drive wheel mechanism includes the servo motor 124 being embedded in 123 bottom of supporting leg, 124 bottom output end of servo motor
End is fixedly connected with kinetoplast 126, and kinetoplast 126 is embedded with driving motor 165, driving electricity close to 113 center-side of machine lower body
165 output end end of machine is fixedly connected with wheel 125, consequently facilitating the steering and movement of device.
Driving source directional switching mechanism includes being slidably connected in third drive cavity 156 and being located at 131 left end of worm screw
Second sliding block 155,155 rear end of the second sliding block are fixed with the pusher output end being embedded in 156 rear end inner wall of third drive cavity
It connects, the 4th drive cavity 158 is equipped in the second sliding block 155, is embedded with the 4th motor 161 in 158 rear end inner wall of the 4th drive cavity,
4th motor, 161 output end end is fixedly connected with the 7th shaft 160 being rotatably mounted in the 4th drive cavity 158, and the 7th
Shaft 160 is equipped with the symmetrical first bevel gear 162 in front and back, is rotatably mounted the 8th in 158 right end inner wall of the 4th drive cavity
Shaft 164,164 left end of bottom shaft put in the 4th drive cavity 158 and are fixedly connected with and the ratcheting company of first bevel gear 162
The second bevel gear 159 connect, 164 other end of eight revolution axis stretch out the second sliding block 155 it is outer and be fixedly connected with for it is two-sided
The third hand tap gear 163 of the ratcheting connection of bevel gear 157.Pass through the ratcheting of former and later two third hand tap gears 163 and two-sided bevel gear
Connection, drives different steerings, so that cooperation is annexed with leg assembly and used whether realizing the storage of drive wheel mechanism and supporting leg
One of them, walking diversification.
Processor 108 and human eye laser hole 105, radar transmitter 110, first motor 101, the second motor 112, third electricity
Machine 143, the 4th motor 154, servo motor 124 and driving motor 165 are electrically connected, so that intelligentized control navigation can be realized
And movement.
When original state, fuselage 100, head 104 and machine lower body 113 keep normal person's form, at this point, leg assembly is in
Use state is supported, is located on the outside of accommodating mechanism, wheel hub walking mechanism is stored completely.
When the work is required, when being walked using leg assembly, worked as by human eye laser hole 105 and the induction of radar transmitter 110
Front position and the obstacle distance that can calculate front drive the rotation of head 104 to increase laser scanning side by first motor 101
Position range drives fuselage 100 to turn to, it can be achieved that work on a large scale by the second motor 112.If desired when normal walking, only
Third motor 143, which need to be started, drives flywheel 132 to rotate, and due to the principle of crank block, makes guide pad 137 in first sliding groove 136
It inside moves up and down, since the cooperation of guide groove 138 and slide head 139 swings the 5th wobble plate 140, then makes the 5th shaft 146
It is periodically reversed rotation, the 5th shaft 146 can drive 141 periodic wobble of the 4th wobble plate 145 and third wobble plate simultaneously, and the 4th
Wobble plate 145 drives shank link 120 to swing by the second connecting plate 147, meanwhile, third wobble plate 141 is driven by third connecting plate 142
Sole 121 is swung, and forms normal human body walking posture.
When needing wheel hub walking mechanism to walk, by pushing driving mechanism to store leg assembly, then start the 4th motor
161 drive third hand tap gear 163 to rotate, and so that supporting leg 123 is rotated up to drive wheel mechanism and are fully located at 122 bottom of the second accommodating groove
Portion drives the rotation of kinetoplast 126 to realize and turns to, by starting driving motor 165 with motor-car by starting servo motor 124 later
125 rotation of wheel, to be moved integrally with mobile robot.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, of the invention
Protection scope should be determined by the scope of protection defined in the claims.
Claims (7)
1. one kind is based on double line laser radar independent navigation robots, it is characterised in that: it includes fuselage (100), head
(104) and machine lower body (113), fuselage (100) top neck are equipped with the first disk (102), fuselage (100) bottom waist
Portion is equipped with the second disk (111), and the first disk (102) top center is embedded with first motor (101), the first motor
(101) top output port is fixedly connected with head (104), and head (104) bottom neck, which is fixedly connected with, to be attached thereto
Third disk (103), machine lower body (113) top are equipped with the 4th disk (114), the 4th disk (114) top center
It being embedded with the second motor (112), the second motor (112) top output port is fixedly connected with second disk (111), from
And fuselage (100), head (104) and machine lower body (113) form whole person's state machine people；Wherein, it is set on the head (104)
Have human eye laser hole (105), fuselage (100) surface is equipped with radar transmitter (110), and fuselage (100) two sides are also
It is hingedly connected with the arm (107) to match, fuselage (100) front end is equipped with the dismountable nuclear battery of separate mode (109),
Processor (108) are additionally provided in the fuselage (100)；Leg walking mechanism in the machine lower body (113) equipped with zygomorphism with
And wheel hub walking mechanism, wherein the leg walking mechanism includes the accommodating mechanism and leg group hinged with the machine lower body (113)
Part.
2. according to claim 1 a kind of based on double line laser radar independent navigation robots, it is characterised in that: described
Accommodating mechanism includes digging in symmetrical first accommodating groove (115) in machine lower body (113) bottom, first accommodating groove
(115) it is communicated in the inner wall of left and right equipped with L-type sliding slot (153), the L-type sliding slot (153) is interior to slidably connect first rotating shaft
(117), the first rotating shaft (117) is mobile by the pusher being arranged in the L-type sliding slot (153), the first rotating shaft
(117) middle part is equipped with lesser second shaft (118) of diameter, is rotatably connected to sleeve (116) on second shaft (118),
Leg assembly is fixedly connected on sleeve (116) side.
3. according to claim 1 a kind of based on double line laser radar independent navigation robots, it is characterised in that: described
Leg assembly includes that the thick link (119) being fixedly connected with the sleeve (116) side and its bottom pass through third shaft
(149) shank link (120) being articulated and connected, shank link (120) bottom are hingedly connected with by the 4th shaft (151)
Sole (121), third shaft (149) left end are fixedly connected with the first wobble plate (148) to extend back, the 4th shaft
(151) right end is fixedly connected with the second wobble plate (150) extended forward, and the thick link (119) is close to the machine lower body
(113) digging in the side end face of center has the first drive cavity (133), and the first drive cavity (133) bottom connection is equipped with opening institute
The first sliding groove (136) of machine lower body (113) central side is stated, first drive cavity (133) is far from machine lower body (113) center
It is embedded in the inner wall of side third motor (143), third motor (143) the output end end is fixedly connected with flywheel (132), institute
It states flywheel (132) deep place to be hingedly connected with the first connecting plate (135) by pin shaft (134), the first sliding groove (136)
Inside slidably connect the first sliding block (144) with the first connecting plate (135) bottom articulated connection, first sliding block (144)
It is fixedly connected with guide plate (137) on machine lower body (113) the center side end face, the guide plate (137) is close to described
The cutting of machine lower body (113) central side has guide groove (138), is rotatably connected in the thick link (119) positioned at described first
The thick link (119) is stretched out outside in 5th shaft (146) of sliding slot (136) bottom, the 5th shaft (146) both ends,
5th shaft (146) is fixedly connected with the third wobble plate (141) extended forward close to machine lower body (113) central side,
5th shaft (146) is fixedly connected with the 4th wobble plate (145) far from machine lower body (113) central side, and described 5th turn
Axis (146) is fixedly connected with the 5th wobble plate (140) on machine lower body (113) the side side, and the 5th wobble plate (140) is leaned on
Nearly guide groove (138) side is fixedly connected with the slide head (139) being slidably connected therewith, and the 4th wobble plate (145) is another
It is hingedly connected with the second connecting plate (147) between end and first wobble plate (148) other end, second wobble plate (150) is another
Third connecting plate (142) are hingedly connected between end and the third wobble plate (141) other end.
4. according to claim 1 a kind of based on double line laser radar independent navigation robots, it is characterised in that: described
Wheel hub walking mechanism includes digging the second accommodating groove (122) being distributed in machine lower body (113) bottom in quadrangle, and described second
The second drive cavity (128) are equipped in the middle part of accommodating groove (122), connection is equipped with third drive cavity in the middle part of second drive cavity (128)
(156), second accommodating groove (122) of the same side is parallel with the second drive cavity (128), second drive cavity
(128) the 6th shaft (127) to match, the 6th shaft (127) are rotatably connected to far from machine lower body (113) central side
Both ends are put in second accommodating groove (122), are fixedly connected on the 6th shaft (127) positioned at second transmission
Turbine (130) in chamber (128) is fixedly connected in second accommodating groove (122) on the 6th shaft (127)
Supporting leg (123), supporting leg (123) other end end are equipped with drive wheel mechanism, rotation in second drive cavity (128)
It is connected with the worm screw (131) for being connected by power with the turbine (130), the worm screw (131), which is equipped with, is located at the third
Two-sided bevel gear (157) in drive cavity (156), the third drive cavity (156) is interior to be equipped with driving source directional switching mechanism.
5. according to claim 4 a kind of based on double line laser radar independent navigation robots, it is characterised in that: described
Drive wheel mechanism includes the servo motor (124) being embedded in the supporting leg (123) bottom, servo motor (124) bottom
Output end end is fixedly connected with kinetoplast (126), and the kinetoplast (126) is embedded close to machine lower body (113) center-side
Have driving motor (165), driving motor (165) the output end end is fixedly connected with wheel (125).
6. according to claim 4 a kind of based on double line laser radar independent navigation robots, it is characterised in that: described
Driving source directional switching mechanism includes being slidably connected in the third drive cavity (156) and being located at the worm screw (131) left side
Second sliding block (155) at end, the second sliding block (155) rear end and is embedded in the inner wall of third drive cavity (156) rear end
Pusher output end be fixedly connected, the 4th drive cavity (158), the 4th drive cavity are equipped in second sliding block (155)
(158) the 4th motor (161) is embedded in the inner wall of rear end, the 4th motor (161) the output end end is fixedly connected with rotation
Ground is mounted on the 7th shaft (160) in the 4th drive cavity (158), and it is symmetrical that the 7th shaft (160) is equipped with front and back
First bevel gear (162), be rotatably mounted eight revolution axis (164) in the 4th drive cavity (158) the right end inner wall, it is described
Bottom shaft (164) left end puts in the 4th drive cavity (158) and is fixedly connected with and the first bevel gear (162)
The second bevel gear (159) of ratcheting connection, eight revolution axis (164) other end stretch out second sliding block (155) outside and
It is fixedly connected with for the third hand tap gear (163) with the ratcheting connection of the two-sided bevel gear (157).
7. according to claim 1 a kind of based on double line laser radar independent navigation robots, it is characterised in that: described
Processor (108) and the human eye laser hole (105), radar transmitter (110), first motor (101), the second motor (112),
Third motor (143), the 4th motor (154), servo motor (124) and driving motor (165) electrical connection.
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| CN201910387191.4A CN110103257B (en) | 2019-05-10 | 2019-05-10 | Autonomous navigation robot based on double laser radars in one line |
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| CN112869645A (en) * | 2021-03-17 | 2021-06-01 | 江西理工大学南昌校区 | Motion control device of robot sweeps floor |
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| CN110103257B (en) | 2021-10-26 |
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