CN110103257B - Autonomous navigation robot based on double laser radars in one line - Google Patents
Autonomous navigation robot based on double laser radars in one line Download PDFInfo
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- CN110103257B CN110103257B CN201910387191.4A CN201910387191A CN110103257B CN 110103257 B CN110103257 B CN 110103257B CN 201910387191 A CN201910387191 A CN 201910387191A CN 110103257 B CN110103257 B CN 110103257B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- 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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Abstract
The invention discloses an autonomous navigation robot based on a double-line laser radar. It includes fuselage, aircraft nose and the fuselage lower part of the body, fuselage top neck is equipped with first disc, fuselage bottom waist is equipped with the second disc, first disc top center is inlayed and is equipped with first motor, first motor top output fixedly connected with aircraft nose, the third disc that aircraft nose bottom neck fixedly connected with is connected with it, fuselage lower part of the body top is equipped with the fourth disc, fourth disc top center is inlayed and is equipped with the second motor, second motor top output with second disc fixed connection.
Description
Technical Field
The invention relates to the technical field of robot navigation, in particular to an autonomous navigation robot based on double laser radars.
Background
The robot is used as unprecedented demand of civilization of modern people, replaces the manual industry era, evolves human from the manual industry to the modernized industrial era, develops low-efficiency production operation to high-efficiency production till now, and solves a series of problems of high factory production cost, complex life operation and the like to a great extent. However, the autonomous navigation real-time performance of the current robot is poor, due to the fact that the existing network data transmission has errors, and the data transmission of a GPS and a Beidou navigation satellite has errors, the advanced radar and laser navigation are rarely applied, even if some existing robots adopt radar and laser navigation, certain problems exist in a walking mechanism, two normal walks adopt heavy hydraulic systems for driving, the manufacturing cost and the operation load are large, the energy consumption is large, the walking speed is slow, the automatic navigation accuracy is limited, and the robot design and the requirements of the modern navigation system are not met.
Disclosure of Invention
The invention aims to provide an autonomous navigation robot based on double laser radars, which fundamentally solves the problems of poor navigation accuracy, heavy body, limited walking speed, poor obstacle crossing and the like of the conventional autonomous navigation robot and has the advantages of simple structure, intelligent navigation, convenience in walking and the like.
In order to achieve the purpose, the invention provides the following technical scheme: a robot based on double-line laser radar autonomous navigation comprises a body, a machine head and a lower body, wherein a first disc is arranged at the neck of the top of the body, a second disc is arranged at the waist of the bottom of the body, a first motor is embedded in the center of the top of the first disc, the output end of the top of the first motor is fixedly connected with the machine head, a third disc connected with the neck of the bottom of the machine head is fixedly connected with the neck of the bottom of the machine head, a fourth disc is arranged at the top of the lower body, a second motor is embedded in the center of the top of the fourth disc, and the output end of the top of the second motor is fixedly connected with the second disc, so that the body, the machine head and the lower body form a complete human form robot; the device comprises a machine head, a machine body, a processor and a battery, wherein the machine head is provided with an eye laser hole, the surface of the machine body is provided with a radar transmitter, the two sides of the machine body are also hinged and connected with matched arms, the front end of the machine body is provided with a nuclear battery which can be detached in a separation mode, and the machine body is internally provided with the processor; the internal leg running gear and the wheel hub running gear that match about being equipped with of machine lower part of the body, wherein, leg running gear include with articulated receiving mechanism of machine lower part of the body and leg subassembly.
According to a preferable technical scheme, the containing mechanism comprises first containing grooves which are cut on the bottom of the lower body and are bilaterally symmetrical, L-shaped sliding grooves are formed in the left inner wall and the right inner wall of each first containing groove in a communicated mode, first rotating shafts are connected in the L-shaped sliding grooves in a sliding mode and move through pushers arranged in the L-shaped sliding grooves, second rotating shafts with smaller diameters are arranged in the middle of the first rotating shafts, sleeves are connected to the second rotating shafts in a rotating mode, and leg assemblies are fixedly connected to the side faces of the sleeves, so that the containing can be conveniently achieved under the condition that the leg assemblies normally articulated to walk, the containing is facilitated when the hub walking mechanism is used, and the stable walking is achieved on the ground.
As a preferable technical scheme, the leg assembly includes a thigh link fixedly connected to a side of the sleeve and a shank link hinged to a bottom of the thigh link through a third rotating shaft, the bottom of the shank link is hinged to a foot plate through a fourth rotating shaft, a first swing plate extending backward is fixedly connected to a left end of the third rotating shaft, a second swing plate extending forward is fixedly connected to a right end of the fourth rotating shaft, a first transmission cavity is drilled in a side surface of the thigh link close to a center side of the lower body, a first sliding groove opening the center side of the lower body is communicated with a bottom of the first transmission cavity, a third motor is embedded in an inner wall of the first transmission cavity far away from the center side of the lower body, a flywheel is fixedly connected to an output end of the third motor, a first connecting plate is hinged to a position of the flywheel far away from the center through a pin shaft, and a first slider hinged to a bottom of the first connecting plate is slidably connected to the first sliding groove, the first slide block is fixedly connected with a guide plate on the end face of the side close to the center of the lower body, a guide groove is chiseled on the guide plate close to the center of the lower body, a fifth rotating shaft positioned at the bottom of the first chute is rotatably connected in the thigh connecting rod, two ends of the fifth rotating shaft extend out of the thigh connecting rod, a third swinging plate extending forwards is fixedly connected to the fifth rotating shaft close to the central side of the lower body, the side of the fifth rotating shaft far away from the center of the lower body is fixedly connected with a fourth swinging plate, the side of the fifth rotating shaft near the side of the lower body is fixedly connected with a fifth swinging plate, the side of the fifth swing plate, which is close to the guide groove, is fixedly connected with a sliding head in sliding connection with the guide groove, a second connecting plate is hinged between the other end of the fourth swing plate and the other end of the first swing plate, and a third connecting plate is hinged between the other end of the second swinging plate and the other end of the third swinging plate. The third motor can drive the leg assembly to realize the speed-adjustable movement through a single power source, and both running and slow moving and walking can be realized.
As a preferable technical scheme, the wheel hub walking mechanism comprises a second accommodating groove which is cut at the bottom of the lower body and distributed at four corners, a second transmission cavity is arranged in the middle of the second accommodating groove, a third transmission cavity is communicated with the middle of the second transmission cavity, the second accommodating groove on the same side is parallel to the second transmission cavity, a matched sixth rotating shaft is rotatably connected to the side, away from the center of the lower body, of the second transmission cavity, both ends of the sixth rotating shaft extend into the second accommodating groove, a turbine positioned in the second transmission cavity is fixedly connected to the sixth rotating shaft, supporting legs positioned in the second accommodating groove are fixedly connected to the sixth rotating shaft, a driving wheel mechanism is arranged at the tail end of the other end of the supporting legs, a worm for being in power connection with the turbine is rotatably connected to the second transmission cavity, and a double-sided bevel gear positioned in the third transmission cavity is arranged on the worm, and a source power direction switching mechanism is arranged in the third transmission cavity.
Specifically, the driving wheel mechanism comprises a servo motor embedded at the bottom of the supporting leg, the tail end of the output end of the bottom of the servo motor is fixedly connected with a power body, the power body is embedded with a driving motor close to the center end of the lower body of the machine, and the tail end of the output end of the driving motor is fixedly connected with a wheel, so that the device can be conveniently steered and moved.
Specifically, the source power direction switching mechanism comprises a second slide block which is connected in the third transmission cavity in a sliding mode and is positioned at the left end of the worm, the rear end of the second sliding block is fixedly connected with the output end of a pusher which is embedded in the inner wall of the rear end of the third transmission cavity, a fourth transmission cavity is arranged in the second sliding block, a fourth motor is embedded in the inner wall of the rear end of the fourth transmission cavity, the tail end of the output end of the fourth motor is fixedly connected with a seventh rotating shaft which is rotatably arranged in the fourth transmission cavity, the seventh rotating shaft is provided with a first bevel gear which is symmetrical front and back, the inner wall of the right end of the fourth transmission cavity is rotatably provided with an eighth rotating shaft, the left end of the bottom rotating shaft extends into the fourth transmission cavity and is fixedly connected with a second bevel gear in meshed connection with the first bevel gear, the other end of the eighth rotating shaft extends out of the second sliding block and is fixedly connected with a third bevel gear which is in meshed connection with the double-sided bevel gear. Through the meshing connection of two third bevel gears and two-sided bevel gear around, drive the difference and turn to whether realize accomodating of driving wheel mechanism and supporting leg, the cooperation uses one of them with the leg subassembly concurrently, and the walking is diversified.
As a preferred technical scheme, the processor is electrically connected with the human eye laser hole, the radar emitter, the first motor, the second motor, the third motor, the fourth motor, the servo motor and the driving motor, so that intelligent control navigation and movement can be realized.
The invention has the beneficial effects that: the invention has simple structure and convenient operation, adopts the body, the head and the lower body which can automatically drive and steer, adopts a humanoid appearance design, really has a robot, higher simulation intensity, better use effect, automatically steers the head and is provided with laser navigation, can comprehensively and accurately navigate by scanning laser in an omnibearing way, has better laser application, adopts an automatically rotatable mode for the body and the lower body, has wider working range, more working types and more applicable industries, is provided with a radar transmitter on the outer surface of the body, is accurate in radar positioning and navigation, is provided with a leg component which can be automatically stored in the lower body, simulates the walking mode of a human body, can realize fast and slow walking in a regulated way only by single power, can avoid the problems of stair climbing and limited moving places which can not be realized by the movement of a common hub, and is provided with a hub walking mechanism for matching the leg component on the lower body, the problem of leg running gear can't realize high-speed removal on level road surface is solved, the multiple and the same of moving means, accurate navigation, work efficiency is higher, and each trade of family, industry, scientific research is all suitable for, and practicality and yield input rate are all higher.
Drawings
For ease of illustration, the invention is described in detail by the following specific examples and figures.
FIG. 1 is a schematic diagram of an internal overall structure of a dual-line laser radar-based autonomous navigation robot according to the present invention;
FIG. 2 is a schematic structural view of the lower body of the present invention;
FIG. 3 is a schematic view of a leg assembly of the present invention;
FIG. 4 is a schematic side view of a dual-line lidar autonomous navigation robot according to the present invention;
FIG. 5 is a side view of the lower body of the present invention;
FIG. 6 is a side view of the leg assembly of the present invention;
FIG. 7 is a schematic cross-sectional view A-A of FIG. 2;
fig. 8 is a schematic view of the internal structure of the second slider according to the present invention.
Detailed Description
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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
referring to fig. 1-8, an autonomous navigation robot based on a double-line lidar includes a body 100, a head 104 and a lower body 113, wherein a first disc 102 is disposed at the neck of the top of the body 100, a second disc 111 is disposed at the waist of the bottom of the body 100, a first motor 101 is embedded in the center of the top of the first disc 102, the head 104 is fixedly connected to the output end of the top of the first motor 101, a third disc 103 connected to the neck of the bottom of the head 104 is fixedly connected to the neck of the bottom of the head 104, a fourth disc 114 is disposed at the top of the lower body 113, a second motor 112 is embedded in the center of the top of the fourth disc 114, and the output end of the top of the second motor 112 is fixedly connected to the second disc 111, so that the body 100, the head 104 and the lower body 113 form a complete human-form robot; wherein, the machine head 104 is provided with a human eye laser hole 105, the surface of the machine body 100 is provided with a radar emitter 110, the two sides of the machine body 100 are also hinged with a matched arm 107, the front end of the machine body 100 is provided with a nuclear battery 109 which can be detached in a separating way, and the machine body 100 is also internally provided with a processor 108; a leg walking mechanism and a hub walking mechanism which are matched left and right are arranged in the lower body 113, wherein the leg walking mechanism comprises a receiving mechanism and a leg component which are hinged with the lower body 113.
The storage mechanism comprises a first storage groove 115 which is arranged at the bottom of the lower body 113 in a bilateral symmetry mode, an L-shaped sliding groove 153 is formed in the left inner wall and the right inner wall of the first storage groove 115 in a communicating mode, a first rotating shaft 117 is connected in the L-shaped sliding groove 153 in a sliding mode, the first rotating shaft 117 moves through a pusher arranged in the L-shaped sliding groove 153, a second rotating shaft 118 with a small diameter is arranged in the middle of the first rotating shaft 117, a sleeve 116 is connected to the second rotating shaft 118 in a rotating mode, leg assemblies are fixedly connected to the side faces of the sleeve 116, storage can be conveniently achieved under the condition that the leg assemblies normally articulated to walk conveniently, storage is facilitated when the wheel hub walking mechanism is used, and walking on the ground stably.
The leg assembly comprises a thigh connecting rod 119 fixedly connected with the side surface of the sleeve 116 and a shank connecting rod 120 hinged with the bottom of the shank connecting rod through a third rotating shaft 149, the bottom of the shank connecting rod 120 is hinged with a foot plate 121 through a fourth rotating shaft 151, the left end of the third rotating shaft 149 is fixedly connected with a first swinging plate 148 extending backwards, the right end of the fourth rotating shaft 151 is fixedly connected with a second swinging plate 150 extending forwards, a first transmission cavity 133 is drilled in the end surface of the thigh connecting rod 119 close to the center side of the lower body 113, the bottom of the first transmission cavity 133 is communicated with a first sliding groove 136 on the center side of the lower body 113, a third motor 143 is embedded in the inner wall of the first transmission cavity 133 far away from the center side of the lower body 113, the tail end of the output end of the third motor 143 is fixedly connected with a flywheel 132, the position of the flywheel 132 far away from the center is hinged with a first connecting plate 135 through a pin shaft 134, and a first sliding block 144 hinged with the bottom of the first connecting plate 135 is connected in the first sliding groove 136 in a sliding way, the first sliding block 144 is fixedly connected with a guide plate 137 close to the end face of the center side of the lower body 113, the guide plate 137 close to the center side of the lower body 113 is drilled with a guide groove 138, a fifth rotating shaft 146 located at the bottom of the first sliding groove 136 is connected in a rotating manner to the thigh connecting rod 119, two ends of the fifth rotating shaft 146 extend out of the thigh connecting rod 119, the fifth rotating shaft 146 close to the center side of the lower body 113 is fixedly connected with a third swinging plate 141 extending forwards, the fifth rotating shaft 146 far away from the center side of the lower body 113 is fixedly connected with a fourth swinging plate 145, the fifth rotating shaft 146 close to the side of the lower body 113 is fixedly connected with a fifth swinging plate 140, the fifth swinging plate 140 close to the guide groove 138 is fixedly connected with a sliding head 139 connected with the fifth swinging plate in a sliding manner, a second connecting plate 147 is hinged between the other end of the fourth swinging plate 145 and the other end of the first swinging plate 148, and a third connecting plate 142 is hinged between the other end of the second swinging plate 150 and the other end of the third swinging plate 141. The third motor 143 with a single power source can drive the leg assembly to realize the exercise with adjustable speed, running and walking slowly.
The wheel hub walking mechanism comprises a second accommodating groove 122 which is formed in the bottom of the lower body 113 in a four-corner distribution mode, a second transmission cavity 128 is arranged in the middle of the second accommodating groove 122, a third transmission cavity 156 is arranged in the middle of the second transmission cavity 128 in a communication mode, the second accommodating groove 122 on the same side is parallel to the second transmission cavity 128, a symmetrical sixth rotating shaft 127 is rotatably connected to the side, away from the center of the lower body 113, of the second transmission cavity 128, two ends of the sixth rotating shaft 127 extend into the second accommodating groove 122, a worm wheel 130 located in the second transmission cavity 128 is fixedly connected to the sixth rotating shaft 127, supporting legs 123 located in the second accommodating groove 122 are fixedly connected to the sixth rotating shaft 127, a driving supporting leg wheel mechanism is arranged at the tail end of the other end of the sixth rotating shaft 123, a worm 131 used for being in power connection with the worm wheel 130 is rotatably connected to the second transmission cavity 128, a double-sided bevel gear 157 located in the third transmission cavity 156 is arranged on the worm wheel 131, and a source power direction switching mechanism is arranged in the third transmission cavity 156.
The driving wheel mechanism comprises a servo motor 124 embedded at the bottom of the supporting leg 123, the tail end of the output end of the bottom of the servo motor 124 is fixedly connected with a power body 126, the power body 126 is embedded with a driving motor 165 close to the central end of the lower body 113, and the tail end of the output end of the driving motor 165 is fixedly connected with wheels 125, so that the device can be conveniently steered and moved.
The source power direction switching mechanism comprises a second sliding block 155 which is slidably connected in a third transmission cavity 156 and is positioned at the left end of the worm 131, the rear end of the second sliding block 155 is fixedly connected with the output end of a pusher which is embedded in the inner wall of the rear end of the third transmission cavity 156, a fourth transmission cavity 158 is arranged in the second sliding block 155, a fourth motor 161 is embedded in the inner wall of the rear end of the fourth transmission cavity 158, the tail end of the output end of the fourth motor 161 is fixedly connected with a seventh rotating shaft 160 which is rotatably installed in the fourth transmission cavity 158, the seventh rotating shaft 160 is provided with first bevel gears 162 which are symmetrical front and back, an eighth rotating shaft 164 is rotatably installed in the inner wall of the right end of the fourth transmission cavity 158, the left end of the bottom rotating shaft 164 extends into the fourth transmission cavity 158 and is fixedly connected with a second bevel gear 159 which is in meshing connection with the first bevel gear 162, and the other end of the eighth rotating shaft 164 extends out of the second sliding block 155 and is fixedly connected with a third bevel gear 163 which is in meshing connection with a double-sided bevel gear 157. Through two third bevel gears 163 around being connected with double-sided bevel gear's meshing, drive the difference and turn to whether realize accomodating of driving wheel mechanism and supporting leg, the cooperation uses one of them with the leg subassembly concurrently, and the walking is diversified.
The processor 108 is electrically connected with the human eye laser hole 105, the radar emitter 110, the first motor 101, the second motor 112, the third motor 143, the fourth motor 154, the servo motor 124 and the driving motor 165, so that intelligent control navigation and movement can be realized.
In the initial state, the body 100, the head 104 and the lower body 113 are kept in the normal human shape, and at this time, the leg assembly is in the supporting and using state, which is located outside the storage mechanism, and the hub traveling mechanism is completely stored.
When the robot needs to work, when the leg assembly is used for walking, the current position is sensed through the human eye laser holes 105 and the radar transmitter 110, the distance of a front obstacle can be measured, the machine head 104 is driven to rotate through the first motor 101 to increase the laser scanning azimuth range, and the machine body 100 is driven to rotate through the second motor 112, so that the robot can work in a large range. If normal walking is needed, only the third motor 143 needs to be started to drive the flywheel 132 to rotate, due to the principle of the crank slider, the guide block 137 moves up and down in the first sliding slot 136, the fifth swing plate 140 swings due to the cooperation of the guide slot 138 and the sliding head 139, then the fifth rotating shaft 146 periodically rotates in the opposite direction, the fifth rotating shaft 146 can simultaneously drive the fourth swing plate 145 and the third swing plate 141 to periodically swing, the fourth swing plate 145 drives the shank connecting rod 120 to swing through the second connecting plate 147, and meanwhile, the third swing plate 141 drives the foot plate 121 to swing through the third connecting plate 142, so that a normal human body walking posture is formed.
When the wheel hub running gear is needed to walk, the leg assembly is stored through the pushing driving mechanism, then the fourth motor 161 is started to drive the third bevel gear 163 to rotate, the supporting leg 123 is made to rotate until the driving wheel mechanism is completely located at the bottom of the second storage groove 122, then the power body 126 is driven to rotate through the starting servo motor 124 to realize steering, and the driving motor 165 is started to drive the wheel 125 to rotate, so that the robot is driven to move integrally.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (5)
1. The utility model provides a based on two first-line laser radar autonomous navigation robots which characterized in that: the robot comprises a robot body (100), a machine head (104) and a robot lower body (113), wherein a first disc (102) is arranged at the neck of the top of the robot body (100), a second disc (111) is arranged at the waist of the bottom of the robot body (100), a first motor (101) is embedded in the center of the top of the first disc (102), the machine head (104) is fixedly connected with the output end of the top of the first motor (101), a third disc (103) connected with the neck of the bottom of the machine head (104) is fixedly connected with the neck of the bottom of the machine head (104), a fourth disc (114) is arranged at the top of the robot lower body (113), a second motor (112) is embedded in the center of the top of the fourth disc (114), and the output end of the top of the second motor (112) is fixedly connected with the second disc (111), so that the robot body (100), the machine head (104) and the robot lower body (113) form a complete human form robot; the human eye laser device is characterized in that a human eye laser hole (105) is formed in the machine head (104), a radar transmitter (110) is arranged on the surface of the machine body (100), matched arms (107) are hinged to two sides of the machine body (100), a nuclear battery (109) which can be detached in a separated mode is arranged at the front end of the machine body (100), and a processor (108) is arranged in the machine body (100); a leg walking mechanism and a hub walking mechanism which are matched left and right are arranged in the lower body (113), wherein the leg walking mechanism comprises a receiving mechanism and a leg component which are hinged with the lower body (113);
the leg assembly comprises a thigh connecting rod (119) fixedly connected with the side surface of the sleeve (116) and a shank connecting rod (120) hinged with the bottom of the thigh connecting rod through a third rotating shaft (149), the bottom of the shank connecting rod (120) is hinged with a foot plate (121) through a fourth rotating shaft (151), the left end of the third rotating shaft (149) is fixedly connected with a first swing plate (148) extending backwards, the right end of the fourth rotating shaft (151) is fixedly connected with a second swing plate (150) extending forwards, a first transmission cavity (133) is formed in the end surface, close to the center side of the lower body (113), of the thigh connecting rod (119) in a chiseled mode, a first sliding groove (136) opening the center side of the lower body (113) is communicated with the bottom of the first transmission cavity (133), a third motor (143) is embedded in the inner wall, far away from the center side of the lower body (113), of the first transmission cavity (133), the tail end of the output end of the third motor (143) is fixedly connected with a flywheel (132), the position of the flywheel (132) far away from the center is hinged with a first connecting plate (135) through a pin shaft (134), a first sliding block (144) hinged with the bottom of the first connecting plate (135) is connected in a sliding way in the first sliding groove (136), the first sliding block (144) is close to the end face of the side of the center of the lower body (113) and is fixedly connected with a guide plate (137), a guide groove (138) is chiseled on the side of the guide plate (137) close to the center of the lower body (113), a fifth rotating shaft (146) positioned at the bottom of the first sliding groove (136) is rotationally connected in the thigh connecting rod (119), two ends of the fifth rotating shaft (146) extend out of the thigh connecting rod (119), and a third swinging plate (141) extending forwards is fixedly connected on the side of the fifth rotating shaft (146) close to the side of the center of the lower body (113), a fourth swinging plate (145) is fixedly connected to the side, away from the center of the lower body (113), of the fifth rotating shaft (146), a fifth swinging plate (140) is fixedly connected to the side, close to the lower body (113), of the fifth rotating shaft (146), a sliding head (139) in sliding connection with the fifth swinging plate (140) is fixedly connected to the side, close to the guide groove (138), of the fifth swinging plate (140), a second connecting plate (147) is hinged between the other end of the fourth swinging plate (145) and the other end of the first swinging plate (148), and a third connecting plate (142) is hinged between the other end of the second swinging plate (150) and the other end of the third swinging plate (141);
the containing mechanism comprises a first containing groove (115) which is arranged at the bottom of the lower body (113) in a bilateral symmetry mode, an L-shaped sliding groove (153) is formed in the left inner wall and the right inner wall of the first containing groove (115), a first rotating shaft (117) is connected in the L-shaped sliding groove (153) in a sliding mode, the first rotating shaft (117) moves through a pusher in the L-shaped sliding groove (153), a second rotating shaft (118) with a smaller diameter is arranged in the middle of the first rotating shaft (117), a sleeve (116) is connected to the second rotating shaft (118) in a rotating mode, and a leg assembly is fixedly connected to the side face of the sleeve (116).
2. The autonomous navigation robot based on the dual-line lidar according to claim 1, wherein: the wheel hub walking mechanism comprises a second accommodating groove (122) which is formed in the bottom of the lower body (113) and distributed at four corners, a second transmission cavity (128) is arranged in the middle of the second accommodating groove (122), a third transmission cavity (156) is communicated with the middle of the second transmission cavity (128), the second accommodating groove (122) on the same side is parallel to the second transmission cavity (128), the second transmission cavity (128) is far away from the center side of the lower body (113) and is rotatably connected with a sixth rotating shaft (127) in proportion, two ends of the sixth rotating shaft (127) extend into the second accommodating groove (122), a turbine (130) located in the second transmission cavity (128) is fixedly connected to the sixth rotating shaft (127), supporting legs (123) located in the second accommodating groove (122) are fixedly connected to the sixth rotating shaft (127), and a driving wheel mechanism is arranged at the tail end of the other end of the sixth rotating shaft (123), a worm (131) which is used for being in power connection with the turbine (130) is rotationally connected in the second transmission cavity (128), a double-sided bevel gear (157) which is located in the third transmission cavity (156) is arranged on the worm (131), and an active power direction switching mechanism is arranged in the third transmission cavity (156).
3. The autonomous navigation robot based on the dual-line lidar according to claim 2, wherein: the driving wheel mechanism comprises a servo motor (124) embedded at the bottom of the supporting leg (123), the tail end of the output end of the bottom of the servo motor (124) is fixedly connected with a power body (126), the power body (126) is close to the center end of the lower body (113) and is embedded with a driving motor (165), and the tail end of the output end of the driving motor (165) is fixedly connected with a wheel (125).
4. The autonomous navigation robot based on the dual-line lidar according to claim 3, wherein: the source power direction switching mechanism comprises a second sliding block (155) which is slidably connected in a third transmission cavity (156) and is positioned at the left end of the worm (131), the rear end of the second sliding block (155) is fixedly connected with the output end of a pusher which is embedded in the inner wall of the rear end of the third transmission cavity (156), a fourth transmission cavity (158) is arranged in the second sliding block (155), a fourth motor (161) is embedded in the inner wall of the rear end of the fourth transmission cavity (158), the tail end of the output end of the fourth motor (161) is fixedly connected with a seventh rotating shaft (160) which is rotatably arranged in the fourth transmission cavity (158), the seventh rotating shaft (160) is provided with a first bevel gear (162) which is symmetrical in front and back, an eighth rotating shaft (164) is rotatably arranged in the inner wall of the right end of the fourth transmission cavity (158), the left end of the eighth rotating shaft (164) extends into the fourth transmission cavity (158) and is fixedly connected with a second bevel gear which is in meshed connection with the first bevel gear (162) And the other end of the eighth rotating shaft (164) extends out of the second sliding block (155) and is fixedly connected with a third bevel gear (163) which is used for being in meshed connection with the double-sided bevel gear (157).
5. The autonomous navigation robot based on the dual-line lidar according to claim 1, wherein: the processor (108) is electrically connected with the human eye laser hole (105), the radar emitter (110), the first motor (101), the second motor (112), the third motor (143), the fourth motor (161), the servo motor (124) and the driving motor (165).
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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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| 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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| US9561829B1 (en) * | 2014-09-03 | 2017-02-07 | X Development Llc | Robotic leg with multiple robotic feet |
| CN104369790B (en) * | 2014-09-04 | 2016-11-23 | 中国科学院合肥物质科学研究院 | A kind of biped robot's walking mechanism |
| CN106347517B (en) * | 2016-10-26 | 2018-06-22 | 河南工业大学 | Apery walking end service plate formula robot |
| CN107127760A (en) * | 2017-07-12 | 2017-09-05 | 清华大学 | A kind of track combined anthropomorphic robot of foot |
| CN107380295B (en) * | 2017-07-17 | 2019-04-12 | 安徽工业大学 | A kind of closed chain formula walking leg mechanism |
| CN108536145A (en) * | 2018-04-10 | 2018-09-14 | 深圳市开心橙子科技有限公司 | A kind of robot system intelligently followed using machine vision and operation method |
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