CN113848930A - Autonomous navigation mobile robot based on multi-sensor fusion - Google Patents
Autonomous navigation mobile robot based on multi-sensor fusion Download PDFInfo
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- CN113848930A CN113848930A CN202111176609.0A CN202111176609A CN113848930A CN 113848930 A CN113848930 A CN 113848930A CN 202111176609 A CN202111176609 A CN 202111176609A CN 113848930 A CN113848930 A CN 113848930A
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- 230000004927 fusion Effects 0.000 title claims abstract description 14
- 230000001360 synchronised effect Effects 0.000 claims abstract description 14
- 230000000670 limiting effect Effects 0.000 claims description 18
- 230000000694 effects Effects 0.000 claims description 13
- 230000033228 biological regulation Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000003827 upregulation Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 6
- 230000008859 change Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 30
- 230000008569 process Effects 0.000 description 24
- 230000009471 action Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention relates to the technical field of robot walking mechanisms, and discloses an autonomous navigation mobile robot based on multi-sensor fusion, which comprises a shell, wherein the top of the shell is provided with a circular through hole, a main shaft bearing is fixedly sleeved inside the circular through hole, a driving shaft is fixedly sleeved inside the main shaft bearing, and the synchronous gear is meshed with an inner annular gear in an initial state so as to be simultaneously meshed with the synchronous gear and a driving gear, when a power machine I drives a guide device to rotate through the driving shaft, the synchronous gear and the driving gear are driven to synchronously rotate so as to synchronously rotate towards the same direction, so that the running direction of the robot is changed, compared with the traditional robot in which steering equipment and power equipment are arranged on guide wheels, the device has a simpler structure, and all the guide wheels can be driven to rotate and change directions through a single rotating mechanism, the complexity of the structure and the control difficulty are reduced.
Description
Technical Field
The invention relates to the technical field of robot walking mechanisms, in particular to an autonomous navigation mobile robot based on multi-sensor fusion.
Background
With the development of society and the progress of science and technology, more and more intelligent robots enter the daily production activities of people, so most of manual labor force is saved, wherein a part of robots are often used in daily logistics operation and are positioned and navigated through a reference base station installed indoors, the most important component in the robots is a walking mechanism, which is a main component enabling the robots to move, the traditional moving component is often provided with only one driving wheel, and the driving wheel is integrated with power equipment and steering equipment.
However, although the walking mechanism for the robot has the advantages described above, there still exist certain limitations in daily use, for example, when the robot has a collision with an obstacle and the spaces on both sides cannot provide a sufficient turning radius, which results in that the front wheel is difficult to be driven out of the obstacle by turning and changing direction, and the front guide wheel is driven out of the obstacle by rotating by one hundred eighty degrees to reverse the vehicle, which is easy to cause a problem that the rear wheel is yawed to cause the rear of the robot to collide with the obstacle again.
Disclosure of Invention
Aiming at the defects of the existing autonomous navigation mobile robot based on multi-sensor fusion in the background technology in the use process, the invention provides the autonomous navigation mobile robot based on multi-sensor fusion, which has the advantage that a single rotating structure can drive a plurality of guide wheels to simultaneously steer and solves the problems that the traditional equipment is too complex in guide mechanism and too large in steering radius and is difficult to back.
The invention provides the following technical scheme: an autonomous navigation mobile robot based on multi-sensor fusion comprises a shell, wherein a circular through hole is formed in the top of the shell, a main shaft bearing is fixedly sleeved inside the circular through hole, a driving shaft is fixedly sleeved inside the main shaft bearing, a power machine I is fixedly installed at the position, located above the driving shaft, of the top of the shell, one end of an output shaft of the power machine I is fixedly connected with the top of the driving shaft, a guide device is fixedly installed at the bottom of the driving shaft and located inside the shell, a bearing hole I is formed in the position, close to one side, of the bottom of an inner cavity of the shell, two limiting bearings I are fixedly sleeved inside the bearing holes I, a reversing device is fixedly sleeved inside the limiting bearings I, and a bearing hole II is formed in the position, located between the bearing holes I, of the bottom of the inner cavity of the shell, the fixed cover in inside of dead eye II has connect spacing bearing II, the fixed cover in inside of spacing bearing II has connect drive arrangement, drive arrangement's top activity has been cup jointed drive belt and the activity of switching-over device and has been cup jointed, the regulation hole has been seted up on the position that shell inner chamber bottom is close to the opposite side, the regulation inslot wall has been seted up on being close to the position in the middle of, there is adjusting device in the inside of regulation hole through regulation groove movable mounting, adjusting device and switching-over device all mesh with guider mutually, fixed mounting has the pole of cup jointing on just being located the position between switching-over device and the drive arrangement in shell inner chamber bottom, the surface activity of cup jointing the pole has cup jointed guide sleeve and the drive belt contacts.
Preferably, the guide device comprises a guide gear, a guide groove is formed in the position, close to the outer side, of the bottom of the guide gear, an inner annular gear is formed in the surface of the inner side of the guide groove, the reversing device is meshed with the inner annular gear, and an outer annular gear is formed in the surface of the outer side of the guide groove.
Preferably, the reversing device comprises a reversing shaft, the reversing shaft is fixedly sleeved inside the limiting bearing I, a reversing driving wheel is fixedly mounted at the top of the reversing shaft and movably sleeved with a driving belt, and a driving gear is fixedly mounted at the top of the reversing driving wheel and meshed with the inner annular gear.
Preferably, the driving device comprises a driving shaft, the driving shaft is movably sleeved inside the limiting bearing II, a turning driving wheel is fixedly mounted at the top of the driving shaft and movably sleeved with a driving belt, and a driving wheel is fixedly mounted at the bottom of the driving shaft.
Preferably, the adjusting device comprises an adjusting shaft, a position, close to the bottom, of the outer surface of the adjusting shaft is fixedly provided with a limiting sliding plate, the limiting sliding plate is matched with an adjusting groove, a driven wheel is fixedly arranged at the bottom of the adjusting shaft, a position, close to the top, of the outer surface of the adjusting shaft is fixedly sleeved with an adjusting bearing, an adjusting sleeve is fixedly sleeved on the outer surface of the adjusting bearing, adjusting seats are fixedly arranged on two sides of the outer surface of the adjusting sleeve, one side of each adjusting seat is located at the center, a threaded hole is formed in the position, in the center, of the adjusting seat, an adjusting screw rod is movably sleeved in the threaded hole, one end of each adjusting screw rod is fixedly provided with a power machine II, the power machine II is fixedly arranged at the bottom of the inner cavity of the shell, and a synchronizing gear is fixedly arranged at the top of the adjusting shaft.
Preferably, the synchronizing gear is engaged with the gear in an initial state.
The invention has the following beneficial effects:
1. the synchronous gear is meshed with the inner ring gear in the initial state, so that the inner ring gear can be meshed with the synchronous gear and the driving gear at the same time, when the power machine I drives the guide device to rotate through the driving shaft, the synchronous gear and the driving gear can be driven to synchronously rotate, and the synchronous gear and the driving gear synchronously rotate towards the same direction, so that the running direction of the robot is changed.
2. Make guider can drive gear and synchro gear and rotate in step carrying out the pivoted in-process, and drive gear and synchro gear's direction of rotation and turned angle are the same, thereby make the device can direct conversion direction of advance, avoid the existing equipment because be difficult to the problem that turns to when appearing the condition with the barrier striking when leading through the front wheel, the flexibility of the device has been improved, simultaneously, guider accessible drives the rotatory one hundred eighty degrees of drive gear and synchro gear and directly realizes the function of backing a car, and because the spacing effect of interior ring type gear to drive gear and synchro gear, the problem of off tracking can not appear in the in-process adjusting device that backs a car, make its in-process of backing a car travel comparatively balanced can not driftage, the stability of the device in the operation process has been improved.
3. According to the invention, one end of the adjusting screw rod is fixedly provided with the power machine II, the power machine II is fixedly arranged at the bottom of the inner cavity of the shell, the adjusting screw rod is driven to rotate by the power machine II, the adjusting sleeve is driven to horizontally move under the action of thread fit, so that the synchronous gear is separated from the inner annular gear and is matched with the outer annular gear in the moving process, at the moment, when the guide device rotates, the synchronous gear and the driving gear still rotate in the same step, but the rotating directions of the synchronous gear and the driving gear are opposite, so that the adjusting device can synchronously rotate in the normal turning process, the driven wheel can face the tangential direction of the turning radius in the normal turning process, and the problem that the turning radius is increased due to the fact that only the front wheel rotates in the turning process of the traditional equipment due to the fact that a large rotating speed difference exists in the rear wheel is solved, the stability of the device in the turn process is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic cross-sectional view of the structure of the present invention;
FIG. 3 is a schematic view of a structural driving device according to the present invention;
FIG. 4 is a schematic cross-sectional view of a structural driving device according to the present invention;
FIG. 5 is a schematic view of the internal structure of the present invention;
FIG. 6 is a schematic top view of the internal structure of the present invention;
FIG. 7 is a schematic cross-sectional view taken along the direction B in FIG. 6 according to the present invention;
FIG. 8 is an enlarged view of the point C in FIG. 7;
FIG. 9 is a schematic cross-sectional view taken along the direction A in FIG. 6 according to the present invention.
In the figure: 1. a housing; 2. a main shaft bearing; 3. a drive shaft; 4. a power machine I; 5. a guide device; 51. a guide gear; 52. a guide groove; 53. an inner ring gear; 54. an outer ring gear; 6. a bearing hole I; 7. a limiting bearing I; 8. a reversing device; 81. a reversing shaft; 82. a reversing transmission wheel; 83. a drive gear; 9. a bearing hole II; 10. a limiting bearing II; 11. a drive device; 111. a drive shaft; 112. a turning transmission wheel; 113. a drive wheel; 12. a transmission belt; 13. an adjustment hole; 14. an adjustment groove; 15. an adjustment device; 151. an adjustment shaft; 152. a limiting sliding plate; 153. a driven wheel; 154. adjusting the bearing; 155. an adjustment sleeve; 156. an adjusting seat; 157. adjusting the screw rod; 158. a power machine II; 159. a synchronizing gear; 16. a sleeved rod; 17. a guide sleeve.
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, an autonomous navigation mobile robot based on multi-sensor fusion comprises a housing 1, a circular through hole is formed in the top of the housing 1, a spindle bearing 2 is fixedly sleeved in the circular through hole, a driving shaft 3 is fixedly sleeved in the spindle bearing 2, a power machine i 4 is fixedly installed at a position, located above the driving shaft 3, of the top of the housing 1, one end of an output shaft of the power machine i 4 is fixedly connected with the top of the driving shaft 3, a guide device 5 is fixedly installed at the bottom of the driving shaft 3 and located in the housing 1, a bearing hole i 6 is formed in a position, close to one side, of the bottom of an inner cavity of the housing 1, two bearing holes i 6 are fixedly sleeved with a limit bearing i 7, a reversing device 8 is fixedly sleeved in the limit bearing i 7, a bearing hole ii 9 is formed in a position, located between the bearing holes i 6, of the bottom of the inner cavity of the housing 1, the fixed cover in inside of dead eye II 9 has connect spacing bearing II 10, the fixed cover in inside of spacing bearing II 10 has connect drive arrangement 11, drive arrangement 11's top activity has been cup jointed drive belt 12 and has been cup jointed with the activity of switching-over device 8, regulation hole 13 has been seted up on the position that shell 1 inner chamber bottom is close to the opposite side, regulation groove 14 has been seted up on the position that regulation hole 13 inner wall is close to the centre, there is adjusting device 15 inside of regulation hole 13 through 14 movable mounting of regulation groove, adjusting device 15 and switching-over device 8 all mesh with guider 5 mutually, fixed mounting has cup joint pole 16 on the position that shell 1 inner chamber bottom just is located between switching-over device 8 and the drive arrangement 11, guide sleeve 17 and guide sleeve 17 contact with drive belt 12 have been cup jointed in the surface activity of cup joint pole 16.
Referring to fig. 2-3, the guiding device 5 includes a guiding gear 51, a guiding slot 52 is formed at a position near an outer side of a bottom of the guiding gear 51, an inner ring gear 53 is formed on an inner side surface of the guiding slot 52, the reversing device 8 is engaged with the inner ring gear 53, and an outer ring gear 54 is formed on an outer side surface of the guiding slot 52.
Referring to fig. 1-9, the reversing device 8 includes a reversing shaft 81, the reversing shaft 81 is fixedly sleeved inside the limit bearing i 7, a reversing transmission wheel 82 is fixedly installed on the top of the reversing shaft 81, the reversing transmission wheel 82 is movably sleeved with the transmission belt 12, a driving gear 83 is fixedly installed on the top of the reversing transmission wheel 82, the driving gear 83 is meshed with the inner ring gear 53, the driving gear 83 and the synchronizing gear 159 are both meshed with the inner ring gear 53, so that the guiding device 5 can drive the driving gear 83 and the synchronizing gear 159 to synchronously rotate in the rotating process, and the rotating directions and rotating angles of the driving gear 83 and the synchronizing gear 159 are the same, so that the device can directly change the traveling direction, avoid the problem that the original equipment is difficult to turn when colliding with an obstacle when guiding through a front wheel, and improve the flexibility of the device, meanwhile, the guide device 5 can directly realize the function of backing by driving the driving gear 83 and the synchronizing gear 159 to rotate by one hundred eighty degrees, and the problem of deviation cannot occur in the adjusting device 15 in the backing process due to the limiting effect of the inner ring gear 53 on the driving gear 83 and the synchronizing gear 159, so that the running of the device is balanced and cannot yaw in the backing process, and the stability of the device in the running process is improved.
Referring to fig. 1-5, the driving device 11 includes a driving shaft 111, the driving shaft 111 is movably sleeved inside the limit bearing ii 10, a direction-changing driving wheel 112 is fixedly installed at the top of the driving shaft 111, the direction-changing driving wheel 112 is movably sleeved with the driving belt 12, and a driving wheel 113 is fixedly installed at the bottom of the driving shaft 111.
Referring to fig. 1-8, the adjusting device 15 includes an adjusting shaft 151, a position of the outer surface of the adjusting shaft 151 near the bottom is fixedly installed with a limiting slide plate 152, the limiting slide plate 152 is matched with the adjusting groove 14, the bottom of the adjusting shaft 151 is fixedly installed with a driven wheel 153, a position of the outer surface of the adjusting shaft 151 near the top is fixedly sleeved with an adjusting bearing 154, the outer surface of the adjusting bearing 154 is fixedly sleeved with an adjusting sleeve 155, two sides of the outer surface of the adjusting sleeve 155 are fixedly installed with adjusting seats 156, one side of the adjusting seat 156 is located at the center and is provided with a threaded hole, the inner part of the threaded hole is movably sleeved with an adjusting screw 157, one end of the adjusting screw 157 is fixedly installed with a power machine ii 158, the power machine ii 158 is fixedly installed at the bottom of the inner cavity of the housing 1, the adjusting screw 157 is driven by the power machine ii 158 to rotate, the adjusting sleeve 155 is driven to move horizontally under the effect of threaded fit, therefore, the synchronizing gear 159 is separated from the inner annular gear 53 and is matched with the outer annular gear 54 in the moving process, when the guide device 5 rotates, the synchronizing gear 159 and the driving gear 83 still rotate in the same step, but the rotating directions of the synchronizing gear 159 and the driving gear 83 are opposite, so that the adjusting device 15 can synchronously rotate in the normal turning process of the device, the driven wheel 153 can face the tangential direction of the turning radius in the normal turning process, the problem that the turning radius is increased due to the fact that the rear wheel has large rotating speed difference due to the fact that only the front wheel rotates in the turning process of traditional equipment is solved, the stability of the device in the turning process is improved, and the synchronizing gear 159 is fixedly installed at the top of the adjusting shaft 151.
Referring to fig. 1-5 and 8, the synchronizing gear 159 is engaged with the inner ring gear 53 in an initial state, so that the inner ring gear 53 can be simultaneously engaged with the synchronizing gear 159 and the driving gear 83, and when the power machine i 4 drives the guiding device 5 to rotate through the driving shaft 3, the synchronizing gear 159 and the driving gear 83 are driven to synchronously rotate, so that the synchronizing gear 159 and the driving gear 83 synchronously rotate towards the same direction, thereby changing the running direction of the robot.
The using method of the invention is as follows:
in the using process, the inner ring gear 53 can be meshed with the synchronizing gear 159 and the driving gear 83 at the same time, when the power machine I4 drives the guide device 5 to rotate through the driving shaft 3, the synchronizing gear 159 and the driving gear 83 can be driven to synchronously rotate, the synchronizing gear 159 and the driving gear 83 synchronously rotate towards the same direction, so that the running direction of the robot is changed, the guide device 5 drives the driving gear 83 and the synchronizing gear 159 to synchronously rotate in the rotating process, the rotating directions and rotating angles of the driving gear 83 and the synchronizing gear 159 are the same, so that the device can directly change the traveling direction, meanwhile, the guide device 5 can directly realize the reversing function by driving the driving gear 83 and the synchronizing gear 159 to rotate by one hundred eighty degrees, and due to the limiting effect of the inner ring gear 53 on the driving gear 83 and the synchronizing gear 159, the adjusting device 15 cannot deviate in the process of backing up, the power machine II 158 drives the adjusting screw rod 157 to rotate, the adjusting sleeve 155 is driven to horizontally move under the action of thread fit, so that the synchronous gear 159 is separated from the inner annular gear 53 and is matched with the outer annular gear 54 in the moving process, at the moment, when the guide device 5 rotates, the synchronous gear 159 and the driving gear 83 still rotate in the same step, but the rotating directions of the synchronous gear 159 and the driving gear 83 are opposite, so that the adjusting device 15 can synchronously rotate in the normal turning process, and the driven wheel 153 can face the tangential direction of the turning radius in the normal turning process.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. An autonomous navigation mobile robot based on multi-sensor fusion, comprising a housing (1), characterized in that: the top of the shell (1) is provided with a circular through hole, the inside of the circular through hole is fixedly sleeved with a main shaft bearing (2), the inside of the main shaft bearing (2) is fixedly sleeved with a driving shaft (3), a power machine I (4) is fixedly installed at the position, located above the driving shaft (3), of the top of the shell (1), one end of an output shaft of the power machine I (4) is fixedly connected with the top of the driving shaft (3), a guide device (5) is fixedly installed at the bottom of the driving shaft (3) and located inside the shell (1), a bearing hole I (6) is formed at the position, close to one side, of the bottom of an inner cavity of the shell (1), the number of the bearing holes I (6) is two, the inside of the bearing hole I (6) is fixedly sleeved with a limiting bearing I (7), and the inside of the limiting bearing I (7) is fixedly sleeved with a reversing device (8), the bottom of shell (1) inner chamber is located and has seted up dead eye II (9) on the position between dead eye I (6), the inside fixed of dead eye II (9) has cup jointed spacing bearing II (10), the inside fixed of spacing bearing II (10) has cup jointed drive arrangement (11), the top activity of drive arrangement (11) has cup jointed drive belt (12) and has cup jointed with switching-over device (8) activity, shell (1) inner chamber bottom has seted up regulation hole (13) on being close to the position of opposite side, regulation hole (13) inner wall has seted up on being close to the position in the middle of regulation groove (14), there is adjusting device (15) inside through adjusting groove (14) movable mounting of regulation hole (13), adjusting device (15) and switching-over device (8) all mesh with guider (5), shell (1) inner chamber bottom just is located the position between switching-over device (8) and drive arrangement (11) on solid The fixed installation is provided with a sleeve rod (16), the outer surface of the sleeve rod (16) is movably sleeved with a guide sleeve (17), and the guide sleeve (17) is in contact with the transmission belt (12).
2. The autonomous navigational mobile robot based on multi-sensor fusion of claim 1, wherein: the guide device (5) comprises a guide gear (51), a guide groove (52) is formed in the position, close to the outer side, of the bottom of the guide gear (51), an inner annular gear (53) is formed in the inner side surface of the guide groove (52), the reversing device (8) is meshed with the inner annular gear (53), and an outer annular gear (54) is formed in the outer side surface of the guide groove (52).
3. The autonomous navigational mobile robot based on multi-sensor fusion of claim 2, wherein: the reversing device (8) comprises a reversing shaft (81), the reversing shaft (81) is fixedly sleeved inside the limiting bearing I (7), a reversing transmission wheel (82) is fixedly installed at the top of the reversing shaft (81), the reversing transmission wheel (82) is movably sleeved with the transmission belt (12), and a driving gear (83) is fixedly installed at the top of the reversing transmission wheel (82), and the driving gear (83) is meshed with the inner ring-shaped gear (53).
4. The autonomous navigational mobile robot based on multi-sensor fusion of claim 1, wherein: drive arrangement (11) include drive shaft (111), drive shaft (111) activity cup joints the inside at spacing bearing II (10), the top fixed mounting of drive shaft (111) has diversion drive wheel (112) and drive belt (12) activity cup joint, the bottom fixed mounting of drive shaft (111) has drive wheel (113).
5. The autonomous navigational mobile robot based on multi-sensor fusion of claim 3, wherein: the adjusting device (15) comprises an adjusting shaft (151), a position, close to the bottom, of the outer surface of the adjusting shaft (151) is fixedly provided with a limiting sliding plate (152), the limiting sliding plate (152) is matched with the adjusting groove (14), the bottom of the adjusting shaft (151) is fixedly provided with a driven wheel (153), a position, close to the top, of the outer surface of the adjusting shaft (151) is fixedly sleeved with an adjusting bearing (154), the outer surface of the adjusting bearing (154) is fixedly sleeved with an adjusting sleeve (155), two sides of the outer surface of the adjusting sleeve (155) are fixedly provided with adjusting seats (156), one side of each adjusting seat (156) is positioned at the center and is provided with a threaded hole, an adjusting screw rod (157) is movably sleeved inside the threaded hole, one end of the adjusting screw rod (157) is fixedly provided with a power machine II (158) and the power machine II (158) is fixedly installed at the bottom of the inner cavity of the shell (1), and a synchronous gear (159) is fixedly arranged at the top of the adjusting shaft (151).
6. The autonomous navigation mobile robot based on multi-sensor fusion of claim 5, wherein said synchronizing gear (159) is engaged with an inner ring gear (53) in an initial state.
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| CN105618791A (en) * | 2016-03-28 | 2016-06-01 | 邯郸鸿力轴承有限公司 | Planetary centerless lathe with machining radius adjusting function |
| WO2020088303A1 (en) * | 2018-10-30 | 2020-05-07 | 姜启胜 | Winch fitted with planetary gear transmission having function of automatic gear shifting |
| US20200139505A1 (en) * | 2018-11-06 | 2020-05-07 | Citic Dicastal Co., Ltd | Wheel weight-reducing pit cleaning device |
| CN109822543A (en) * | 2019-03-28 | 2019-05-31 | 创泽智能机器人股份有限公司 | A kind of positioning navigation device based on robot ambulation |
| CN211248466U (en) * | 2019-12-17 | 2020-08-14 | 重庆国恩工贸有限公司 | New energy automobile gearbox guider that drills |
| CN212797378U (en) * | 2020-08-06 | 2021-03-26 | 江西太空机器人科技有限公司 | Driving mechanism of airport luggage carrying robot |
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